Lane changing method and device in blind area scene, electronic equipment and storage medium

Abstract

The application provides a lane changing method and device for a blind area scene, electronic equipment and a storage medium, and belongs to the technical field of automatic driving. The lane changing method comprises the following steps: acquiring road condition information, vehicle parameter information and a target driving lane; analyzing the road condition information according to the target driving lane and the vehicle parameter information, and identifying a blind area; determining an available lane changing distance according to the relative position relationship between the blind area and the target driving lane, and determining a safe lane changing distance according to the vehicle parameter; comparing the available lane changing distance with the safe lane changing distance, and if the available lane changing distance is greater than or equal to the safe lane changing distance, performing lane changing. The application can avoid the blind area, effectively reduce the risk of collision between the vehicle, pedestrians, obstacles and other targets behind the blind area, and provide safety for automatic driving.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, specifically to a lane-changing method, device, electronic device, and storage medium for blind spot scenarios. Background Technology

[0002] With the development of intelligent driving technology, it is gradually becoming more widespread. The industry has already achieved a relatively high level of intelligent driving technology, and even higher levels of autonomous driving technology are beginning to emerge and be applied, such as autonomous cruise control on highways, automatic lane changing, and automatic on / off ramp entry and exit.

[0003] For automatic lane changing functions, it's crucial to ensure the target lane meets safe lane-changing conditions before completing the change; otherwise, a collision with a vehicle in the target lane may occur. Currently, most automatic lane-changing technologies are applicable to structured roads such as highways and urban expressways, where the road environment is simple and driving conditions are good. However, even under good road conditions, blind spots can arise due to road structure and shape. For example, the target lane may be continuously obstructed by obstacles higher than the vehicle, obstructed by curves, by undulating roads, or by differences in elevation at the merging point of a main road and a side road, or by trees obstructing the merging point.

[0004] When a vehicle equipped with automatic lane change technology passes through these blind spots, if the lane markings of the target lane meet the lane change conditions, the vehicle will trigger the automatic lane change function. If the vehicle fails to detect vehicles, pedestrians, obstacles, or other targets behind the blind spot, there is a risk of collision with the targets in the blind spot after the vehicle changes lanes. Summary of the Invention

[0005] In view of the shortcomings of the prior art described above, the present invention provides a lane-changing method, device, electronic device and storage medium for blind spot scenarios to solve the above technical problems.

[0006] In one embodiment of the present invention, a lane-changing method for blind spot scenarios is provided, comprising:

[0007] Obtain road condition information, vehicle parameter information, and target driving lane; the vehicle parameter information includes at least the parameter information of the vehicle itself.

[0008] Based on the target driving lane and the vehicle parameter information, the road condition information is analyzed to identify blind spots;

[0009] Based on the relative positional relationship between the blind spot and the target driving lane, the available lane-changing distance is determined, and based on the vehicle parameters, the safe lane-changing distance is determined.

[0010] The available lane-changing distance is compared with the safe lane-changing distance. If the available lane-changing distance is greater than or equal to the safe lane-changing distance, then a lane change is performed.

[0011] Optionally, before determining the safe lane-changing distance based on the vehicle parameters, the following steps are included:

[0012] The blind spot type is determined based on the relative positional relationship between the blind spot and the target driving lane, and the pre-set mapping relationship between the relative positional relationship between the blind spot and the target driving lane and the blind spot type.

[0013] Based on the blind spot type and the pre-set mapping relationship between the blind spot type and the safe lane change distance calculation strategy, the calculation strategy for the safe lane change distance is determined.

[0014] The safe lane-changing distance is calculated based on the calculation strategy.

[0015] Optionally, the blind spot types include target lane obstacle blind spots and merging entrance obstacle blind spots. The blind spot type is determined based on the relative positional relationship between the blind spot and the target lane, and a pre-set mapping relationship between the relative positional relationship between the blind spot and the target lane and the blind spot type, including:

[0016] If the blind spot covers the target driving lane, then the blind spot type is a target driving lane obstacle blind spot;

[0017] If the blind spot covers a merging point connected to the target driving lane, then the blind spot type is a merging point obstacle blind spot.

[0018] Optionally, if the blind spot type is a target driving lane obstacle blind spot, the available lane-changing distance extends to the blind spot; if the blind spot type is a merging entrance obstacle blind spot, the available lane-changing distance starts after the merging entrance.

[0019] Optionally, if the available lane-changing distance is less than the safe lane-changing distance, then the lane change is delayed.

[0020] Optionally, the target driving lane is determined according to a lane-changing instruction.

[0021] In one embodiment of the present invention, a lane-changing device for blind spot scenarios is also provided, the device comprising:

[0022] The data acquisition module is used to acquire road condition information, vehicle parameter information, and target driving lane. The vehicle parameter information includes at least the parameter information of the vehicle itself.

[0023] The identification module is used to analyze the road condition information based on the target driving lane and the vehicle parameter information to identify blind spots;

[0024] The analysis and calculation module determines the available lane-changing distance based on the relative positional relationship between the blind spot and the target driving lane, and determines the safe lane-changing distance based on the vehicle parameters.

[0025] The comparison module compares the available lane-changing distance with the safe lane-changing distance. If the available lane-changing distance is greater than or equal to the safe lane-changing distance, then a lane change is performed.

[0026] Optionally, the acquisition module includes at least one of a camera sensing unit, a radar sensing unit, a high-precision map unit, and a vehicle inertial navigation unit.

[0027] In one embodiment of the present invention, an electronic device is also provided, the electronic device comprising:

[0028] One or more processors;

[0029] A storage device for storing one or more programs that, when executed by one or more processors, enable the electronic device to implement the lane-changing method for blind-spot scenarios as described in any of the preceding claims.

[0030] In one embodiment of the present invention, a computer-readable storage medium is also provided, characterized in that it stores a computer program thereon, which, when executed by a computer processor, causes the computer to perform the lane-changing method for blind spot scenarios as described in any of the preceding claims.

[0031] The beneficial effects of the present invention are as follows: The lane-changing method, device, electronic device and storage medium in the blind spot scenario of the present invention analyze the positional relationship between the blind spot and the target lane to identify the available driving distance. By comparing the safe lane-changing distance with the available driving distance, it decides whether to change lanes, avoid the blind spot, effectively reduce the risk of collision with vehicles, pedestrians, obstacles and other targets behind the blind spot, and provide safety for autonomous driving.

[0032] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0033] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings:

[0034] Figure 1 This is a schematic flowchart illustrating a lane-changing method in a blind spot scenario, as shown in an exemplary embodiment of this application.

[0035] Figure 2 This is a structural block diagram of a lane-changing device in a blind spot scenario, as illustrated in an exemplary embodiment of this application.

[0036] Figure 3 This is a second structural block diagram of a lane-changing device in a blind spot scenario, as illustrated in an exemplary embodiment of this application.

[0037] Figure 4 This is a logical block diagram illustrating a lane-changing method in a blind spot scenario, as shown in an exemplary embodiment of this application.

[0038] Figure 5 A schematic diagram of the structure of a computer system suitable for implementing the electronic device of the present application is shown. Detailed Implementation

[0039] The embodiments of the present invention will be described below with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention and not for limiting the scope of protection of the present invention.

[0040] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0041] In the following description, numerous details are explored to provide a more thorough explanation of embodiments of the invention. However, it will be apparent to those skilled in the art that embodiments of the invention may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring embodiments of the invention.

[0042] Currently, most automatic lane-changing technologies are applicable to structured roads such as highways and urban expressways, where the road environment is simple and driving conditions are good. However, even under good road conditions, blind spots can still occur due to road structure and shape. For example, the target lane may be continuously obstructed by obstacles higher than the vehicle, obstructed by curves, undulating roads, or differences in elevation at the merging point of a main road and a side road, or trees obstructing the merging point. When a vehicle equipped with automatic lane-changing technology passes through these blind spots, if the lane markings in the target lane meet the lane-changing conditions, the vehicle triggers the automatic lane-changing function. However, if the vehicle fails to detect vehicles, pedestrians, obstacles, or other targets behind the blind spot, there is a risk of collision after the lane change.

[0043] In one embodiment of the present invention, a lane-changing method for blind spot scenarios is provided, comprising:

[0044] S10: Obtain road condition information, vehicle parameter information, and target driving lane, wherein the vehicle parameter information includes at least the parameter information of the vehicle itself;

[0045] S20: Analyze the road condition information based on the target driving lane and the vehicle parameter information to identify blind spots;

[0046] S30: Determine the available lane-changing distance based on the relative positional relationship between the blind spot and the target driving lane, and determine the safe lane-changing distance based on the vehicle parameters;

[0047] S40: Compare the available lane-changing distance with the safe lane-changing distance. If the available lane-changing distance is greater than or equal to the safe lane-changing distance, then perform a lane change.

[0048] In some embodiments, step S30, that is, before determining the safe lane-changing distance based on vehicle parameter information, includes the following sub-steps:

[0049] S31: Determine the blind spot type based on the relative positional relationship between the blind spot and the target driving lane, and the pre-set mapping relationship between the relative positional relationship between the blind spot and the target driving lane and the blind spot type;

[0050] S32: Determine the safe lane-changing distance calculation strategy based on the blind spot type and the pre-set mapping relationship between the blind spot type and the safe lane-changing distance calculation strategy.

[0051] The safe lane-changing distance is calculated based on the calculation strategy.

[0052] In some embodiments, the blind spot type includes a target driving lane obstacle blind spot and a merging entrance obstacle blind spot. Therefore, in step S31, that is, in the step of determining the blind spot type based on the relative positional relationship between the blind spot and the target driving lane, and the pre-set mapping relationship between the relative positional relationship between the blind spot and the target driving lane and the blind spot type, if the blind spot covers the target driving lane, then the blind spot type is a target driving lane obstacle blind spot. Simultaneously, if the blind spot covers a merging entrance connected to the target driving lane, then the blind spot type is a merging entrance obstacle blind spot.

[0053] In some embodiments, in step S32, if the blind spot type is a target driving lane obstacle blind spot, the available lane-changing distance extends up to the blind spot. Meanwhile, if the blind spot type is a merging entrance obstacle blind spot, the available lane-changing distance starts after the merging entrance.

[0054] In some embodiments, in step S40, which is the step of comparing the available lane-changing distance with the safe lane-changing distance, if the available lane-changing distance is less than the safe lane-changing distance, then the lane change is delayed.

[0055] Please see Figure 2 In one embodiment of the present invention, a lane-changing device for blind spot scenarios is also provided, the device comprising:

[0056] The data acquisition module is used to acquire road condition information, vehicle parameter information, and target driving lane. The vehicle parameter information includes at least the parameter information of the vehicle itself.

[0057] The identification module is used to analyze the road condition information based on the target driving lane and the vehicle parameter information to identify blind spots;

[0058] The analysis and calculation module determines the available lane-changing distance based on the relative positional relationship between the blind spot and the target driving lane, and determines the safe lane-changing distance based on the vehicle parameters.

[0059] The comparison module compares the available lane-changing distance with the safe lane-changing distance. If the available lane-changing distance is greater than or equal to the safe lane-changing distance, then a lane change is performed.

[0060] The data acquisition module includes a camera sensing unit, a radar sensing unit, a high-precision map unit, and a vehicle inertial navigation unit. For example... Figure 3 As shown, in this embodiment, the acquisition module, identification module, analysis and calculation module, and comparison module are all integrated into the ECU (Electronic Control Unit). electronicIn the control unit, it becomes the ECU control module, which is connected to the camera sensing unit, radar sensing unit, high-precision map unit, and vehicle inertial navigation unit.

[0061] It should be noted that the lane-changing device for blind spot scenarios provided in the above embodiments and the lane-changing method for blind spot scenarios provided in the above embodiments belong to the same concept. The specific ways in which each module and unit performs operations have been described in detail in the method embodiments, and will not be repeated here. In practical applications, the traffic condition refresh device provided in the above embodiments can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above, and this is not a limitation here.

[0062] Please see Figure 4 When actually changing lanes, the following steps are included:

[0063] The ECU control module receives and processes road condition information and vehicle parameter information from the millimeter-wave radar unit, camera unit, lidar unit, high-precision map unit, and turn signal unit in real time. When it receives a command to activate the automatic lane change function, it first determines whether there is a user or system request for automatic lane change. If the ECU control module determines that no lane change request has been received, it continues to determine the function.

[0064] If a lane change request is detected, the ECU control module uses image data transmitted from the camera unit to determine whether the lane markings of the target lane meet the lane change requirements. If the requirements are not met, the ECU control module sends commands to both the turn signal control module and the control display module, and enters a lane change delay state. The turn signal control module activates the turn signal corresponding to the target lane, and the display module shows the reason why a lane change is not possible. During the lane change delay state, the ECU control module continues to determine whether the lane change requirements are met.

[0065] If the lane markings in the target lane meet the lane-changing requirements, the ECU control module further determines whether a blind spot exists in the current target lane. Specifically, the millimeter-wave radar unit, camera unit, lidar unit, high-precision map unit, and inertial navigation unit on the vehicle send their respective sensor data to the ECU control module in real time. After comprehensively processing the sensor data from the sensing units, the ECU control module fuses the data from each module to confirm whether the current road environment will create a blind spot.

[0066] If the ECU control module determines that the target driving lane is continuously obstructed by obstacles based on road condition information and vehicle parameter information, or if the high-precision map outputs that the target driving lane is continuously obstructed, the ECU control module determines whether the height of the obstacle affects the vehicle's sensors' perception of the target lane environment. If the sensors cannot detect the target object behind the obstacle, it is determined to be blind spot scenario A.

[0067] If the ECU control module determines that the target driving road is a merging point based on the data input from the high-precision map, and the ECU control module identifies through road condition information that there is an elevation difference between the main road and the branch road at the merging point, the angle formed by the main road and the branch road is too large, and the main road and the branch road are isolated by obstacles such as guardrails and trees, it is determined to be blind spot scenario B.

[0068] If the ECU control module determines that the target driving road is a curve based on the data input from the camera unit and the high-precision map, the ECU control module 9 determines whether the lane line is obstructed by guardrails, trees, etc. beside the lane based on the road condition information. If it determines that the lane line is obstructed, it is determined to be a blind spot scenario C.

[0069] If the ECU control module determines that the target driving road is a slope based on the data input from the high-precision map and the inertial navigation unit, and the ECU control module 9 determines whether the lane lines of the current road are interfered with by the slope based on the road condition information, if it is found that the lane lines of the target driving lane are interfered with by the slope and the lane lines are cut off, it is determined to be a blind spot scenario D.

[0070] When the ECU control module 9 identifies the blind spot type on the lane change side as scenario A or scenario B, the ECU control module determines whether the available lane change time T after the vehicle passes the obstacle or merging point is greater than the safe lane change time TC. It can also determine whether the available lane change distance L1 after the vehicle passes the obstacle or merging point is greater than the calibrated safe lane change distance LC. If T < TC or L < LC, or if T ≥ TC and L1 ≥ LC but other safe lane change conditions are not met, the ECU control module 9 controls the turn signal control module to turn on the lane change side turn signal.

[0071] If T≥TC and L1≥LC, and other safe lane-changing conditions are met simultaneously, the ECU control module calculates the lane-changing trajectory based on relevant data such as vehicle speed unit, steering wheel angle unit, and perception sensor, controls the turn signal unit 12 to perform the lane change, and controls the display module 10 to prompt the user that a lane change is in progress.

[0072] When the ECU control module 9 identifies the blind spot type as scenario C or scenario D, the ECU control module 9 uses the lane line length L identified by the camera unit 2 to determine whether the system can identify all road conditions in the target driving lane within the detection range, so as to avoid the risk of collision caused by a target object suddenly appearing in the blind spot during the lane change process.

[0073] Specifically, the system determines whether a lane change is safe by checking if the lane line length identified by the camera unit (i.e., the length L2 between the current vehicle position and the blind spot) is greater than the safe lane-changing distance LC. The safe lane-changing distance LC is equal to the product of the vehicle speed V and the safe lane-changing time TC, i.e., safe lane-changing distance LC = V * TC. The vehicle speed V is output by the vehicle speed unit. If L2 < LC, or L2 ≥ LC but the safe lane-changing condition is not met, the ECU control module controls the turn signal control module to turn on the turn signal on the lane-changing side, and the control display module indicates the reason why a lane change is not possible; the system then enters a lane-changing delay state. If L2 ≥ LC and the safe lane-changing condition is met, the ECU control module 9 calculates the lane-changing trajectory based on data from the vehicle speed module 6, steering wheel angle module 7, and sensing sensors, controls the turn signal unit 12 to execute the lane change, and the control display module 10 indicates to the user that a lane change is in progress.

[0074] When in lane change delay state, the ECU control module needs to time the lane change delay state time, which is TD. At the same time, it determines whether TD exceeds the maximum allowable lane change delay time TE. The maximum lane change delay time TE can be pre-calibrated and set according to the actual situation. If TD < TE, it continues to determine whether the lane change condition is met. If the condition is met, the lane change action is executed. If TD ≥ TE, the loop is stopped and the lane change ends.

[0075] After the lane change is completed, the ECU control module controls the turn signal control module to turn off the turn signal on the lane change side, and the control display module 10 indicates that the lane change is complete.

[0076] In one embodiment of the present invention, an electronic device is also provided, the electronic device comprising:

[0077] One or more processors;

[0078] A storage device for storing one or more programs that, when executed by one or more processors, enable the electronic device to implement the lane-changing method for blind-spot scenarios as described in any of the preceding claims.

[0079] Figure 5 A schematic diagram of a computer system suitable for implementing the embodiments of this application is shown. It should be noted that... Figure 5 The computer system 1200 of the electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0080] like Figure 5As shown, the computer system 1200 includes a Central Processing Unit (CPU) 1201, which can perform various appropriate actions and processes based on programs stored in Read-Only Memory (ROM) 1202 or programs loaded from storage portion 1208 into Random Access Memory (RAM) 1203, such as performing the methods described in the above embodiments. Various programs and data required for system operation are also stored in RAM 1203. The CPU 1201, ROM 1202, and RAM 1203 are interconnected via bus 1204. An Input / Output (I / O) interface 1205 is also connected to bus 1204.

[0081] The following components are connected to I / O interface 1205: an input section 1206 including a keyboard, mouse, etc.; an output section 1207 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 1208 including a hard disk, etc.; and a communication section 1209 including a network interface card such as a LAN (Local Area Network) card, modem, etc. The communication section 1209 performs communication processing via a network such as the Internet. A drive 1210 is also connected to I / O interface 1205 as needed. Removable media 1211, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., are installed on drive 1210 as needed so that computer programs read from them can be installed into storage section 1208 as needed.

[0082] Specifically, according to embodiments of this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program including a computer program for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 1209, and / or installed from removable medium 1211. When the computer program is executed by central processing unit (CPU) 1201, it performs various functions defined in the system of this application.

[0083] It should be noted that the computer-readable medium shown in the embodiments of this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable compact disc read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this application, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying a computer-readable computer program. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to wireless, wired, etc., or any suitable combination thereof.

[0084] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. Each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0085] The units described in the embodiments of this application can be implemented in software or hardware, and the described units can also be located in a processor. The names of these units do not necessarily limit the specific unit itself.

[0086] Another aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a computer's processor, causes the computer to perform a lane-changing method as described in a blind-spot scenario. This computer-readable storage medium may be included in the electronic device described in the above embodiments, or it may exist independently and not incorporated into the electronic device.

[0087] Another aspect of this application provides a computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the lane-changing method for blind-spot scenarios provided in the various embodiments described above.

[0088] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A lane-changing method for blind spot scenarios, characterized in that, include: Obtain road condition information, vehicle parameter information, and target driving lane; the vehicle parameter information includes at least the parameter information of the vehicle itself. Based on the target driving lane and the vehicle parameter information, the road condition information is analyzed to identify blind spots; Based on the relative positional relationship between the blind spot and the target driving lane, the available lane-changing distance is determined, and based on the vehicle parameters, the safe lane-changing distance is determined. The available lane-changing distance is compared with the safe lane-changing distance. If the available lane-changing distance is greater than or equal to the safe lane-changing distance, then a lane change is performed. The blind spot type is determined based on the relative positional relationship between the blind spot and the target driving lane, and the pre-set mapping relationship between the relative positional relationship between the blind spot and the target driving lane and the blind spot type. Based on the blind spot type and the pre-set mapping relationship between the blind spot type and the safe lane change distance calculation strategy, the calculation strategy for the safe lane change distance is determined. The blind spot types include target lane obstacle blind spots and merging entrance obstacle blind spots. The blind spot type is determined based on the relative positional relationship between the blind spot and the target lane, and a pre-set mapping relationship between the relative positional relationship between the blind spot and the target lane and the blind spot type. This includes: If the blind spot covers the target driving lane, then the blind spot type is a target driving lane obstacle blind spot; If the blind spot covers a merging point connected to the target driving lane, then the blind spot type is a merging entrance obstacle blind spot; If the blind spot type is a target driving lane obstacle blind spot, then the available lane-changing distance extends to the blind spot; If the blind spot type is a merging entrance obstacle blind spot, then the available lane change distance starts after the merging entrance.

2. The lane-changing method for blind spot scenarios according to claim 1, characterized in that, If the available lane-changing distance is less than the safe lane-changing distance, then the lane change is delayed.

3. The lane-changing method for blind spot scenarios according to claim 1, characterized in that, The target driving lane is determined according to the lane change instruction.

4. A lane-changing device for blind spot scenarios, characterized in that, The device includes: The data acquisition module is used to acquire road condition information, vehicle parameter information, and target driving lane. The vehicle parameter information includes at least the parameter information of the vehicle itself. The identification module is used to analyze the road condition information based on the target driving lane and the vehicle parameter information to identify blind spots; The analysis and calculation module determines the available lane-changing distance based on the relative positional relationship between the blind spot and the target driving lane, and determines the safe lane-changing distance based on the vehicle parameters. The comparison module compares the available lane-changing distance with the safe lane-changing distance. If the available lane-changing distance is greater than or equal to the safe lane-changing distance, then a lane change is performed. Specifically, the blind spot type is determined based on the relative positional relationship between the blind spot and the target driving lane, as well as the pre-set mapping relationship between the relative positional relationship between the blind spot and the target driving lane and the blind spot type. Based on the blind spot type and the pre-set mapping relationship between the blind spot type and the safe lane change distance calculation strategy, the calculation strategy for the safe lane change distance is determined. The blind spot types include target lane obstacle blind spots and merging entrance obstacle blind spots. The blind spot type is determined based on the relative positional relationship between the blind spot and the target lane, and a pre-set mapping relationship between the relative positional relationship between the blind spot and the target lane and the blind spot type. This includes: If the blind spot covers the target driving lane, then the blind spot type is a target driving lane obstacle blind spot; If the blind spot covers a merging point connected to the target driving lane, then the blind spot type is a merging entrance obstacle blind spot; If the blind spot type is a target driving lane obstacle blind spot, then the available lane-changing distance extends to the blind spot; If the blind spot type is a merging entrance obstacle blind spot, then the available lane change distance starts after the merging entrance.

5. The lane-changing device for blind spot scenarios according to claim 4, characterized in that, The acquisition module includes at least one of the following: a camera sensing unit, a radar sensing unit, a high-precision map unit, and a vehicle inertial navigation unit.

6. An electronic device, characterized in that, The electronic device includes: One or more processors; A storage device for storing one or more programs, which, when executed by one or more processors, cause the electronic device to implement the lane-changing method for blind-spot scenarios as described in any one of claims 1 to 3.

7. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed by the computer's processor, causes the computer to perform the lane-changing method for blind spot scenarios as described in any one of claims 1 to 3.

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