A method, device and storage medium for guiding a vehicle to change lanes

Abstract

The application discloses a method and device for guiding vehicles to change lanes, and a storage medium, and relates to the technical field of intelligent transportation, which can shorten the lane changing time of vehicles, thereby improving the traffic flow rate. The method comprises the following steps: determining a target lane and an entry point position of a vehicle to be changed according to first running data of the vehicle to be changed and pre-stored map data; determining at least one candidate vehicle from vehicles located on the target lane, and determining a candidate vehicle sequence according to second running data of each candidate vehicle; predicting a gap distance of two adjacent candidate vehicles in the candidate vehicle sequence when the two candidate vehicles arrive at the entry point position, and obtaining a first predicted distance; and guiding the candidate vehicles to adjust a driving speed according to a size relationship between the first predicted distance and a safety distance.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent transportation, and in particular to a method and device for guiding a vehicle to change lanes and a storage medium. BACKGROUND

[0002] With the increasing number of vehicles and the increasing complexity of road traffic, if the traffic flow of the target lane is relatively dense when a vehicle actively switches from the current lane to the target lane or merges into the target lane from the ramp, the waiting time of the vehicle is relatively long, which reduces the traffic flow rate of the current lane or the ramp. SUMMARY

[0003] The present application provides a method and device for guiding a vehicle to change lanes and a storage medium, which can shorten the lane changing time of the vehicle and thus improve the traffic flow rate.

[0004] To achieve the above-mentioned purpose, the present application adopts the following technical solutions:

[0005] In a first aspect, the present application provides a method for guiding a vehicle to change lanes, which comprises:

[0006] determining a target lane and a merging point position into which the vehicle to be changed is to be merged according to the first running data of the vehicle to be changed and pre-stored map data;

[0007] determining at least one candidate vehicle which needs to cooperate with the vehicle to be changed to merge into the target lane from the merging point position from among vehicles located on the target lane, and determining a candidate vehicle sequence according to the second running data of each candidate vehicle; the candidate vehicle sequence is obtained by sorting each candidate vehicle according to the order of arrival at the merging point position;

[0008] predicting the gap distance between the first candidate vehicle and the second candidate vehicle when the first candidate vehicle arrives at the merging point position, to obtain a first predicted distance, for the first two candidate vehicles in the candidate vehicle sequence;

[0009] if the first predicted distance is less than the safety distance, sending a first guiding message to at least one of the first two candidate vehicles, the first guiding message being used to guide at least one of the first two candidate vehicles to adjust the driving speed.

[0010] The method for guiding the lane change of the vehicle provided in the application first determines the target lane and the merging point position of the vehicle to be changed lane according to the first running data of the vehicle to be changed lane and the pre-stored map data. Then, the candidate vehicle sequence that needs to cooperate with the vehicle to be changed lane on the target lane is determined, and the gap distance between the first candidate vehicle and the second candidate vehicle in the first two candidate vehicles in the candidate vehicle sequence when the first candidate vehicle reaches the merging point position is predicted to obtain the first predicted distance. Finally, the first predicted distance is compared with the safety distance. If the first predicted distance is greater than the safety distance, a lane change signal is directly sent to the vehicle to be changed lane, that is, the candidate vehicles in the candidate vehicle sequence do not need to cooperate with the vehicle to be changed lane. If the first predicted distance is less than the safety distance, first guiding information is sent to any candidate vehicle in the first two candidate vehicles to guide any candidate vehicle to adjust the driving speed so that the first predicted distance is greater than the safety distance, so that the vehicle to be changed lane is inserted into the gap between the first two candidate vehicles from the merging point position to change to the target lane in the shortest time, and the lane change time of the vehicle to be changed lane is maximally shortened, thereby improving the traffic flow rate.

[0011] In a possible implementation, the above determining the target lane and the merging point position of the vehicle to be changed lane according to the pre-acquired first running data of the vehicle to be changed lane and the pre-stored map data comprises:

[0012] The target lane is determined according to the driving heading angle, the turn signal information and the current position in the first running data and the map data, and the merging point position is determined according to the historical driving trajectory in the first running data and the target lane.

[0013] Or,

[0014] The target lane is determined according to the planned driving trajectory in the first running data and the map data, and the merging point position is determined according to the planned driving trajectory and the target lane.

[0015] In a possible implementation, the above determining the merging point position according to the historical driving trajectory in the first running data and the target lane comprises:

[0016] The predicted driving trajectory of the vehicle to be changed lane is determined according to the historical driving trajectory and the center line of the target lane.

[0017] The merging point position is determined according to the predicted driving trajectory and the target lane.

[0018] In a possible implementation, the above determining at least one candidate vehicle that needs to cooperate with the vehicle to be changed lane to merge into the target lane from the merging point position from the vehicles on the target lane and determining the candidate vehicle sequence according to the second running data of each candidate vehicle comprises:

[0019] obtaining second running data of vehicles located on the target lane and within a preset range of the merging point position;

[0020] determining the position of each vehicle according to the second running data of each vehicle;

[0021] determining the merging point position and the front-back order of the positions of the vehicles in the passing direction of the target lane;

[0022] If a vehicle is behind the merging point position, the vehicle is determined as a candidate vehicle;

[0023] determining the front-back order of the candidate vehicles reaching the merging point position according to the second running data of each candidate vehicle, to obtain a candidate vehicle sequence.

[0024] In a possible implementation, the above-mentioned prediction of the gap distance between the first candidate vehicle and the second candidate vehicle when the first candidate vehicle reaches the merging point position for the first two candidate vehicles in the candidate vehicle sequence includes:

[0025] determining the position of the second candidate vehicle when the first candidate vehicle in the first two candidate vehicles reaches the merging point position according to the current positions and speeds of the first two candidate vehicles;

[0026] obtaining the first predicted distance according to the merging point position and the position of the second candidate vehicle.

[0027] In a possible implementation, the above-mentioned method for guiding vehicles to change lanes further includes:

[0028] If at least one of the first two candidate vehicles does not execute the first guide message within a preset time, the gap distance of the candidate vehicles behind the first two candidate vehicles in the candidate vehicle sequence when reaching the merging point position is predicted;

[0029] In the case that the predicted gap distance is less than the safety distance, the first guide message is sent to the candidate vehicles behind the first two candidate vehicles, and in the case that the predicted gap distance is greater than the safety distance, the lane changing signal is sent to the vehicle to be changed.

[0030] In a possible implementation, the above-mentioned method for guiding vehicles to change lanes further includes:

[0031] In the case that each candidate vehicle does not execute the first guide message within a preset time, the second guide information is generated, and the second guide information is used to instruct the vehicle to be changed to preferentially merge into the target lane from the merging point position;

[0032] The second guide information is displayed, and the second guide information is sent to the candidate vehicles installed with the target communication device.

[0033] In a possible implementation, the method for guiding vehicles to change lanes further includes:

[0034] determining an intention request of each vehicle within the preset range of the merging point position, the intention request being used to indicate whether the vehicle has a lane-changing intention;

[0035] determining, according to each intention request, a vehicle to change lanes from each vehicle within the preset range of the merging point position.

[0036] In a possible implementation, each vehicle includes a first target vehicle and a second target vehicle, the first target vehicle being a vehicle installed with a target communication device, and the second target vehicle being a vehicle not installed with the target communication device.

[0037] The determining of the intention request of each vehicle within the preset range of the merging point position includes:

[0038] obtaining the intention request sent by the target communication device of each first vehicle within the preset range;

[0039] collecting running data of each second vehicle within the preset range, and obtaining the intention request of the second vehicle according to the running data of the second vehicle.

[0040] In a second aspect, the present application provides a device for guiding vehicles to change lanes, the device for guiding vehicles to change lanes including:

[0041] a first determining unit configured to determine a target lane to be merged into and a merging point position of a vehicle to change lanes according to first running data of the vehicle to change lanes obtained in advance and pre-stored map data;

[0042] a second determining unit configured to determine at least one candidate vehicle that needs to cooperate with the vehicle to change lanes to merge into the target lane from the merging point position from vehicles located on the target lane, and determine a candidate vehicle sequence according to second running data of each candidate vehicle; the candidate vehicle sequence is an order of each candidate vehicle according to a sequence of arrival at the merging point position;

[0043] a third determining unit configured to predict a gap distance between a first candidate vehicle and a second candidate vehicle when the first candidate vehicle arrives at the merging point position, to obtain a first predicted distance, the first candidate vehicle and the second candidate vehicle being the first two candidate vehicles in the candidate vehicle sequence;

[0044] a fourth determining unit configured to send a first guiding message to at least one candidate vehicle of the first two candidate vehicles if the first predicted distance is less than a safety distance, the first guiding message being used to guide the at least one candidate vehicle to adjust a driving speed.

[0045] In a possible implementation, the first determining unit is specifically configured to:

[0046] The target lane is determined according to the driving heading angle, the turn signal information and the current position in the first running data, and the map data, and the merging point position is determined according to the historical driving track in the first running data and the target lane.

[0047] Alternatively,

[0048] The target lane is determined according to the planned driving track in the first running data and the map data, and the merging point position is determined according to the planned driving track and the target lane.

[0049] In a possible implementation, the first determining unit is specifically configured to:

[0050] The predicted driving track of the vehicle to be changed lane is determined according to the historical driving track and the center line of the target lane, and the merging point position is determined according to the predicted driving track and the target lane.

[0051] In a possible implementation, the second determining unit is specifically configured to:

[0052] The second running data of a vehicle located on the target lane and within a preset range of the merging point position is acquired, the position of each vehicle is determined according to the second running data of each vehicle, the merging point position and the front-back order of the positions of the vehicles in the passing direction of the target lane are determined, and if a vehicle is behind the merging point position, the vehicle is determined as a candidate vehicle; the order of the candidate vehicles to reach the merging point position is determined according to the second running data of each candidate vehicle, and a candidate vehicle sequence is obtained.

[0053] In a possible implementation, the third determining unit is specifically configured to:

[0054] The position of the second candidate vehicle when the first candidate vehicle of the first two candidate vehicles reaches the merging point position is determined according to the current positions and speeds of the first two candidate vehicles, and the first predicted distance is obtained according to the merging point position and the position of the second candidate vehicle.

[0055] In a possible implementation, the device for guiding the vehicle to change lane further includes:

[0056] The fifth determining unit is configured to, if at least one candidate vehicle of the first two candidate vehicles does not execute the first guiding message within a preset time, predict the gap distance of a candidate vehicle located behind the first two candidate vehicles in the candidate vehicle sequence when the candidate vehicle reaches the merging point position.

[0057] The sixth determining unit is configured to send a first guiding message to the candidate vehicle behind the first two candidate vehicles when the predicted gap distance is less than the safety distance, and send a lane-changing signal to the vehicle to be changed lane when the predicted gap distance is greater than the safety distance.

[0058] In a possible implementation, the device for guiding vehicles to change lanes further includes a seventh determining unit configured to generate second guiding information when each candidate vehicle does not execute the first guiding message within a preset time, the second guiding information being used to instruct the vehicle to be changed lane to preferentially merge into the target lane from the merging point position.

[0059] The display unit is configured to display the second guiding information and send the second guiding information to the candidate vehicle in which the target communication device is installed.

[0060] In a possible implementation, the device for guiding vehicles to change lanes further includes an eighth determining unit configured to determine an intention request of each vehicle within a preset range of the merging point position, the intention request being used to instruct whether the vehicle has a lane-changing intention, and determine the vehicle to be changed lane from each vehicle according to each intention request.

[0061] In a possible implementation, the eighth determining unit is specifically configured to:

[0062] acquire the intention request sent by the target communication device of each first vehicle within the preset range, and acquire operation data of each second vehicle within the preset range and obtain the intention request of the second vehicle according to the operation data of the second vehicle.

[0063] In a third aspect, the present application provides a device for guiding vehicles to change lanes, which comprises a processor and a memory. The memory is used to store computer program codes, and the computer program codes comprise computer instructions. When the processor executes the computer instructions, the device for guiding vehicles to change lanes executes the method for guiding vehicles to change lanes as in the first aspect and any possible implementation thereof.

[0064] In a fourth aspect, the present application provides a computer readable storage medium, which stores computer instructions. When the computer instructions run on the device for guiding vehicles to change lanes, the device for guiding vehicles to change lanes executes the method for guiding vehicles to change lanes as in the first aspect or any possible implementation of the first aspect. BRIEF DESCRIPTION OF DRAWINGS

[0065] Figure 1 A structural schematic diagram of a system for guiding vehicles to change lanes provided by an embodiment of the present application;

[0066] Figure 2 A structural schematic diagram of a device for guiding vehicles to change lanes provided by an embodiment of the present application;

[0067] Figure 3 One of the flowcharts of the method for guiding the vehicle to change lanes provided by the embodiment of the present application;

[0068] Figure 4 The schematic diagram for guiding the vehicle to change lanes to the target lane in the embodiment of the present application;

[0069] Figure 5 The second flowchart of the method for guiding the vehicle to change lanes provided by the embodiment of the present application;

[0070] Figure 6 The third flowchart of the method for guiding the vehicle to change lanes provided by the embodiment of the present application;

[0071] Figure 7 The fourth flowchart of the method for guiding the vehicle to change lanes provided by the embodiment of the present application;

[0072] Figure 8 The fifth flowchart of the method for guiding the vehicle to change lanes provided by the embodiment of the present application;

[0073] Figure 9 The second structural schematic diagram of the device for guiding the vehicle to change lanes provided by the embodiment of the present application;

[0074] Figure 10 The third structural schematic diagram of the device for guiding the vehicle to change lanes provided by the embodiment of the present application. DETAILED DESCRIPTION

[0075] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0076] Hereinafter, the terms “first” and “second” are only used for description purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with “first” and “second” can explicitly or implicitly include one or more of the features. In the description of the embodiments of the present disclosure, unless otherwise specified, the meaning of “a plurality of” is two or more. In addition, the use of “based on” or “according to” means openness and inclusiveness, because the process, step, calculation or other action “based on” or “according to” one or more stated conditions or values can be based on additional conditions or values beyond the stated values in practice.

[0077] In order to shorten the lane changing time of the vehicle and improve the traffic flow rate, the embodiment of the present application provides a method and device for guiding the lane changing of the vehicle and a storage medium. First, according to the first running data of the vehicle to be changed and the pre-stored map data, the target lane and the position of the merging point of the vehicle to be changed are determined. Then, the candidate vehicle sequence that needs to cooperate with the vehicle to be changed on the target lane is determined, and the gap distance between the first candidate vehicle and the second candidate vehicle in the first candidate vehicle when the first candidate vehicle reaches the merging point position is predicted to obtain the first predicted distance. Finally, the first predicted distance is compared with the safety distance. If the first predicted distance is greater than the safety distance, a lane changing signal is directly sent to the vehicle to be changed, that is, at this time, the candidate vehicles in the candidate vehicle sequence do not need to cooperate with the vehicle to be changed. If the first predicted distance is less than the safety distance, first guiding information is sent to any one of the first two candidate vehicles to guide any one of the candidate vehicles to adjust the driving speed, so that the first predicted distance is greater than the safety distance, thereby facilitating the vehicle to be changed to insert into the gap between the first two candidate vehicles from the merging point position and change to the target lane. If the first candidate vehicle does not execute the first guiding information, it indicates that the first candidate vehicle does not cooperate with the vehicle to be changed, at this time, the gap of the candidate vehicles behind the first two candidate vehicles in the candidate vehicle sequence when reaching the merging point position is predicted, and the predicted distance is compared with the safety distance again, and according to the comparison result, the above different instructions are executed. From the above process, it can be seen that the lane changing method for guiding the vehicle in the embodiment of the present application fully considers the gap distance between the adjacent two vehicles in the candidate vehicle sequence and the cooperation degree of each vehicle, obtains the optimal guiding strategy to guide the vehicle to be changed to change to the target lane, and maximally shortens the lane changing time of the vehicle, thereby improving the traffic flow rate.

[0078] The method for guiding the lane changing of the vehicle provided by the embodiment of the present application can be applied to a system for guiding the lane changing of the vehicle. Figure 1 A structure of the system for guiding the lane changing of the vehicle is shown. As shown in the figure, Figure 1 The system for guiding the lane changing of the vehicle can include a plurality of first vehicles 11 and a roadside device 12. Each first vehicle 11 establishes a connection with the roadside device 12 through wireless communication.

[0079] The first vehicle 11 is installed with a target communication device, which is used to send the first running data and the intention request to the roadside device 12 through the target communication device, and receive the guiding information or the lane changing signal of the roadside device 12.

[0080] For example, the target communication device can be a Vehicle to Everything device (V2X device).

[0081] The roadside device 12 is installed with a communication device cooperating with the target communication device, and is configured to receive the first operation data and the intention request through the communication device, process the first operation data and the intention request, generate the guiding information or the lane-changing information, and send the lane-changing information to the vehicle to be changed lane in the first vehicle 11, or send the guiding information to the candidate vehicle in the first vehicle 11 to guide the candidate vehicle to adjust the driving speed, so that the vehicle to be changed lane changes to the target lane.

[0082] For example, the roadside device 12 can be a roadside device.

[0083] Optionally, the system for guiding vehicle lane change can further include a second vehicle. The second vehicle is a vehicle without the target communication device. The roadside device 12 is further installed with a sensing device configured to collect second operation data of the second vehicle.

[0084] For example, the sensing device can include a camera, a radar, and various sensors.

[0085] Figure 2 For example, the guiding vehicle lane change device can include a processor 21, a memory 22, a communication interface 23, and a bus 24. Figure 2 As shown in the figure, the guiding vehicle lane change device can include a processor 21, a memory 22, a communication interface 23, and a bus 24. The processor 21, the memory 22, and the communication interface 23 can be connected through the communication bus 24.

[0086] The processor 21 is the control center of the guiding vehicle lane change device, and can be one processor 21 or a plurality of processing elements. For example, the processor 21 can be a general central processing unit (CPU), or other general processors 21, etc. The general processor 21 can be a microprocessor 21 or any conventional processor 21, etc.

[0087] As an embodiment, the processor 21 can include one or more CPUs, for example, the CPUs 0 and 1 shown in the figure. Figure 2

[0088] ​The memory 22 can be a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (RAM) or other type of dynamic storage device that can store information and instructions, an electrically erasable programmable read-only memory (EEPROM), a magnetic disk storage medium or other magnetic storage device, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited thereto.

[0089] In a possible implementation, the memory 22 can exist independently of the processor 21, and the memory 22 can be connected to the processor 21 through the bus 24, for storing instructions or program code. When the processor 21 invokes and executes the instructions or program code stored in the memory 22, the method for guiding a vehicle to change lanes provided in the embodiments of the present application can be implemented.

[0090] In another possible implementation, the memory 22 can also be integrated with the processor 21.

[0091] The communication interface 23 is used for connecting the device for guiding a vehicle to change lanes to other devices through a communication network, which can be an Ethernet, a radio access network (RAN), a wireless local area network (WLAN), etc. The communication interface 23 can include a receiving unit for receiving data, and a sending unit for sending data.

[0092] The bus 24 can be an Industry Standard Architecture (ISA) bus 24, a Peripheral Component Interconnect (PCI) bus 24, an Extended Industry Standard Architecture (EISA) bus 24, etc. The bus 24 can be divided into an address bus 24, a data bus 24, a control bus 24, etc. For ease of representation, Figure 2 In the drawings, only one thick line is used to represent the bus 24, but it does not mean that there is only one bus 24 or only one type of bus 24.

[0093] It should be noted that Figure 2 The structure shown in the drawings does not constitute a limitation on the device for guiding a vehicle to change lanes, exceptFigure 2 In addition to the components shown, the device for guiding the vehicle to change lanes can include more or fewer of the components shown, or combinations of certain components, or different arrangements of the components.

[0094] The execution subject of the method for guiding the vehicle to change lanes provided by the embodiments of the present application is the device for guiding the vehicle to change lanes. The device for guiding the vehicle to change lanes can be a roadside device, can be a CPU in the roadside device, or can be a control module for guiding the vehicle to change lanes in the roadside device. The method for guiding the vehicle to change lanes provided by the present application is described by taking the terminal device as an example.

[0095] The method for guiding the vehicle to change lanes provided by the embodiments of the present application is described below with reference to the accompanying drawings.

[0096] As shown in the figure, Figure 3 The method for guiding the vehicle to change lanes provided by the embodiments of the present application includes the following steps S1-S4.

[0097] Step S1. According to the first running data of the vehicle to be changed lanes and the pre-stored map data, the target lane and the merging point position of the vehicle to be changed lanes are determined.

[0098] The first running data can be data that can feedback all information of the vehicle to be changed lanes during the driving or running process of the vehicle to be changed lanes. For example, the first running data can include: vehicle speed, driving heading angle, turn signal information, current position, historical driving trajectory, etc. The map data can indicate road information. For example, lane line information, lane identification information, etc. The lane to be changed here includes: changing lanes on the same road, or in the scene of merging from a ramp to a main road, the vehicle merging into one lane of the main road.

[0099] It should be understood that the merging point position is a range, not a certain coordinate point.

[0100] In actual application, the vehicle to be changed lanes can be an unmanned vehicle or a manned vehicle. The steps of determining the target lane and the merging point position are different for different types of vehicles, which are described below.

[0101] In one embodiment, when the vehicle to be changed lanes is an unmanned vehicle, the above step S1 can include: determining the target lane according to the driving heading angle, the turn signal information and the current position in the first running data, and the map data, and determining the merging point position according to the historical driving trajectory in the first running data and the target lane.

[0102] In the determination of the target lane, first, the current lane where the lane-changing vehicle is located is determined according to the current position of the lane-changing vehicle and the map data, and the adjacent lane of the current lane is taken as a candidate lane to be changed.

[0103] In the determination of the merge-in point position according to the historical driving trajectory in the first running data and the target lane, the following steps can be included: first, a predicted driving trajectory of the lane-changing vehicle is determined according to the historical driving trajectory and the center line of the target lane. Then, the merge-in point position is determined according to the predicted driving trajectory and the target lane.

[0104] For example, the optimal lane-changing curve calculation (fitting) method can be used to obtain the predicted driving trajectory according to the historical driving trajectory and the center line of the target lane. This method is a prior art and will not be described here. The center line of the target lane can be determined from the map data.

[0105] In another embodiment, when the lane-changing vehicle is a manned vehicle, the above step S1 can include: determining the target lane according to the planned driving trajectory in the first running data and the map data, and determining the merge-in point position according to the planned driving trajectory and the target lane.

[0106] Step S2. From the vehicles located on the target lane, at least one candidate vehicle that needs to cooperate with the lane-changing vehicle to merge into the target lane from the merge-in point position is determined, and a candidate vehicle sequence is determined according to the second running data of each candidate vehicle.

[0107] The candidate vehicle sequence is obtained by sorting each candidate vehicle according to the order of arrival at the merge-in point position.

[0108] Step S3. For the first two candidate vehicles in the candidate vehicle sequence, the gap distance between the first candidate vehicle and the second candidate vehicle when the first candidate vehicle arrives at the merge-in point position is predicted to obtain a first predicted distance.

[0109] Figure 4 A schematic diagram of guiding a vehicle to change lanes to a target lane in an embodiment of the present application is shown. As shown in Figure 4 In the process of guiding the lane-changing vehicle on the ramp to the target lane of the main road by the roadside device, when the first candidate vehicle in the first two vehicles in the candidate vehicle sequence arrives at the merge-in point position, the size of the first predicted distance between the first candidate vehicle and the second candidate vehicle is related to whether the first candidate vehicle and / or the second candidate vehicle needs to be guided.

[0110] Step S4: If the first predicted distance is less than the safety distance, a first guidance message is sent to at least one of the first two candidate vehicles.

[0111] The safety distance is greater than the length of the vehicle to be changed, and the length of the vehicle to be changed can be obtained from the first operating data of the vehicle to be changed. The first guidance message is used to guide at least one of the first two candidate vehicles to adjust its speed. When the first predicted distance is less than the safety distance, the first candidate vehicle of the first two candidate vehicles can be guided to accelerate and / or the second candidate vehicle can be guided to decelerate to increase the first predicted distance, allowing the vehicle to smoothly insert itself from the merging point into the gap between the first two candidate vehicles, thereby smoothly changing lanes to the target lane.

[0112] Optionally, if the first predicted distance is greater than the safety distance, a lane change signal is sent to the vehicle to change lanes, so as to prompt the vehicle to change lanes to pass the merging point as soon as possible and insert into the gap between the two candidate vehicles.

[0113] The method for guiding a vehicle lane change provided by an embodiment of the present invention first determines the target lane and the merging point into which the vehicle is to merge, based on first operating data of the vehicle to be changed and pre-stored map data. Then, a candidate vehicle sequence is determined for the target lane, and the gap distance between the first candidate vehicle and the second candidate vehicle in the candidate vehicle sequence when the first candidate vehicle arrives at the merging point is predicted to obtain a first predicted distance. Finally, the first predicted distance is compared with a safety distance. If the first predicted distance is greater than the safety distance, a lane change signal is directly sent to the vehicle to be changed, i.e., no candidate vehicles in the candidate vehicle sequence need to cooperate with the vehicle to be changed. If the first predicted distance is less than the safety distance, a first guidance message is sent to any of the first two candidate vehicles to guide the candidate vehicle to adjust its speed so that the first predicted distance exceeds the safety distance. This allows the vehicle to change lanes from the merging point to the target lane in the shortest possible time, inserting itself into the gap between the first two candidate vehicles, thereby minimizing the lane change time for the vehicle to be changed, thereby improving traffic flow.

[0114] Combine Figure 3 ,like Figure 5 As shown, the above step S2 may include the following steps S21 to S25.

[0115] Step S21 . Acquire second operating data of a vehicle located in the target lane and within a preset range of the merging point.

[0116] The second operating data may be data that can provide feedback on all information about the vehicle to be changed lanes during the vehicle's driving or operation in the target lane. For example, the second operating data may include vehicle speed, heading angle, turn signal information, current location, and historical driving trajectory.

[0117] Step S22: Determine the position of each vehicle based on the second operating data of each vehicle.

[0118] Step S23: Determine the position of the merging point and the order of the positions of the vehicles in the direction of travel of the target lane.

[0119] Step S24: If the vehicle is behind the merging point, the vehicle is determined as a candidate vehicle.

[0120] If a vehicle in the target lane is behind the merging point in the direction of travel of the target lane, meaning it has not yet passed the merging point, then, when it reaches the merging point some time in the future, it will need to cooperate with the vehicle to change lanes from the merging point to the target lane.

[0121] Step S25 . Determine the order in which the candidate vehicles arrive at the merging point based on the second operating data of the candidate vehicles, and obtain a candidate vehicle sequence.

[0122] According to the current position and speed of each candidate vehicle, the predicted time for each candidate vehicle to arrive at the merging point is determined, and the candidate vehicles are arranged in ascending order according to the predicted time to obtain a candidate vehicle sequence.

[0123] Combine Figure 5 ,like Figure 6 As shown, the above step S3 may include the following steps S31 and S32.

[0124] Step S31: Determine the position of the second candidate vehicle when the first candidate vehicle among the first two candidate vehicles arrives at the merging point based on the current positions and speeds of the first two candidate vehicles.

[0125] In actual application, first, the time required for the first candidate vehicle to reach the merging point is determined based on the current position and speed of the first candidate vehicle. Then, the position of the second candidate vehicle is determined based on the current position and speed of the second candidate vehicle and the time required for the first candidate vehicle to reach the merging point.

[0126] Step S32: Obtain a first predicted distance based on the position of the merging point and the position of the second candidate vehicle.

[0127] Combine Figure 6 ,like Figure 7As shown, the method for guiding the vehicle to change lanes provided by the embodiment of the application further includes steps S5 and S6.

[0128] Step S5. If at least one of the first two candidate vehicles does not execute the first guiding message within the preset time, the gap distance of the candidate vehicle after the first two candidate vehicles in the candidate vehicle sequence when reaching the merging point position is predicted.

[0129] If at least one of the first two candidate vehicles does not execute the first guiding message within the preset time, it indicates that the first two candidate vehicles do not cooperate with this guidance, or the first two candidate vehicles do not install the target communication device and cannot receive the first guiding information. At this time, the gap distance of the candidate vehicle after the first two candidate vehicles when reaching the merging point position can be continuously predicted to determine whether the vehicle to be changed can change lanes to the target lane from the gap of the subsequent candidate vehicle.

[0130] Optionally, if each candidate vehicle does not execute the first guiding information within the preset time, the method for guiding the vehicle to change lanes provided by the embodiment of the application can further include the following steps. First, in the case that each candidate vehicle does not execute the first guiding message within the preset time, the second guiding information is generated. The second guiding information is used to indicate that the vehicle to be changed preferentially merges into the target lane from the merging point position. Then, the second guiding information is displayed and sent to the candidate vehicle installed with the target communication device.

[0131] In actual application, if each candidate vehicle does not execute the first guiding message within the preset time, it indicates that each candidate vehicle cannot cooperate with the vehicle to be changed. At this time, in order to avoid the waiting time of the vehicle to be changed being too long, which leads to traffic congestion in the current lane of the vehicle to be changed, the second guiding information indicating that the vehicle to be changed preferentially merges into the target lane from the merging point position can be generated. That is, the road right of the vehicle to be changed is improved.

[0132] Step S6. In the case that the predicted gap distance is less than the safety distance, the first guiding message is sent to the candidate vehicle after the first two candidate vehicles, and in the case that the predicted gap distance is greater than the safety distance, the lane change signal is sent to the vehicle to be changed.

[0133] In actual application, if the first predicted distance is greater than the safety distance, a lane change signal is directly sent to the vehicle to be changed lane, that is, the candidate vehicles in the candidate vehicle sequence do not need to cooperate with the vehicle to be changed lane. If the first predicted distance is less than the safety distance, first guide information is sent to any of the front two candidate vehicles to guide any of the candidate vehicles to adjust the driving speed, so that the first predicted distance is greater than the safety distance, thereby facilitating the vehicle to be changed lane to insert into the gap between the front two candidate vehicles from the merging point position and change to the target lane. If the first candidate vehicle does not execute the first guide information, it indicates that the first candidate vehicle does not cooperate with the vehicle to be changed lane, at this time, the gap of the candidate vehicles in the candidate vehicle sequence after the front two candidate vehicles when reaching the merging point position is predicted, and the predicted distance is compared with the safety distance again, and different instructions are executed according to the comparison result. From the above process, it can be seen that the method for guiding the vehicle to change lane in the embodiment of the present application fully considers the gap distance between the adjacent two candidate vehicles in the candidate vehicle sequence and the cooperation degree of each candidate vehicle, obtains the optimal guide strategy to guide the vehicle to be changed lane to change to the target lane, and maximally shortens the lane changing time of the vehicle, thereby improving the traffic flow rate.

[0134] In combination Figure 7 As shown in the method for guiding the vehicle to change lane provided by the embodiment of the present application further comprises the following steps S7 and S8. Figure 8

[0135] Step S7. Determine the intention request of each vehicle in the preset range of the merging point position, and the intention request is used to indicate whether the vehicle has a lane change intention.

[0136] In actual application, the vehicles in the preset range of the merging point position can be divided into first target vehicles and second target vehicles according to whether the target communication equipment is installed. The first target vehicle is a vehicle with the target communication equipment, and the second target vehicle is a vehicle without the target communication equipment. The first target vehicle can directly communicate with the roadside equipment, while the second target vehicle cannot communicate with the roadside equipment. Therefore, the methods for determining the intention request of the first target vehicle and the second target vehicle are different.

[0137] Optionally, for the first target vehicle, the intention request and the running data sent by the target communication equipment of each first target vehicle in the preset range can be directly obtained. For the second target vehicle, the roadside equipment can collect the running data of each second target vehicle in the preset range through the perception equipment installed, and obtain the intention request of the second target vehicle according to the running data of the second target vehicle.

[0138] ​It can be seen that the intention request of the first target vehicle is directly obtained from the first target vehicle, and the intention request of the second target vehicle needs to be obtained by predicting according to the operation data of the second target vehicle.

[0139] Step S8. Determine the lane-changing vehicle from each vehicle in the preset range of the merging point position according to each intention request.

[0140] It should be noted that the lane-changing vehicle can be the first target vehicle or the second target vehicle.

[0141] To sum up, the method for guiding the vehicle to change lanes provided by the embodiment of the application not only considers whether the vehicle in the preset range of the merging point position is equipped with a target communication device (V2X device), but also considers whether the candidate vehicle on the target lane will cooperate with the lane-changing vehicle, and different coping strategies are proposed. That is, the scheme of the embodiment of the application comprehensively considers different situations to guide the lane-changing vehicle and / or the candidate vehicle, shortens the lane-changing time of the vehicle, and thus improves the traffic flow rate.

[0142] The above mainly introduces the scheme provided by the embodiment of the application from the perspective of the device. It can be understood that the device contains the corresponding hardware structure and / or software module for executing each function in order to realize the above functions. Those skilled in the art should easily realize that the algorithm steps of each example described in combination with the embodiments disclosed in the present text can be realized in the form of hardware or the combination of hardware and computer software. Whether a certain function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical scheme. Professional technicians can use different methods to realize the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0143] Figure 9 A possible composition schematic diagram of the device 900 for guiding the vehicle to change lanes involved in the above embodiment is shown, as shown in the figure, the device 900 for guiding the vehicle to change lanes can include a first determination unit 901, a second determination unit 902, a third determination unit 903 and a fourth determination unit 904. Figure 9

[0144] ​The first determining unit 901 is configured to determine a target lane and an entry point position of a vehicle to be changed lane according to first running data of the vehicle to be changed lane and pre-stored map data; the second determining unit 902 is configured to determine at least one candidate vehicle which needs to cooperate with the vehicle to be changed lane to enter the target lane from the entry point position from vehicles located on the target lane, and determine a candidate vehicle sequence according to second running data of each candidate vehicle; the candidate vehicle sequence is obtained by sorting each candidate vehicle according to the order of arrival at the entry point position; the third determining unit 903 is configured to predict a gap distance between a first candidate vehicle and a second candidate vehicle in the candidate vehicle sequence when the first candidate vehicle arrives at the entry point position, and obtain a first predicted distance; and the fourth determining unit 904 is configured to send a first guidance message to at least one candidate vehicle in the first two candidate vehicles if the first predicted distance is less than a safety distance, and the first guidance message is used to guide at least one candidate vehicle in the first two candidate vehicles to adjust a driving speed.

[0145] Optionally, the first determining unit 901 is specifically configured to:

[0146] The target lane is determined according to a driving heading angle, a turn signal information and a current position in the first running data and the map data, and the entry point position is determined according to a historical driving track in the first running data and the target lane. Alternatively, the target lane is determined according to a planned driving track in the first running data and the map data, and the entry point position is determined according to the planned driving track and the target lane.

[0147] Optionally, the first determining unit 901 is specifically configured to:

[0148] The predicted driving track of the vehicle to be changed lane is determined according to a center line of the historical driving track and the target lane, and the entry point position is determined according to the predicted driving track and the target lane.

[0149] Optionally, the second determining unit 902 is specifically configured to:

[0150] The second running data of a vehicle located on the target lane and within a preset range of the entry point position is obtained; the position of each vehicle is determined according to the second running data of each vehicle; the entry point position and the front-rear order of the position of each vehicle in the passing direction of the target lane are determined; if the vehicle is behind the entry point position, the vehicle is determined as a candidate vehicle; the order of arrival of each candidate vehicle at the entry point position is determined according to the second running data of each candidate vehicle, and the candidate vehicle sequence is obtained.

[0151] Optionally, the third determining unit 903 is specifically configured to:

[0152] According to the current positions and speeds of the first two candidate vehicles, a position of the second candidate vehicle when the first candidate vehicle of the first two candidate vehicles reaches the merging point position is determined; and a first predicted distance is obtained according to the merging point position and the position of the second candidate vehicle.

[0153] Figure 10 Another possible component diagram of the device 900 for guiding vehicles to change lanes involved in the above embodiments is shown, as shown in Figure 10 The device 900 for guiding vehicles to change lanes can further include a fifth determining unit 1001, a sixth determining unit 1002, a seventh determining unit 1003, a display unit 1004, and an eighth determining unit 1005.

[0154] Optionally, the fifth determining unit 1001 is configured to predict a gap distance of a candidate vehicle located behind the first two candidate vehicles in the candidate vehicle sequence when the candidate vehicle reaches the merging point position, if at least one of the first two candidate vehicles does not execute the first guide message within a preset time; the sixth determining unit 1002 is configured to send the first guide message to the candidate vehicle located behind the first two candidate vehicles in the case that the predicted gap distance is less than the safety distance, and send a lane changing signal to the vehicle to be changed in the case that the predicted gap distance is greater than the safety distance; the seventh determining unit 1003 is configured to generate a second guide message in the case that each candidate vehicle does not execute the first guide message within a preset time, the second guide message being used to instruct the vehicle to be changed to preferentially merge into the target lane from the merging point position; the display unit 1004 is configured to display the second guide message and send the second guide message to the candidate vehicle installed with the target communication device; and the eighth determining unit 1005 is configured to determine an intention request of each vehicle within a preset range of the merging point position, the intention request being used to indicate whether the vehicle has a lane changing intention; and determine the vehicle to be changed from each vehicle according to each intention request.

[0155] Optionally, the eighth determining unit 1005 is specifically configured to:

[0156] acquire the intention request sent by the target communication device of each first vehicle within a preset range; and collect running data of each second vehicle within the preset range, and obtain the intention request of the second vehicle according to the running data of the second vehicle.

[0157] Of course, the device for guiding vehicles to change lanes provided by the embodiments of the present application includes but is not limited to the above modules.

[0158] In actual implementation, the first determining unit 901, the second determining unit 902, the third determining unit 903, the fourth determining unit 904, the fifth determining unit 1001, the sixth determining unit 1002, the seventh determining unit 1003, the display unit 1004, and the eighth determining unit 1005 can be implemented byFigure 2 The processor 21 shown calls program codes in the memory 22 to implement. Its specific execution process can refer to the description of the method part of the method for guiding the vehicle to change lanes shown above, which will not be repeated here. Figure 3 、 Figures 5 to 8 The method part of guiding the vehicle to change lanes shown above, which will not be repeated here.

[0159] Another embodiment of the present application also provides a computer readable storage medium, which stores computer instructions, when the computer instructions run on the device for guiding the vehicle to change lanes, make the device for guiding the vehicle to change lanes execute each step in the method flow shown in the method embodiment described above.

[0160] Another embodiment of the present application also provides a chip system, which is applied to the device for guiding the vehicle to change lanes. The chip system includes one or more interface circuits and one or more processors 21. The interface circuit and the processor 21 are interconnected through a line. The interface circuit is used to receive signals from the memory 22 of the device for guiding the vehicle to change lanes, and send the signals to the processor 21, the signals including the computer instructions stored in the memory 22. When the processor 21 executes the computer instructions, the device for guiding the vehicle to change lanes executes each step in the method flow shown in the method embodiment described above.

[0161] In another embodiment of the present application, a computer program product is also provided, which includes instructions, when the instructions run on the device for guiding the vehicle to change lanes, make the device for guiding the vehicle to change lanes execute each step in the method flow shown in the method embodiment described above.

[0162] In the above embodiments, all or part of the embodiments can be implemented by software, hardware, firmware or any combination thereof. When implemented by software, all or part of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer executes the computer instructions, all or part of the processes or functions according to the embodiments of the present application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center through wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) mode. The computer-readable storage medium can be any available medium that can be accessed by a computer or include one or more data storage devices such as servers, data centers, etc. that can be integrated with the medium. The available medium can be a magnetic medium (such as a floppy disk, a hard disk, a magnetic tape), an optical medium (such as a DVD), or a semiconductor medium (such as a solid state disk (SSD)), etc.

[0163] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto, any change or replacement within the technical scope disclosed by the present application should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method of guiding a vehicle to change lanes, characterized in that, The method comprises the following steps: determining a target lane and an entry point position into which a vehicle to be changed lane is to be merged according to first running data of the vehicle to be changed lane and pre-stored map data; determining at least one candidate vehicle which needs to cooperate with the vehicle to be changed lane to merge into the target lane from the entry point position from vehicles located on the target lane, and determining a candidate vehicle sequence according to second running data of each candidate vehicle; the candidate vehicle sequence is obtained by sorting each candidate vehicle according to the order of arrival at the entry point position; predicting a gap distance between a first candidate vehicle and a second candidate vehicle in the candidate vehicle sequence when the first candidate vehicle arrives at the entry point position, to obtain a first predicted distance; if the first predicted distance is less than a safety distance, sending a first guidance message to at least one of the first two candidate vehicles, the first guidance message being used to guide at least one of the first two candidate vehicles to adjust the driving speed; if at least one of the first two candidate vehicles does not execute the first guidance message within a preset time, predicting a gap distance of a candidate vehicle located behind the first two candidate vehicles in the candidate vehicle sequence when the candidate vehicle arrives at the entry point position; in the case that the predicted gap distance is less than the safety distance, sending the first guidance message to the candidate vehicle located behind the first two candidate vehicles, and in the case that the predicted gap distance is greater than the safety distance, sending a lane change signal to the vehicle to be changed lane.

2. The method of guiding a vehicle to change lanes according to claim 1, wherein, The method comprises the following steps: determining the target lane according to a driving heading angle, a turn signal information and a current position in the first running data, the map data, and determining the entry point position according to a historical driving trajectory in the first running data and the target lane; or determining the target lane according to a planned driving trajectory in the first running data and the map data, and determining the entry point position according to the planned driving trajectory and the target lane.

3. The method of guiding a vehicle to change lanes according to claim 1 or 2, characterized in that, The method comprises the following steps: obtaining second running data of a vehicle located on the target lane and within a preset range of the entry point position; determining the position of each vehicle according to the second running data of each vehicle; determining the entry point position and the front-back order of the position of each vehicle in the passing direction of the target lane; if the vehicle is behind the entry point position, the vehicle is determined as the candidate vehicle; According to the second running data of each of the candidate vehicles, a sequence of the candidate vehicles is determined according to the order of arrival at the merging point position.

4. The method of guiding a vehicle to change lanes according to claim 1 or 2, characterized in that, The first prediction distance is determined according to the current positions and speeds of the first two candidate vehicles, and the position of the second candidate vehicle when the first candidate vehicle arrives at the merging point position. The first prediction distance is determined according to the merging point position and the position of the second candidate vehicle. The method for guiding vehicles to change lanes further comprises:

5. The method of guiding a vehicle to change lanes according to claim 1 or 2, characterized in that, In the case that each candidate vehicle does not execute the first guide message within a preset time, second guide information is generated, the second guide information being used to instruct the vehicle to be changed to preferentially merge into the target lane from the merging point position; The second guide information is displayed and sent to the candidate vehicle with the target communication device. The method for guiding vehicles to change lanes further comprises:

6. The method of guiding a vehicle to change lanes according to claim 1 or 2, characterized in that, An intention request of each vehicle within a preset range of the merging point position is determined, the intention request being used to indicate whether the vehicle has an intention to change lanes; According to each of the intention requests, the vehicle to be changed is determined from each vehicle within the preset range of the merging point position. The vehicles within the preset range of the merging point position include a first target vehicle and a second target vehicle, the first target vehicle being a vehicle with the target communication device, and the second target vehicle being a vehicle without the target communication device; 7. The method of guiding a vehicle to change lanes according to claim 6, wherein, The determination of the intention request of each vehicle within the preset range of the merging point position comprises: An intention request sent by the target communication device of each first target vehicle within the preset range is acquired; Running data of each second target vehicle within the preset range is collected, and the intention request of the second target vehicle is determined according to the running data of the second target vehicle. Comprise:

8. An apparatus for guiding a vehicle to change lanes, characterized by The first determination unit is configured to determine the target lane and the merging point position to be merged into by the vehicle to be changed according to the first running data of the vehicle to be changed and pre-stored map data; The second determination unit is configured to determine at least one candidate vehicle which needs to cooperate with the vehicle to be changed to merge into the target lane from the merging point position from vehicles located on the target lane, and determine a sequence of candidate vehicles according to second running data of each of the candidate vehicles; the sequence of candidate vehicles is obtained by sorting each of the candidate vehicles according to the order of arrival at the merging point position; The third determination unit is configured to predict a first prediction distance between a first candidate vehicle and a second candidate vehicle in the first two candidate vehicles in the sequence of candidate vehicles when the first candidate vehicle arrives at the merging point position. ​ The fourth determining unit is configured to send a first guiding message to at least one of the first two candidate vehicles if the first predicted distance is less than the safety distance, the first guiding message being used to guide the at least one of the first two candidate vehicles to adjust a driving speed; The fifth determining unit is configured to predict a gap distance of a candidate vehicle located behind the first two candidate vehicles in the candidate vehicle sequence when reaching the merging point position if the first guiding message is not executed by at least one of the first two candidate vehicles within a preset time; The sixth determining unit is configured to send the first guiding message to the candidate vehicle located behind the first two candidate vehicles if the predicted gap distance is less than the safety distance, and send a lane-changing signal to the vehicle to be changed lane if the predicted gap distance is greater than the safety distance.

9. An apparatus for guiding a vehicle to change lanes, characterized by The device for guiding a vehicle to change lane comprises a processor and a memory; the memory is used to store computer program codes, the computer program codes comprising computer instructions; when the processor executes the computer instructions, the device for guiding a vehicle to change lane executes the method for guiding a vehicle to change lane according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer instructions are used to make the device for guiding a vehicle to change lane execute the method for guiding a vehicle to change lane according to any one of claims 1 to 7 when the computer instructions are run on the device for guiding a vehicle to change lane.

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