Method and device for avoiding lane changing on a solid line

Abstract

The present application discloses a method and device for a vehicle to avoid lane changes on a solid line, wherein the method comprises: obtaining a target file for a solid line lane change caused by changing from a variable lane to an immutable lane; analyzing the front and rear signal change information at the time point when the solid line lane change occurs according to the target file; generating a back-injection signal and a back-injection algorithm based on a preset judgment logic and the front and rear signal change information, and after importing the target file into an integrated problem software data playback tool, executing the back-injection algorithm based on the back-injection signal until the problem software is repaired. The embodiment of the present application can analyze the front and rear signal change information at the time point when the solid line lane change occurs, and then generate a back-injection signal and a back-injection algorithm with the judgment logic, and after importing the target file into the integrated problem software data playback tool, executing the back-injection algorithm based on the back-injection signal until the problem software is repaired, thereby improving the applicability of the system and improving the safety and reliability of the vehicle's automatic driving.

Description

Technical Field

[0001] The present application relates to the field of assisted driving technology, and in particular to a method and device for a vehicle to avoid lane changing on a solid line. Background Art

[0002] In the related technology, scene data of a vehicle using autonomous driving technology while driving on the road, including defect scenes, is obtained, and the defect scene data is intercepted from the above scene data. The data of the above defect scene is imported into a simulation platform, and the simulation platform runs the updated autonomous driving software based on the defect scene data to obtain the operation results of the updated autonomous driving system in the defect scene.

[0003] However, the related technology can only capture the scene where the problem occurs and run the updated system on a simulation platform. The system has low applicability, reduces the safety and reliability of vehicle autonomous driving, and cannot meet the driving needs of users, which needs to be solved urgently. Summary of the Invention

[0004] The present application provides a method and device for a vehicle to avoid lane changing on a solid line, in order to solve the technical problem that the related art can only intercept the scene where the problem occurs and run the updated system on a simulation platform. The system has low applicability, reduces the safety and reliability of the vehicle's automatic driving, and cannot meet the user's driving needs.

[0005] A first aspect of the present application provides a method for a vehicle to avoid solid line lane changes, comprising the following steps: obtaining a target file for a solid line lane change caused by a variable lane being changed into an immutable lane; analyzing front and rear signal change information at the time point of the solid line lane change according to the target file; generating a back-injection signal and a back-injection algorithm based on a preset judgment logic and the front and rear signal change information, and after importing the target file into an integrated problem software data playback tool, executing the back-injection algorithm based on the back-injection signal until the problem software is repaired.

[0006] According to the above-mentioned technical means, the embodiment of the present application can analyze the signal change information before and after the time point when the solid line lane change occurs, and then generate a back-injection signal and a back-injection algorithm with the judgment logic. After importing the target file into the integrated problem software data playback tool, the back-injection algorithm is executed based on the back-injection signal until the problem software is repaired, thereby improving the applicability of the system and improving the safety and reliability of vehicle autonomous driving.

[0007] Optionally, in one embodiment of the present application, the target file includes a data file recorded and stored by a vehicle-mounted camera and a plurality of preset sensors, and the data file contains raw sensor data and processed intermediate variable data.

[0008] According to the above technical means, the embodiment of the present application can improve the accuracy and reliability of the data by recording and storing data files through the vehicle-mounted camera and multiple sensors.

[0009] Optionally, in one embodiment of the present application, the target file includes whole vehicle information, wherein the whole vehicle information includes data streams input and output by all integrated modules.

[0010] Based on the above technical means, the embodiments of the present application can improve the comprehensiveness and accuracy of data.

[0011] Optionally, in one embodiment of the present application, the execution of the reinjection algorithm based on the reinjection signal includes: determining whether the lane line type is a variable lane type; if it is the variable lane type, whether the change distance of the variable lane type is greater than a preset multiple of the vehicle's current time distance; if it is greater than the preset multiple of the vehicle's current time distance, determining that lane changing is possible, and controlling the vehicle to enter an activated lane changing state; otherwise, determining that lane changing is prohibited, and controlling the vehicle to enter an inactivatable standby state.

[0012] According to the above technical means, the embodiment of the present application can control whether the vehicle enters the activated lane change state by judging whether the lane line type is a variable lane type, thereby avoiding the vehicle changing lanes on a solid line and reducing the risk of the vehicle violating traffic regulations.

[0013] Optionally, in one embodiment of the present application, the method of the embodiment of the present application further includes: obtaining visualization data according to the target file; and displaying to the user based on the visualization data.

[0014] According to the above technical means, the embodiment of the present application can display to the user based on visual data, thereby improving the intelligence level of the vehicle while improving the interactivity of the vehicle.

[0015] The second aspect of the present application provides a device for a vehicle to avoid changing lanes along a solid line, including: an acquisition module for acquiring a target file for a solid line lane change caused by changing a variable lane to an immutable lane; an analysis module for analyzing, according to the target file, front and rear signal change information at the time point when the solid line lane change occurs; a control module for generating a back-injection signal and a back-injection algorithm based on a preset judgment logic and the front and rear signal change information, and after importing the target file into an integrated problem software data playback tool, executing the back-injection algorithm based on the back-injection signal until the problem software is repaired.

[0016] Optionally, in one embodiment of the present application, the target file includes a data file recorded and stored by a vehicle-mounted camera and a plurality of preset sensors, and the data file contains raw sensor data and processed intermediate variable data.

[0017] Optionally, in one embodiment of the present application, the target file includes whole vehicle information, wherein the whole vehicle information includes data streams input and output by all integrated modules.

[0018] Optionally, in one embodiment of the present application, the control module includes: a judgment unit for judging whether the lane line type is a variable lane type; a first processing unit for judging whether the change distance of the variable lane type is greater than a preset multiple of the vehicle's current time distance if it is the variable lane type; a second processing unit for judging that lane changing is possible if the current time distance of the vehicle is greater than the preset multiple, and controlling the vehicle to enter an activated lane changing state; otherwise, judging that lane changing is prohibited, and controlling the vehicle to enter an inactivatable standby state.

[0019] Optionally, in one embodiment of the present application, the apparatus of the embodiment of the present application further includes: a generation module for obtaining visualization data according to the target file; and a display module for displaying to a user based on the visualization data.

[0020] The third aspect of the present application provides an electronic device, comprising: a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor executes the program to implement the method for avoiding lane changing on a solid line for a vehicle as described in the above embodiment.

[0021] A fourth aspect of the present application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above method for a vehicle to avoid changing lanes along a solid line.

[0022] Beneficial effects of this application:

[0023] (1) The embodiment of the present application can control whether the vehicle enters the activated lane change state by determining whether the lane line type is a variable lane type, thereby avoiding the vehicle from changing lanes on a solid line and reducing the risk of the vehicle violating traffic regulations.

[0024] (2) The embodiment of the present application can analyze the signal change information before and after the time point when the solid line lane change occurs, and then generate a back-injection signal and a back-injection algorithm with the judgment logic, and after importing the target file into the integrated problem software data playback tool, execute the back-injection algorithm based on the back-injection signal until the problem software is repaired, thereby improving the applicability of the system and improving the safety and reliability of vehicle autonomous driving.

[0025] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0027] Figure 1 A flowchart of a method for avoiding lane changing on a solid line for a vehicle provided in accordance with an embodiment of the present application;

[0028] Figure 2 A flowchart of a method for avoiding lane changing on a solid line for a vehicle according to a specific embodiment of the present application;

[0029] Figure 3 Schematic diagram of the structure of a device for avoiding lane changing on a solid line for a vehicle according to an embodiment of the present application;

[0030] Figure 4 Schematic diagram of the structure of an electronic device according to an embodiment of the present application.

[0031] Among them, 10 is a device for avoiding lane changing on a solid line; 100 is an acquisition module, 200 is an analysis module, and 300 is a control module; 401 is a memory, 402 is a processor, and 403 is a communication interface. DETAILED DESCRIPTION

[0032] The following describes in detail embodiments of the present application, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0033] The following describes a method and device for avoiding lane changes on a solid line in an embodiment of the present application with reference to the accompanying drawings. In response to the problem that the related art mentioned in the background technology center can only capture the scene where the problem occurs and run the updated system on the simulation platform, the system has low applicability, reduces the safety and reliability of the vehicle's automatic driving, and cannot meet the user's driving needs, the present application provides a method for avoiding lane changes on a solid line in a vehicle, in which a target file of a solid line lane change caused by a change from a variable lane to an immutable lane can be obtained, and the front and rear signal change information at the time point of the solid line lane change can be analyzed according to the target file. A re-injection signal and a re-injection algorithm are generated based on the judgment logic and the front and rear signal change information, and after the target file is imported into the integrated problem software data playback tool, the re-injection algorithm is executed based on the re-injection signal until the problem software is repaired, thereby improving the applicability of the system and improving the safety and reliability of the vehicle's automatic driving. Thus, the technical problem that the related art can only capture the scene where the problem occurs and run the updated system on the simulation platform, the system has low applicability, reduces the safety and reliability of the vehicle's automatic driving, and cannot meet the user's driving needs is solved.

[0034] Specifically, Figure 1 A flowchart of a method for avoiding lane changing on a solid line for a vehicle provided in an embodiment of the present application.

[0035] like Figure 1 As shown, the method for avoiding lane changing on a solid line comprises the following steps:

[0036] In step S101, a target file of a solid lane change caused by changing a variable lane to an immutable lane is obtained.

[0037] It can be understood that the embodiment of the present application can obtain the target file of the solid line lane change caused by the change from a variable lane to an immutable lane in the following steps. For example, the dat file of the solid line lane change caused by the change from a variable lane to an immutable lane recorded in the actual vehicle road test can be played back, wherein the dat file is the data in the data re-injection test, thereby improving the feasibility of the vehicle to avoid solid line lane changes and reducing the risk of the vehicle violating traffic regulations.

[0038] In one embodiment of the present application, the target file includes a data file recorded and stored by a vehicle-mounted camera and multiple preset sensors, and the data file contains raw sensor data and processed intermediate variable data.

[0039] For example, the target file in the embodiment of the present application, i.e., the dat file, includes but is not limited to data files recorded and stored by vehicle-mounted cameras and multiple sensors. The data file may contain raw sensor data and processed intermediate variable data, thereby improving the accuracy and reliability of the data.

[0040] Optionally, in one embodiment of the present application, the target file includes whole vehicle information, wherein the whole vehicle information includes data streams input and output by all integrated modules.

[0041] For example, the target file in the embodiment of the present application, i.e., the dat file, may also include vehicle information, wherein the vehicle information includes the data streams input and output by all integrated modules, thereby improving the comprehensiveness and accuracy of the data.

[0042] In step S102, the signal change information before and after the solid line lane change occurs is analyzed according to the target file.

[0043] It can be understood that the embodiment of the present application can analyze the signal change information before and after the time point when the solid line lane change is generated based on the target file. For example, in the Ubuntu environment, the various sensor data in the dat file recorded by the actual vehicle test can be used to visualize the data through the offline visualization tool in the following steps, and the changes in the signals before and after the time point when the solid line lane change is generated can be analyzed, and conditions can be added to limit the value of one or more signals, so as to avoid the occurrence of similar problems and improve the vehicle's automation level.

[0044] In step S103, a back-injection signal and a back-injection algorithm are generated based on the preset judgment logic and the previous and next signal change information, and after the target file is imported into the integrated problem software data playback tool, the back-injection algorithm is executed based on the back-injection signal until the problem software is repaired.

[0045] It can be understood that the embodiment of the present application can generate a back-injection signal and a back-injection algorithm based on the judgment logic and the previous and next signal change information, and after importing the target file into the integrated problem software data playback tool, execute the back-injection algorithm based on the back-injection signal in the following steps until the problem software is repaired, thereby effectively improving the applicability of the system and improving the safety and reliability of vehicle autonomous driving.

[0046] For example, the embodiment of the present application can use a data playback tool that integrates the software version corresponding to the problem, import the corresponding dat file, start executing the algorithm, and verify whether the problem recurs. After the developer repairs the software that causes the problem, the playback tool that integrates the modified version of the software can be used to replay the data. When the problem no longer recurs, the software can be released, so that the software successfully avoids such problems in the current scenario.

[0047] Among them, in one embodiment of the present application, a back-injection algorithm is executed based on the back-injection signal, including: judging whether the lane line type is a variable lane type; if it is a variable lane type, judging whether the change distance of the variable lane type is greater than a preset multiple of the vehicle's current time distance; if it is greater than a preset multiple of the vehicle's current time distance, judging that lane changing is possible, and controlling the vehicle to enter an activated lane changing state; otherwise, judging that lane changing is prohibited, and controlling the vehicle to enter an inactivated standby state.

[0048] As a possible implementation method, the embodiment of the present application can determine whether the lane line type is a variable lane type, for example, whether the lane line is a dotted line, a double dotted line, a dotted-solid line, and a dotted fishbone line, etc. When the lane line type is a variable lane type, whether the change distance of the variable lane type is greater than a certain multiple of the current time distance of the vehicle. When it is greater than a certain multiple of the current time distance of the vehicle, it is determined that lane changing is allowed and the vehicle is controlled to enter an activated lane changing state. Otherwise, it is determined that lane changing is prohibited and the vehicle is controlled to enter an inactivated standby state, thereby avoiding the vehicle changing lanes on a solid line and reducing the risk of the vehicle violating traffic regulations.

[0049] For example, the vehicle can activate ALC (Auto Lane Change) in NID mode, and the UDLC (Universal Digital Loop Carrier) status signal is in a lane change activation waiting state, so that it can be determined whether the lane line type is a variable lane type. Among them, when the lane line type is an immutable lane line (solid line, double solid line, solid fishbone line, etc.), the UDLC status signal enters an inactivatable standby state.

[0050] Next, when the lane line type of the target lane is a variable lane line (dashed line, double dashed line, dashed-solid line and dashed fishbone line), it is determined whether the lane line type change distance is greater than twice the time interval. When the lane line type change distance is less than or equal to twice the time interval, there may be a situation where the lane change overlaps the solid line. Therefore, the lane changing conditions are not met, and the UDLC status signal enters an inactivatable standby state and exits the lane changing. When the lane line type change distance is greater than twice the time interval, the lane changing conditions are met, and the solid line lane change will not occur. The UDLC status enters an activated lane changing state, reducing the risk of the vehicle violating traffic regulations.

[0051] The lane line type change distance in the current scenario refers to the distance the lane line type changes from a variable lane line to an immutable lane line, and the time distance refers to the current vehicle speed.

[0052] In summary, the embodiment of the present application needs to judge the current lane line type, the relationship between the lane line type change distance and speed, and the UDLC status signal during the back-injection test. When the above conditions are met at the same time, it means that the lane change conditions are met and the lane change has been activated. Otherwise, the lane change is prohibited from being activated.

[0053] In addition, when back-annotating a problematic version and reproducing the problem, the expected output is to prohibit lane switching from being activated. However, when back-annotating a version with the problem fixed, the expected output is to activate lane switching.

[0054] Optionally, in one embodiment of the present application, the method of the embodiment of the present application further includes: obtaining visualization data according to the target file; and displaying to the user based on the visualization data.

[0055] In some embodiments, the embodiments of the present application can obtain visualization data based on the target file and display it to the user based on the visualization data. For example, the embodiments of the present application can open the dat file recorded by the actual vehicle on the offline visualization tool, confirm the time point when the problem occurred, analyze the signal jumps before and after the time point when the problem occurred, and analyze the cause of the problem, so as to add the dat file and code into the playback tool, run the playback tool, observe the re-annotation results, and output the test results pass or fail, thereby improving the intelligence level of the vehicle while improving the interactivity of the vehicle.

[0056] In addition, after switching versions, you only need to switch to the playback tool that has integrated the corresponding version and repeat the corresponding operations.

[0057] Those skilled in the art should understand that the actual vehicle road test dat file is the data in the data re-injection test. The offline visualization tool can visualize the dat file, and facilitate testing through scenario and signal imaging. Developers can analyze the dat file and analyze the cause of the problem. The data re-injection test code can reproduce and prevent the problem by re-injecting the dat file into the code. The playback tool integrated with the autonomous driving software can be used to execute the data re-injection code and replay the dat file, thereby improving the vehicle's automation level.

[0058] like Figure 2 As shown, the working principle of the embodiment of the present application is described in detail below with a specific embodiment.

[0059] Step S201: Lane change activation waiting state.

[0060] That is, the embodiment of the present application can activate the ALC automatic lane change assist function in the NID mode, so that the UDLC status signal is in the lane change activation waiting state.

[0061] Step S202: Whether the lane line type is a variable lane line.

[0062] That is, the embodiment of the present application can determine whether the lane line type is a variable lane line. When the lane line type is a variable lane line, step S203 is executed, otherwise step S204 is executed.

[0063] Step S203: Check whether the lane line type change distance is greater than 2 times the time interval.

[0064] That is, the embodiment of the present application can determine whether the lane line type change distance is greater than 2 times the time interval. When the lane line type change distance is greater than 2 times the time interval, step S206 is executed, otherwise step S204 is executed.

[0065] Step S204: The lane change state cannot be activated.

[0066] In other words, the embodiment of the present application can disable the lane change state, reducing the risk of vehicle violations.

[0067] Step S205: Failed.

[0068] That is, the embodiment of the present application does not meet the lane changing conditions and exits the lane changing.

[0069] Step S206: Activate the lane change state.

[0070] In other words, the embodiment of the present application can activate the lane change state and improve the vehicle's automation level.

[0071] Step S207: Success.

[0072] That is, the embodiment of the present application meets the lane changing conditions and can execute the lane changing.

[0073] In summary, the embodiments of the present application can improve the efficiency of repeated real-vehicle road tests, reduce the complexity of problem points that are difficult to reproduce, and effectively avoid the risk of vehicles changing lanes on solid lines.

[0074] According to the method for avoiding lane changes on solid lines proposed in the embodiment of the present application, a target file for a solid lane change caused by a change from a variable lane to an immutable lane can be obtained, and the front and rear signal change information at the time point of the solid lane change can be analyzed according to the target file. A re-injection signal and a re-injection algorithm are generated based on the judgment logic and the front and rear signal change information. After the target file is imported into the integrated problem software data playback tool, the re-injection algorithm is executed based on the re-injection signal until the problem software is repaired, thereby improving the applicability of the system and improving the safety and reliability of the vehicle's automatic driving. Thus, the technical problem in the related art that only the scene where the problem occurs can be intercepted and the updated system is run on the simulation platform, the system has low applicability, reduces the safety and reliability of the vehicle's automatic driving, and cannot meet the user's driving needs is solved.

[0075] Next, a device for avoiding lane changing on a solid line for a vehicle according to an embodiment of the present application will be described with reference to the accompanying drawings.

[0076] Figure 3 It is a block diagram of a device for avoiding lane changing on a solid line for a vehicle according to an embodiment of the present application.

[0077] like Figure 3 As shown, the device 10 for avoiding lane changing on a solid line includes: an acquisition module 100 , an analysis module 200 and a control module 300 .

[0078] Specifically, the acquisition module 100 is used to obtain a target file of a solid lane change caused by changing a variable lane into an immutable lane.

[0079] The analysis module 200 is used to analyze the signal change information before and after the solid line lane change time point according to the target file.

[0080] The control module 300 is used to generate a back-injection signal and a back-injection algorithm based on the preset judgment logic and the previous and next signal change information, and after importing the target file into the integrated problem software data playback tool, execute the back-injection algorithm based on the back-injection signal until the problem software is repaired.

[0081] Optionally, in one embodiment of the present application, the target file includes a data file recorded and stored by a vehicle-mounted camera and a plurality of preset sensors, and the data file contains raw sensor data and processed intermediate variable data.

[0082] Optionally, in one embodiment of the present application, the target file includes whole vehicle information, wherein the whole vehicle information includes data streams input and output by all integrated modules.

[0083] Optionally, in one embodiment of the present application, the control module 300 includes: a judgment unit, a first processing unit and a second processing unit.

[0084] The judgment unit is used to judge whether the lane line type is a variable lane type.

[0085] The first processing unit is configured to determine, if the lane type is a variable lane type, whether a change distance of the variable lane type is greater than a preset multiple of the current time headway of the vehicle.

[0086] The second processing unit is configured to determine that lane changing is permitted and control the vehicle to enter an activated lane changing state if the current time headway of the vehicle is greater than a preset multiple; otherwise, determine that lane changing is prohibited and control the vehicle to enter an inactivated standby state.

[0087] Optionally, in one embodiment of the present application, the apparatus 10 of the embodiment of the present application further includes: a generation module and a display module.

[0088] Among them, the generation module is used to obtain visual data according to the target file.

[0089] The display module is used to display visual data to the user.

[0090] It should be noted that the above explanation of the embodiment of the method for avoiding lane changing on a solid line by a vehicle is also applicable to the device for avoiding lane changing on a solid line by a vehicle in this embodiment, and will not be repeated here.

[0091] According to the device for avoiding lane changes on solid lines proposed in the embodiment of the present application, a target file for a solid lane change caused by a change from a variable lane to an immutable lane can be obtained, and the front and rear signal change information at the time point of the solid lane change can be analyzed according to the target file. A re-injection signal and a re-injection algorithm are generated based on the judgment logic and the front and rear signal change information. After the target file is imported into the integrated problem software data playback tool, the re-injection algorithm is executed based on the re-injection signal until the problem software is repaired, thereby improving the applicability of the system and improving the safety and reliability of the vehicle's automatic driving. Thus, the technical problem in the related art that only the scene where the problem occurs can be intercepted and the updated system is run on the simulation platform, the system has low applicability, reduces the safety and reliability of the vehicle's automatic driving, and cannot meet the user's driving needs is solved.

[0092] Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. The electronic device may include:

[0093] Memory 401 , processor 402 , and computer programs stored in the memory 401 and executable on the processor 402 .

[0094] When the processor 402 executes the program, the method for avoiding lane changing on a solid line provided in the above embodiment is implemented.

[0095] Furthermore, the electronic device further includes:

[0096] The communication interface 403 is used for communication between the memory 401 and the processor 402 .

[0097] The memory 401 is used to store computer programs that can be run on the processor 402 .

[0098] The memory 401 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0099] If the memory 401, the processor 402, and the communication interface 403 are implemented independently, the communication interface 403, the memory 401, and the processor 402 can be connected to each other via a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 4Only one thick line is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0100] Optionally, in a specific implementation, if the memory 401 , the processor 402 and the communication interface 403 are integrated on a chip, the memory 401 , the processor 402 and the communication interface 403 can communicate with each other through an internal interface.

[0101] The processor 402 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0102] This embodiment also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above method for a vehicle to avoid changing lanes on a solid line.

[0103] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0104] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Thus, a feature specified as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this application, "N" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0105] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or N executable instructions for implementing a custom logical function or process step, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may be performed in a different order than shown or discussed, including performing functions in a substantially simultaneous manner or in a reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present application pertain.

[0106] The logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection with one or N wires (electronic devices), a portable computer disk cartridge (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and a portable compact disc read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program can be obtained electronically by optically scanning the paper or other medium and then editing, interpreting or processing it in other suitable ways as necessary, and then storing it in a computer memory.

[0107] It should be understood that various parts of the present application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiment, the N steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used to implement: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0108] Those skilled in the art will understand that all or part of the steps in the method of the above embodiment can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiment.

[0109] In addition, the functional units in the various embodiments of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into a module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0110] The storage medium mentioned above may be a read-only memory, a magnetic disk, or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application. Persons skilled in the art may make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

Claims

1. A method for avoiding lane changing on a solid line, characterized in that: The following steps are involved: Obtain the target file for a solid lane change caused by changing from a variable lane to an immutable lane; Analyzing signal change information before and after a solid line lane change occurs according to the target file; Generate a reinjection signal and a reinjection algorithm based on a preset judgment logic and the preceding and following signal change information, import the target file into an integrated problem software data playback tool, and execute the reinjection algorithm based on the reinjection signal until the problem software is repaired; The executing the reinjection algorithm based on the reinjection signal comprises: Determine whether the lane line type is a variable lane type; If it is the variable lane type, whether the change distance of the variable lane type is greater than a preset multiple of the vehicle's current headway; If the current time headway of the vehicle is greater than the preset multiple, it is determined that lane changing is permitted and the vehicle is controlled to enter an activated lane changing state; otherwise, it is determined that lane changing is prohibited and the vehicle is controlled to enter an inactivated standby state, wherein the time headway refers to the current vehicle speed; The process of repairing the problematic software includes: verifying whether the problem recurs. After the developer repairs the problematic software, the developer replays the data using a playback tool integrated with the modified version of the software. When the problem no longer recurs, the software is released.

2. The method according to claim 1, characterized in that The target file includes a data file recorded and stored by a vehicle-mounted camera and a plurality of preset sensors, and the data file contains raw sensor data and processed intermediate variable data.

3. The method according to claim 1, characterized in that The target file includes the entire vehicle information, wherein the entire vehicle information includes the data streams input and output by all integrated modules.

4. The method according to claim 1, wherein Also includes: Obtaining visualization data according to the target file; Display is performed to a user based on the visualization data.

5. A device for avoiding lane changing on a solid line, characterized in that: include: An acquisition module is used to obtain a target file of a solid lane change caused by changing a variable lane into an immutable lane; An analysis module, configured to analyze signal change information before and after a solid line lane change occurs based on the target file; a control module, configured to generate a reinjection signal and a reinjection algorithm based on a preset judgment logic and the preceding and following signal change information, and after importing the target file into an integrated problem software data playback tool, execute the reinjection algorithm based on the reinjection signal until the problem software is repaired; The executing the reinjection algorithm based on the reinjection signal comprises: Determine whether the lane line type is a variable lane type; If it is the variable lane type, whether the change distance of the variable lane type is greater than a preset multiple of the vehicle's current headway; If the current time headway of the vehicle is greater than the preset multiple, it is determined that lane changing is permitted and the vehicle is controlled to enter an activated lane changing state; otherwise, it is determined that lane changing is prohibited and the vehicle is controlled to enter an inactivated standby state, wherein the time headway refers to the current vehicle speed; The process of repairing the problematic software includes: verifying whether the problem recurs. After the developer repairs the problematic software, the developer replays the data using a playback tool integrated with the modified version of the software. When the problem no longer recurs, the software is released.

6. The device according to claim 5, characterized in that The target file includes a data file recorded and stored by a vehicle-mounted camera and a plurality of preset sensors, and the data file contains raw sensor data and processed intermediate variable data.

7. The device according to claim 5, characterized in that The target file includes the entire vehicle information, wherein the entire vehicle information includes the data streams input and output by all integrated modules.

8. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the method for avoiding lane changing on a solid line as described in any one of claims 1 to 4.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the method for avoiding lane changing on a solid line for a vehicle as described in any one of claims 1 to 4.

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