Vehicle lane changing control method and device, computer device and storage medium

Abstract

The application relates to a vehicle lane changing control method and device, computer equipment, a storage medium and a computer program product. The method comprises the following steps: determining a preselected lane for a target vehicle to change lanes; acquiring driving information of the target vehicle and driving information of a reference vehicle, the reference vehicle being a vehicle in a driving radiation range of the target vehicle and having the same driving direction as the target vehicle; determining a lane changing scenario of the target vehicle; based on the lane changing scenario, determining a target lane for the target vehicle to change lanes and a target vehicle speed according to the preselected lane, the driving information of the target vehicle and the driving information of the reference vehicle; and controlling the target vehicle to change lanes to the target lane at the target vehicle speed. The method can improve the safety of the vehicle during lane changing.

Description

Technical Field

[0001] This application relates to the field of intelligent driving technology, and in particular to a vehicle lane change control method, device, computer equipment, and storage medium. Background Technology

[0002] With the development of artificial intelligence technology, research on intelligent driving is constantly expanding. Among these, single-vehicle intelligent driving belongs to Level 3 autonomous driving, which mainly relies on perception, decision-making, and planning algorithms. However, with the continuous iteration and updates of these technologies, and increasingly stringent requirements for safety and reliability, the development of single-vehicle intelligent driving is facing certain constraints. In existing technologies, single-vehicle intelligent driving vehicles rely on onboard sensing equipment for environmental perception, offering little improvement to overall traffic efficiency. Furthermore, traditional single-vehicle intelligent driving vehicles have certain safety shortcomings. Summary of the Invention

[0003] Therefore, it is necessary to provide a vehicle lane-changing control method, device, computer equipment, computer-readable storage medium, and computer program product to address the aforementioned technical problems.

[0004] Firstly, this application provides a vehicle lane-changing control method. The method includes:

[0005] Determine the pre-selected lane for the target vehicle;

[0006] Obtain the driving information of the target vehicle and the driving information of the reference vehicle. The reference vehicle refers to a vehicle within the driving range of the target vehicle and traveling in the same direction as the target vehicle.

[0007] Identify the lane-changing scenario of the target vehicle;

[0008] Based on the lane-changing scenario, the target lane and target speed of the target vehicle are determined according to the pre-selected lane, the driving information of the target vehicle, and the driving information of the reference vehicle.

[0009] Control the target vehicle to change lanes at the target speed.

[0010] In one embodiment, the lane-changing scenario includes a vehicle-to-vehicle cooperative lane-changing scenario, and the driving information includes the current driving speed; based on the lane-changing scenario, according to the pre-selected lane, the driving information of the target vehicle, and the driving information of the reference vehicle, the target lane and target speed of the target vehicle are determined, including:

[0011] Determine if there are any reference vehicles in the pre-selected lane;

[0012] If there is no reference vehicle in the pre-selected lane, the current speed of the target vehicle and the pre-selected lane will be used as the target lane and the target speed, respectively.

[0013] If there is a reference vehicle in the pre-selected lane, the target lane and target speed of the target vehicle are determined based on the position and current speed of the reference vehicle in the pre-selected lane, and the current speed of the target vehicle.

[0014] In one embodiment, determining the target lane and target speed of the target vehicle based on the position and current speed of a reference vehicle in the pre-selected lane and the current speed of the target vehicle includes:

[0015] If a reference vehicle in the pre-selected lane is located in front of the target vehicle, then the reference vehicle that is in front of the target vehicle and closest to the target vehicle is taken as the first reference vehicle, and the projected distance between the target vehicle and the first reference vehicle in the driving direction is taken as the first distance.

[0016] Determine the first minimum safe distance and the first collision duration;

[0017] Based on the first distance, the first minimum safe distance, the first collision duration, the current speed of the first reference vehicle, and the current speed of the target vehicle, the target lane and target speed of the target vehicle are determined.

[0018] In one embodiment, determining the first minimum safe distance and the first collision duration includes:

[0019] The first minimum safe distance is calculated based on the target vehicle's current speed, maximum reaction acceleration, minimum braking deceleration, and the first reference vehicle's current speed and maximum braking speed.

[0020] The first collision duration is calculated based on the current speeds of the target vehicle and the first reference vehicle, as well as the first distance.

[0021] In one embodiment, determining the target lane and target speed of the target vehicle based on the position and current speed of a reference vehicle in the pre-selected lane and the current speed of the target vehicle further includes:

[0022] If the reference vehicle in the pre-selected lane is located behind the target vehicle, then the reference vehicle that is behind the target vehicle and closest to the target vehicle is taken as the second reference vehicle, and the projected distance between the target vehicle and the second reference vehicle in the driving direction is taken as the second distance.

[0023] Determine the second minimum safe distance and the second collision duration;

[0024] Based on the second distance, the second minimum safe distance, the second collision duration, the current speed of the second reference vehicle, and the current speed of the target vehicle, the target lane and target speed of the target vehicle are determined.

[0025] In one embodiment, the lane-changing scenario for the target vehicle includes a vehicle-to-infrastructure (V2I) lane-changing scenario; the driving information includes the current driving speed; based on the lane-changing scenario, and according to the pre-selected lane, the driving information of the target vehicle, and the driving information of a reference vehicle, the target lane and target speed of the target vehicle are determined, including:

[0026] The third, fourth, and fifth reference vehicles are determined. The third reference vehicle is the reference vehicle that is closest to the target vehicle and located behind the target vehicle in the pre-selected lane. The fourth reference vehicle is the reference vehicle that is closest to the target vehicle and located in front of the target vehicle in the pre-selected lane. The fifth reference vehicle is the reference vehicle that is closest to the target vehicle and located in front of the target vehicle in the target vehicle's current lane.

[0027] Based on the projected distances between the third reference vehicle and the target vehicle in the driving direction, the projected distances between the fourth reference vehicle and the target vehicle in the driving direction, the projected distances between the fifth reference vehicle and the target vehicle in the driving direction, the third collision duration between the third reference vehicle and the target vehicle, the fourth collision duration between the fourth reference vehicle and the target vehicle, and the fifth collision duration between the fifth reference vehicle and the target vehicle, the target lane and target speed of the target vehicle are determined.

[0028] Secondly, this application also provides a vehicle lane-changing control device. The device includes:

[0029] The first determining module is used to determine the pre-selected lane for the target vehicle;

[0030] The acquisition module is used to acquire the driving information of the target vehicle and the driving information of the reference vehicle. The reference vehicle refers to a vehicle that is within the driving range of the target vehicle and travels in the same direction as the target vehicle.

[0031] The second determining module is used to determine the lane-changing scenario of the target vehicle. The lane-changing scenario is divided into at least vehicle-to-vehicle cooperative lane-changing scenario and vehicle-to-infrastructure cooperative lane-changing scenario.

[0032] The third determination module is used to determine the target lane and target speed of the target vehicle based on the lane-changing scenario, according to the pre-selected lane, the driving information of the target vehicle, and the driving information of the reference vehicle.

[0033] The control module is used to control the target vehicle to change to the target lane at the target speed.

[0034] Thirdly, this application also provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to perform the following steps:

[0035] Determine the pre-selected lane for the target vehicle;

[0036] Obtain the driving information of the target vehicle and the driving information of the reference vehicle. The reference vehicle refers to a vehicle within the driving range of the target vehicle and traveling in the same direction as the target vehicle.

[0037] Identify the lane-changing scenario for the target vehicle. The lane-changing scenario can be divided into at least vehicle-to-vehicle cooperative lane-changing scenario and vehicle-to-infrastructure cooperative lane-changing scenario.

[0038] Based on the lane-changing scenario, the target lane and target speed of the target vehicle are determined according to the pre-selected lane, the driving information of the target vehicle, and the driving information of the reference vehicle.

[0039] Control the target vehicle to change lanes at the target speed.

[0040] Fourthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, performs the following steps:

[0041] Determine the pre-selected lane for the target vehicle;

[0042] Obtain the driving information of the target vehicle and the driving information of the reference vehicle. The reference vehicle refers to a vehicle within the driving range of the target vehicle and traveling in the same direction as the target vehicle.

[0043] Identify the lane-changing scenario for the target vehicle. The lane-changing scenario can be divided into at least vehicle-to-vehicle cooperative lane-changing scenario and vehicle-to-infrastructure cooperative lane-changing scenario.

[0044] Based on the lane-changing scenario, the target lane and target speed of the target vehicle are determined according to the pre-selected lane, the driving information of the target vehicle, and the driving information of the reference vehicle.

[0045] Control the target vehicle to change lanes at the target speed.

[0046] Fifthly, this application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, performs the following steps:

[0047] Determine the pre-selected lane for the target vehicle;

[0048] Obtain the driving information of the target vehicle and the driving information of the reference vehicle. The reference vehicle refers to a vehicle within the driving range of the target vehicle and traveling in the same direction as the target vehicle.

[0049] Identify the lane-changing scenario for the target vehicle. The lane-changing scenario can be divided into at least vehicle-to-vehicle cooperative lane-changing scenario and vehicle-to-infrastructure cooperative lane-changing scenario.

[0050] Based on the lane-changing scenario, the target lane and target speed of the target vehicle are determined according to the pre-selected lane, the driving information of the target vehicle, and the driving information of the reference vehicle.

[0051] Control the target vehicle to change lanes at the target speed.

[0052] The aforementioned vehicle lane-changing control method, device, computer equipment, storage medium, and computer program product determine the pre-selected lane for the target vehicle; acquire the driving information of the target vehicle and reference vehicles, where reference vehicles refer to vehicles within the target vehicle's driving radius and traveling in the same direction as the target vehicle; determine the lane-changing scenario for the target vehicle, which is at least divided into vehicle-to-vehicle cooperative lane-changing scenarios and vehicle-to-infrastructure cooperative lane-changing scenarios; based on the lane-changing scenario, and according to the pre-selected lane, the target vehicle's driving information, and the reference vehicle's driving information, determine the target lane and target speed for the target vehicle; and control the target vehicle to change to the target lane at the target speed. Using this method can improve vehicle safety during lane-changing. Attached Figure Description

[0053] Figure 1 This is a flowchart illustrating a vehicle lane-changing control method in one embodiment;

[0054] Figure 2 This is a flowchart illustrating the process of determining the target lane change and the target speed in one embodiment.

[0055] Figure 3 This is a schematic diagram of the projection distance in one embodiment;

[0056] Figure 4 This is a schematic diagram of a vehicle-to-vehicle cooperative lane-changing scenario in one embodiment;

[0057] Figure 5 This is a schematic diagram of a vehicle-road cooperative lane-changing scenario in one embodiment;

[0058] Figure 6 This is a flowchart illustrating a vehicle lane-changing control method in one embodiment;

[0059] Figure 7 This is a structural block diagram of a vehicle lane-changing control device in one embodiment;

[0060] Figure 8This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0061] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0062] In one embodiment, such as Figure 1 As shown, a vehicle lane-changing control method is provided. This embodiment illustrates the application of this method to a terminal, where the terminal can be, but is not limited to, various personal computers, laptops, smartphones, tablets, IoT devices, and portable wearable devices. IoT devices can be smart in-vehicle devices, etc. It is understood that this method can also be applied to a server, and further to a system including both a terminal and a server, and implemented through interaction between the terminal and the server. In this embodiment, the method includes the following steps:

[0063] 101. Determine the pre-selected lane for the target vehicle;

[0064] The target vehicle refers to an intelligent and connected vehicle (ICV) using intelligent driving technology. The intelligent and connected vehicle includes an onboard unit (OBU) and a mobile edge computing unit (MEC). The onboard unit is used to obtain the current status information of the intelligent and connected vehicle, which includes the vehicle's driving information.

[0065] Pre-selected lanes refer to the lanes from which a target vehicle will change lanes. These pre-selected lanes can be lanes chosen by the operator of the autonomous vehicle or lanes decided upon by the connected vehicle.

[0066] 102. Obtain the driving information of the target vehicle and the driving information of the reference vehicle. The reference vehicle refers to a vehicle within the driving range of the target vehicle and traveling in the same direction as the target vehicle.

[0067] The driving radiation range refers to the range of information detected by the roadside unit (RSU) in the current driving scenario. That is, as the target vehicle is driving, it continuously receives information sent by the roadside unit, and the range detected by the roadside unit is the driving radiation range of the target vehicle.

[0068] The target vehicle's driving scenario includes roadside sensors and roadside units. Roadside sensors detect driving information of surrounding vehicles and road anomalies, transmitting this information to the roadside units. The roadside units then send the corresponding roadside information to the target vehicle's edge computing unit. Upon receiving the roadside information, the target vehicle's edge computing unit processes it accordingly to control the vehicle's movement. Road anomalies refer to unusual events in the target vehicle's driving scenario, such as road malfunctions or traffic congestion.

[0069] 103. Determine the lane-changing scenario of the target vehicle;

[0070] The lane-changing scenarios are divided into vehicle-to-vehicle cooperative lane-changing scenarios and vehicle-to-infrastructure cooperative lane-changing scenarios.

[0071] Vehicle-to-vehicle cooperative lane-changing scenario refers to a scenario in which all vehicles are intelligent connected vehicles, that is, both the target vehicle and the reference vehicle are intelligent connected vehicles.

[0072] In vehicle-road cooperative lane-changing scenarios, the target vehicle is an intelligent connected vehicle, while the other vehicles are non-intelligent connected vehicles. That is, the target vehicle is an intelligent connected vehicle, and the reference vehicle is a non-intelligent connected vehicle.

[0073] In vehicle-to-vehicle cooperative lane-changing scenarios, the current speeds of both the target vehicle and the reference vehicle can be changed to allow the target vehicle to successfully change lanes. In vehicle-to-infrastructure cooperative lane-changing scenarios, the current speed of the target vehicle can be changed to allow the target vehicle to successfully change lanes.

[0074] 104. Based on the lane-changing scenario, determine the target lane and target speed of the target vehicle according to the pre-selected lane, the driving information of the target vehicle, and the driving information of the reference vehicle.

[0075] The target lane change refers to the lane the target vehicle is about to enter. This lane can be the target vehicle's current lane or another lane. The target speed refers to the current speed required to reach the target lane change lane. The target lane change and target speed are the result of data processing by the edge computing unit of the target vehicle, which processes roadside information and the target vehicle's driving information. The RSS (Responsibility Sensitive Safety) model is used to analyze the processing results, resulting in the target lane change and target speed. The RSS model's constraints include minimum safe distance constraints between vehicles, time-to-collision (TTC) constraints, heading angle constraints, and road anomaly event constraints. The edge computing unit uses these constraints to make lane-changing decisions and obtain the lane-changing result. This result is then combined with the cooperative lane-changing target speed model to obtain the target speed. The current speed refers to the vehicle's current speed in its direction of travel.

[0076] Figure 2 This is a flowchart illustrating the process of determining the target lane and target speed in a lane-changing scenario, as shown in an example. In the RSS model, safety in the direction of vehicle travel is paramount; the distance maintained between the two vehicles in their respective directions of travel ensures that the target vehicle will not collide with the reference vehicle regardless of any dangerous maneuvers performed by the reference vehicle.

[0077] 105. Control the target vehicle to change to the target lane at the target speed.

[0078] Specifically, after determining the target lane and target speed of the target vehicle through the RSS model, the target vehicle's control system controls the target vehicle to change lanes and adjust its speed according to the target lane and target speed, so that the target vehicle changes to the target lane at the target speed.

[0079] The method provided in this invention, when a target vehicle performs a lane-changing maneuver on a road, analyzes the driving information of surrounding vehicles and the target vehicle itself to determine the decision result of the target vehicle requesting a lane change. Controlling the target vehicle to change lanes using the decision result of this invention can improve the traffic efficiency of the target vehicle and also enhance its driving safety.

[0080] In conjunction with the above embodiments, in one embodiment, the lane-changing scenario includes a vehicle-to-vehicle cooperative lane-changing scenario, and the driving information includes the current driving speed; based on the lane-changing scenario, according to the pre-selected lane, the driving information of the target vehicle, and the driving information of the reference vehicle, the target lane and target speed of the target vehicle are determined, including:

[0081] Determine if there is a reference vehicle in the pre-selected lane; if there is no reference vehicle in the pre-selected lane, then use the current speed of the target vehicle and the pre-selected lane as the target lane and target speed, respectively.

[0082] Specifically, if there is no reference vehicle in the target vehicle's pre-selected lane and no reference vehicle in the target vehicle's current lane, the target vehicle will change lanes to the target lane at its current speed. If there is no reference vehicle in the target vehicle's pre-selected lane and a reference vehicle exists in the target vehicle's current lane, the target vehicle will change lanes to the target lane at its current speed. A reference speed for the reference vehicle is determined based on the position and current speed of the reference vehicle in its current lane, as well as the target vehicle's current speed. The reference vehicle's movement is then controlled based on its reference speed.

[0083] The process of determining the reference speed of the reference vehicle, based on the position and current speed of the reference vehicle in the current driving lane and the current speed of the target vehicle, includes:

[0084] If a reference vehicle in the current lane is in front of the target vehicle, the reference vehicle that is in front of and closest to the target vehicle is designated as the sixth reference vehicle, and the projected distance between the target vehicle and the sixth reference vehicle in the driving direction is designated as the sixth distance. The collision duration between the sixth reference vehicle and the target vehicle is then determined. If the sixth distance is not greater than the second reference distance, or the collision duration between the sixth reference vehicle and the target vehicle is not greater than the first reference collision duration, the acceleration speed of the sixth reference vehicle is determined based on the current speeds of both the target vehicle and the sixth reference vehicle. This acceleration speed is then used as the corresponding reference speed, and the sixth reference vehicle is accelerated accordingly. If the sixth distance is greater than the second reference distance, and the collision duration between the sixth reference vehicle and the target vehicle is greater than the first reference collision duration, the current speed of the sixth reference vehicle is used as the reference speed. If the reference vehicle in the current lane is behind the target vehicle, the driving state of the reference vehicle remains unchanged.

[0085] In one example, the acceleration speed of the corresponding reference vehicle is determined based on the current driving speed of the target vehicle and the corresponding reference vehicle, as shown in formula (1).

[0086]

[0087] In formula (1), v1 is the current speed of the target vehicle; v2 is the current speed of the corresponding reference vehicle. u2d is the acceleration speed of the corresponding reference vehicle; t is the preset collision duration, which is not less than the collision duration required between the target vehicle and the corresponding reference vehicle; v′2(t) is the pre-selected speed of the corresponding reference vehicle, and d relative The projected distance between the target vehicle and the corresponding reference vehicle in the direction of travel.

[0088] For example, if the reference vehicle in formula (1) is the sixth reference vehicle, then v u2 v is the acceleration speed of the sixth reference vehicle. u2 d is the acceleration speed of the sixth reference vehicle; t is the preset collision duration, which is not less than the collision duration required between the target vehicle and the sixth reference vehicle; v′2(t) is the pre-selected speed of the sixth reference vehicle; d relative The projected distance between the target vehicle and the sixth reference vehicle in the direction of travel.

[0089] It is worth noting that, in this invention, the projected distance between the target vehicle and the corresponding reference vehicle in the driving direction is as follows: Figure 3 As shown, Figure 3 In the diagram, the projected distance between the target vehicle V1 and the reference vehicle V2 in the direction of travel is d. 12 The projected distance between the target vehicle V1 and the reference vehicle V3 in the direction of travel is d. 13 The projected distance between the target vehicle V1 and the reference vehicle V4 in the direction of travel is d. 14 The projected distance between the target vehicle V1 and the reference vehicle V5 in the direction of travel is d. 15 .

[0090] If there is a reference vehicle in the pre-selected lane, the target lane and target speed of the target vehicle are determined based on the position and current speed of the reference vehicle in the pre-selected lane, and the current speed of the target vehicle.

[0091] Figure 4 As an example, the lane-changing scenario is a vehicle-to-vehicle cooperative lane-changing scenario, including the target vehicle ICV1, the reference vehicle ICV2, and the roadside unit RSU.

[0092] The method provided in this invention can improve the safety of a target vehicle traveling in its current lane by determining whether there is a reference vehicle in the target vehicle's current lane and the distance between the reference vehicle and the target vehicle.

[0093] In conjunction with the above embodiments, in one embodiment, determining the target lane and target speed of the target vehicle based on the position and current speed of a reference vehicle in the pre-selected lane and the current speed of the target vehicle includes:

[0094] If a reference vehicle in the pre-selected lane is located in front of the target vehicle, then the reference vehicle that is in front of the target vehicle and closest to the target vehicle is taken as the first reference vehicle, and the projected distance between the target vehicle and the first reference vehicle in the driving direction is taken as the first distance.

[0095] Determine the first minimum safe distance and the first collision duration; based on the first distance, the first minimum safe distance, the first collision duration, the current speed of the first reference vehicle, and the current speed of the target vehicle, determine the target lane and the target speed of the target vehicle.

[0096] The first minimum safe distance refers to the minimum safe distance between the target vehicle and the first reference vehicle. If the first distance between the target vehicle and the first reference vehicle is not less than the first minimum safe distance, the target vehicle will not collide with the first reference vehicle if the first reference vehicle suddenly brakes. The first collision duration refers to the time required for the target vehicle and the first reference vehicle to collide under the current driving conditions.

[0097] If the first distance is not greater than the first reference distance, then the target vehicle's current lane and current speed are used as the target lane and target speed, respectively, and the first reference vehicle is controlled to accelerate.

[0098] Specifically, if the first distance is not greater than the first reference distance, the current driving lane and current driving speed of the target vehicle are respectively used as the target lane and target speed, and the acceleration speed of the first reference vehicle is determined. Based on the acceleration speed of the first reference vehicle, the first reference vehicle is controlled to accelerate.

[0099] In one example, the acceleration speed of the first reference vehicle is determined as shown in formula (1). For instance, if the reference vehicle in formula (1) is the first reference vehicle, then v u2 The acceleration speed of the first reference vehicle, v u2 d is the acceleration speed of the first reference vehicle; t is the preset collision duration, which is not less than the collision duration required between the target vehicle and the first reference vehicle; v′2(t) is the pre-selected speed of the first reference vehicle; d relative The projected distance between the target vehicle and the first reference vehicle in the direction of travel.

[0100] If the first distance is greater than the second reference distance and the current speed of the first reference vehicle is greater than the current speed of the target vehicle, then the target vehicle's pre-selected lane and current speed will be used as the target lane and target speed, respectively.

[0101] Specifically, if the first distance is greater than the second reference distance and the current speed of the first reference vehicle is greater than the current speed of the target vehicle, then the target vehicle's pre-selected lane and current speed are respectively used as the target lane and target speed, and the second reference vehicle's driving state remains unchanged. Alternatively, if the first distance is greater than the second reference distance and the current speed of the first reference vehicle is greater than the current speed of the target vehicle, then the target vehicle's pre-selected lane and current speed are respectively used as the target lane and target speed, and the first reference vehicle is controlled to change lanes to the target vehicle's current lane, and the first reference vehicle continues to travel at its current speed.

[0102] If the first distance is greater than the first reference distance, the first distance is less than the second reference distance, and the current speed of the first reference vehicle is greater than the current speed of the target vehicle, then the pre-selected lane of the target vehicle is taken as the target lane, and the target speed is determined based on the current speed of the target vehicle.

[0103] Specifically, if the first distance is greater than the first reference distance, the first distance is less than the second reference distance, and the current speed of the first reference vehicle is greater than the current speed of the target vehicle, then the pre-selected lane of the target vehicle is taken as the target lane, and the deceleration speed of the target vehicle is determined based on the current speeds of the target vehicle and the first reference vehicle, and the deceleration speed of the target vehicle is taken as the target speed, so that the target speed is not less than the current speed of the target vehicle; and the driving state of the first reference vehicle remains unchanged.

[0104] The phrase "the vehicle's driving status remains unchanged" means that the vehicle's current lane and current speed remain unchanged. The target vehicle's deceleration speed does not exceed its current speed.

[0105] In one example, the method for determining the deceleration speed of the target vehicle based on the current driving speed of the target vehicle and the corresponding reference vehicle is shown in formula (2);

[0106]

[0107] In formula (2), v1 is the current speed of the target vehicle; v2 is the current speed of the corresponding reference vehicle. d1 d is the deceleration speed of the target vehicle; t is the preset collision duration, which is not less than the collision duration required between the target vehicle and the corresponding reference vehicle; v1′(t) is the pre-selected speed of the target vehicle, and d relative The projected distance between the target vehicle and the corresponding reference vehicle in the direction of travel.

[0108] For example, if the reference vehicle in formula (2) is the first reference vehicle, then v1 is the current speed of the target vehicle; v2 is the current speed of the first reference vehicle, v d1 d is the deceleration speed of the target vehicle; t is the preset collision duration, which is not less than the collision duration required between the target vehicle and the first reference vehicle; v1′(t) is the pre-selected speed of the first reference vehicle, and d relative The projected distance between the target vehicle and the first reference vehicle in the direction of travel.

[0109] If the first distance is greater than the first minimum safe distance and the first collision duration is greater than the reference collision duration, then the target vehicle's pre-selected lane and current speed will be used as the target lane and target speed, respectively, and the driving state of the first reference vehicle will remain unchanged.

[0110] If the first distance is not greater than the first reference distance or the first collision duration is not greater than the reference collision duration, then the pre-selected lane of the target vehicle is taken as the target lane, the target speed is determined according to the current driving speed of the target vehicle, and the first reference vehicle is controlled to not change lanes and to accelerate.

[0111] Specifically, if the first distance is not greater than the first reference distance, or the first collision duration is not greater than the reference collision duration, then the pre-selected lane of the target vehicle is taken as the target lane; the deceleration speed of the target vehicle is determined based on the current driving speed of the target vehicle and the first reference vehicle, and the deceleration speed of the target vehicle is taken as the target speed; the acceleration speed of the first reference vehicle is determined based on the current driving speed of the target vehicle and the first reference vehicle, and the first reference vehicle is controlled to accelerate based on the acceleration speed of the first reference vehicle. Among them, the method for determining the deceleration speed of the target vehicle based on the current driving speed of the target vehicle and the first reference vehicle is shown in formula (2); the method for determining the acceleration speed of the first reference vehicle based on the current driving speed of the target vehicle and the first reference vehicle is shown in formula (1).

[0112] In this embodiment, the first reference distance is less than the second reference distance, and the first minimum safety distance is less than the first reference distance.

[0113] The method provided in this embodiment of the invention can determine whether a target vehicle can safely change lanes by determining the driving conditions of vehicles around the target vehicle, thereby improving the safety of the target vehicle during the lane-changing process.

[0114] In conjunction with the above embodiments, in one embodiment, determining the first minimum safe distance and the first collision duration includes:

[0115] The first minimum safe distance is calculated based on the target vehicle's current speed, maximum reaction acceleration, minimum braking deceleration, and the first reference vehicle's current speed and maximum braking speed.

[0116] In one example, if the reference vehicle in front of the target vehicle suddenly brakes, and the target vehicle can only brake effectively after a certain reaction time, which is called the braking reaction time, then the reference vehicles in front of and behind the target vehicle brake to a stop; therefore, in the current lane-changing scenario, in the RSS model, the formula for calculating the minimum safe distance between the target vehicle and the reference vehicle in front of the target vehicle is as shown in formula (3).

[0117]

[0118] In formula (3), u EV The target vehicle's current speed is expressed in m / s. The maximum acceleration of the target vehicle during the braking reaction time, expressed in m / s². 2 ; The minimum braking deceleration of the target vehicle when it brakes after the reaction time has ended, expressed in m / s². 2 ;u TV The current speed of the vehicle is for reference, and the unit is m / s; The maximum braking deceleration of the reference vehicle is expressed in m / s². 2 ;τ r D represents the reaction time of the target vehicle. safety，F This is the minimum safe distance between the target vehicle and a reference vehicle in front of it.

[0119] In this invention, the minimum safe distance between the target vehicle and the reference vehicle in front of the target vehicle can be calculated using formula (3). For example, when the reference vehicle in formula (3) is the first reference vehicle, D safetyF This is the first minimum safe distance.

[0120] Based on the current driving speeds of the target vehicle and the reference vehicle, the relative driving speed between the target vehicle and the reference vehicle is determined. In the current lane-changing scenario, based on the relative driving speed between the target vehicle and the reference vehicle, and the projected distance between the target vehicle and the reference vehicle in the driving direction, the time required for a collision between the target vehicle and the reference vehicle is calculated as shown in formula (4);

[0121]

[0122] In formula (4), d relative The projected distance between the target vehicle and the reference vehicle in the direction of travel is expressed in meters (m); v relativeThe relative speed between the target vehicle and the reference vehicle is expressed in m / s; TTC is the time required for a collision to occur between the target vehicle and the reference vehicle.

[0123] In this invention, the collision duration between the target vehicle and any reference vehicle can be calculated using formula (4); for example, when the reference vehicle in formula (4) is the first reference vehicle, then TTC is the first collision duration. When the reference vehicle is the sixth reference vehicle, TTC is the collision duration between the target vehicle and the sixth reference vehicle.

[0124] The method provided in this embodiment of the invention determines whether the target vehicle can safely change lanes by determining the minimum safe distance between the target vehicle and the first reference vehicle, thereby improving the safety of the target vehicle during its driving process.

[0125] In conjunction with the above embodiments, in one embodiment, determining the target lane and target speed of the target vehicle based on the position and current speed of a reference vehicle in the pre-selected lane and the current speed of the target vehicle further includes:

[0126] If the reference vehicle in the pre-selected lane is located behind the target vehicle, then the reference vehicle that is behind the target vehicle and closest to the target vehicle is taken as the second reference vehicle, and the projected distance between the target vehicle and the second reference vehicle in the driving direction is taken as the second distance.

[0127] Determine the second minimum safe distance and the second collision duration; based on the second distance, the second minimum safe distance, the second collision duration, the current speed of the second reference vehicle, and the current speed of the target vehicle, determine the target lane and the target speed of the target vehicle.

[0128] The second minimum safe distance refers to the minimum safe distance between the target vehicle and the second reference vehicle. If the second distance between the target vehicle and the first reference vehicle is not less than the second minimum safe distance, the target vehicle will not collide with the second reference vehicle if the second reference vehicle suddenly brakes. The second collision duration refers to the time required for the target vehicle and the second reference vehicle to collide under the current driving conditions.

[0129] In one example, the formula for calculating the minimum safe distance between the target vehicle and the reference vehicle behind the target vehicle is shown in formula (5);

[0130]

[0131] In formula (5), u EV The target vehicle's current speed is expressed in m / s. The maximum acceleration of a reference vehicle behind the target vehicle, expressed in m / s². 2 ;u LTV The current speed of the reference vehicle behind the target vehicle, in m / s; The maximum braking deceleration of a reference vehicle behind the target vehicle, expressed in m / s². 2 ;τ r D represents the braking reaction time of the target vehicle. safety，R This is the minimum safe distance between the target vehicle and a reference vehicle behind it.

[0132] The second minimum safe distance can be calculated using formula (5); for example, when the reference vehicle in formula (5) is the second reference vehicle, then D safety，R This is the second minimum safe distance.

[0133] The second collision duration can be calculated using formula (4); for example, when the reference vehicle in formula (4) is the second reference vehicle, then TTC is the second collision duration.

[0134] If the second distance is not greater than the first reference distance, then the target vehicle's current driving lane is taken as the target lane and the target vehicle's current driving speed is taken as the target speed, and the second reference vehicle is controlled to decelerate.

[0135] Specifically, if the second distance is not greater than the first reference distance, the current driving lane of the target vehicle is taken as the target lane and the current driving speed of the target vehicle is taken as the target speed; and based on the current driving speed of the target vehicle and the second reference vehicle, the deceleration speed of the second reference vehicle is determined, and based on the deceleration speed of the second reference vehicle, the second reference vehicle is controlled to accelerate in the current driving lane of the second reference vehicle.

[0136] In one example, the method for determining the deceleration speed of the corresponding reference vehicle based on the current driving speed of the target vehicle and the corresponding reference vehicle is shown in formula (6).

[0137]

[0138] In formula (6), v1 is the current speed of the target vehicle; v2 is the current speed of the corresponding reference vehicle, v d2 d is the deceleration speed of the corresponding reference vehicle; t is the preset collision duration, which is not less than the time required for the target vehicle to collide with the corresponding reference vehicle; v′2(t) is the pre-selected speed of the corresponding reference vehicle, and d relative The projected distance between the target vehicle and the corresponding reference vehicle in the direction of travel.

[0139] The method for determining the deceleration speed of the second reference vehicle based on the current speeds of the target vehicle and the second reference vehicle is shown in formula (6). When the reference vehicle in formula (6) is the second reference vehicle, then v2 is the current speed of the second reference vehicle. d2 v'2(t) is the deceleration speed of the second reference vehicle; v'2(t) is the pre-selected speed of the second reference vehicle; d relative The projected distance between the target vehicle and the second reference vehicle in the direction of travel.

[0140] If the second distance is greater than the second reference distance and the current speed of the second reference vehicle is not greater than the current speed of the target vehicle, then the pre-selected lane and the current speed of the target vehicle will be used as the target lane and the target speed, respectively.

[0141] Specifically, if the second distance is greater than the second reference distance and the current speed of the second reference vehicle is not greater than the current speed of the target vehicle, then the target vehicle's pre-selected lane and current speed are respectively used as the target lane and target speed, and the second reference vehicle is controlled to change lanes to the target vehicle's current lane at its current speed. Alternatively, if the second distance is greater than the second reference distance and the current speed of the second reference vehicle is not greater than the target vehicle's current speed, then the target vehicle's pre-selected lane and current speed are respectively used as the target lane and target speed, and the second reference vehicle's driving state remains unchanged.

[0142] If the second distance is greater than the first reference distance, the second distance is less than the second reference distance, and the current speed of the second reference vehicle is less than the current speed of the target vehicle, then the pre-selected lane of the target vehicle is taken as the target lane, and the target speed is calculated based on the current speed of the target vehicle.

[0143] Specifically, if the second distance is greater than the first reference distance, the second distance is less than the second reference distance, and the current driving speed of the second reference vehicle is less than the current driving speed of the target vehicle, then the pre-selected lane of the target vehicle is taken as the target lane, and the acceleration speed of the target vehicle is determined according to the current driving speed of the target vehicle and the second reference vehicle. The acceleration speed of the target vehicle is taken as the target speed, and the driving state of the second reference vehicle is kept unchanged.

[0144] In one example, the acceleration speed of the target vehicle is determined based on the current driving speed of the target vehicle and the corresponding reference vehicle as shown in formula (7);

[0145]

[0146] In formula (7), in formula (2), v1 is the current speed of the target vehicle; v2 is the current speed of the corresponding reference vehicle.u1 d is the acceleration speed of the target vehicle; t is the preset collision duration, which is not less than the collision duration required between the target vehicle and the corresponding reference vehicle; v1′(t) is the pre-selected speed of the target vehicle, and d relative The projected distance between the target vehicle and the corresponding reference vehicle in the direction of travel.

[0147] The acceleration speed of the target vehicle is determined based on the current driving speeds of the target vehicle and the second reference vehicle, as shown in formula (7). When the reference vehicle in formula (7) is the second reference vehicle, v2 is the current driving speed of the second reference vehicle. u1 d is the acceleration speed of the target vehicle; t is the preset collision duration, which is not less than the collision duration required between the target vehicle and the second reference vehicle; v1′(t) is the pre-selected speed of the target vehicle, and d relative The projected distance between the target vehicle and the second reference vehicle in the direction of travel.

[0148] If the second distance is greater than the second minimum safe distance and the second collision duration is greater than the reference collision duration, then the target vehicle's pre-selected lane and current speed will be used as the target lane and target speed, respectively.

[0149] Specifically, if the second distance is greater than the second minimum safe distance and the second collision duration is greater than the reference collision duration, then the target vehicle's pre-selected lane and current driving speed are respectively used as the target lane and target speed; and the driving state of the second reference vehicle is kept unchanged.

[0150] If the second distance is not greater than the second minimum safe distance or the second collision duration is not greater than the reference collision duration, then the pre-selected lane of the target vehicle is taken as the target lane, and the target speed is calculated based on the current speed of the target vehicle, and the second reference vehicle is controlled to decelerate.

[0151] Specifically, if the second distance is not greater than the second minimum safe distance or the second collision duration is not greater than the reference collision duration, then the pre-selected lane of the target vehicle is taken as the target lane. Based on the current driving speed of the target vehicle and the second reference vehicle, the acceleration speed of the target vehicle is determined and taken as the target speed. Based on the current driving speed of the target vehicle and the first reference vehicle, the deceleration speed of the second reference vehicle is determined. Based on the deceleration speed of the second reference vehicle, the second reference vehicle is controlled to decelerate at the corresponding deceleration speed without changing lanes.

[0152] The acceleration speed of the target vehicle is determined according to the current driving speed of the target vehicle and the second reference vehicle as shown in formula (7); the deceleration speed of the second reference vehicle is determined according to the current driving speed of the target vehicle and the second reference vehicle as shown in formula (6).

[0153] The method provided in this invention can determine whether the target vehicle needs to adjust its current speed when changing lanes by using the current speed of a reference vehicle located behind the target vehicle and the speed of the target vehicle, thereby improving the traffic efficiency of the target vehicle.

[0154] In conjunction with the above embodiments, in one embodiment, the lane-changing scenario of the target vehicle includes a vehicle-road cooperative lane-changing scenario; the driving information includes the current driving speed; and when there are no abnormal events in the target vehicle's pre-selected lane and current driving lane, based on the lane-changing scenario, and according to the pre-selected lane, the target vehicle's driving information, and the driving information of a reference vehicle, the target vehicle's target lane and target speed are determined, including:

[0155] The third, fourth, and fifth reference vehicles are determined. The third reference vehicle is the reference vehicle that is closest to the target vehicle and located behind the target vehicle in the pre-selected lane. The fourth reference vehicle is the reference vehicle that is closest to the target vehicle and located in front of the target vehicle in the pre-selected lane. The fifth reference vehicle is the reference vehicle that is closest to the target vehicle and located in front of the target vehicle in the target vehicle's current lane.

[0156] Based on the projected distances between the third reference vehicle and the target vehicle in the driving direction, the projected distances between the fourth reference vehicle and the target vehicle in the driving direction, the projected distances between the fifth reference vehicle and the target vehicle in the driving direction, the third collision duration between the third reference vehicle and the target vehicle, the fourth collision duration between the fourth reference vehicle and the target vehicle, and the fifth collision duration between the fifth reference vehicle and the target vehicle, the target lane and target speed of the target vehicle are determined.

[0157] It is worth mentioning that the driving information also includes the heading angle.

[0158] Figure 4This is a schematic diagram illustrating a vehicle-to-infrastructure (V2I) lane-changing scenario in one example. The diagram includes the target vehicle (EV), its pre-selected lane for lane changing, the target vehicle's right-hand lane, the target vehicle's current lane, the nearest reference vehicle (RV) in the pre-selected lane that is behind the target vehicle, the nearest reference vehicle (RV) in the pre-selected lane that is in front of the target vehicle (FV), the nearest reference vehicle (FLV) in the target vehicle's current lane that is in front of the target vehicle (FLV), the nearest reference vehicle (RLV) in the target vehicle's current lane that is in front of the target vehicle (FLV), the nearest reference vehicle (RLV) in the target vehicle's current lane that is behind the target vehicle (RLV), the nearest reference vehicle (FRV) in the target vehicle's right-hand lane that is in front of the target vehicle (FLV), and the nearest reference vehicle (FRV) in the target vehicle's right-hand lane that is behind the target vehicle (FLV). Vehicle (RRV).

[0159] It is worth mentioning that, in one example, the driving information also included the heading angle.

[0160] Specifically, according to formula (3), the minimum safe distance between the target vehicle and the fourth reference vehicle is determined as the fourth minimum safe distance, and the minimum safe distance between the target vehicle and the fifth reference vehicle is determined as the fifth minimum safe distance. According to formula (5), the minimum safe distance between the target vehicle and the third reference vehicle is determined as the third minimum safe distance. According to formula (5), the time required for the target vehicle to collide with the third reference vehicle is determined as the third collision time, the time required for the target vehicle to collide with the fourth reference vehicle is determined as the fourth collision time, and the time required for the target vehicle to collide with the fifth reference vehicle is determined as the fifth collision time. The projected distance between the third reference vehicle and the target vehicle in the driving direction is taken as the third distance, the projected distance between the fourth reference vehicle and the target vehicle in the driving direction is taken as the fourth distance, and the projected distance between the fifth reference vehicle and the target vehicle in the driving direction is taken as the fifth distance.

[0161] If the duration of the third collision is greater than the duration of the third reference collision, the duration of the fifth collision is greater than the duration of the first reference collision, the fourth distance is greater than the third reference distance, the third distance is greater than the third minimum safe distance, and the fifth distance is greater than the second reference distance, then the pre-selected lane will be used as the target lane, and the acceleration speed of the target vehicle will be determined based on the current speeds of the target vehicle and the fourth reference vehicle, and the acceleration speed of the target vehicle will be used as the target speed. The method for determining the acceleration speed of the target vehicle based on the current speeds of the target vehicle and the fourth reference vehicle is shown in formula (7). When the reference vehicle in formula (7) is the fourth reference vehicle, v2 is the current speed of the fourth reference vehicle, v u1 d is the acceleration speed of the target vehicle; t is the preset collision duration, which is not less than the collision duration required between the target vehicle and the fourth reference vehicle; v1′(t) is the pre-selected speed of the target vehicle, and d relative This is the fourth distance.

[0162] If the duration of the third collision is greater than the duration of the third reference collision, the duration of the fifth collision is greater than the duration of the first reference collision, the fourth distance is greater than the fourth minimum safe distance, the third distance is greater than the third minimum safe distance, the fifth distance is greater than the second reference distance, and the difference in heading angle between the target vehicle and the fourth reference vehicle is within the preset heading angle difference range, then the pre-selected lane will be used as the target lane, and the acceleration speed of the target vehicle will be determined based on the current driving speed of the target vehicle and the fourth reference vehicle, and the acceleration speed of the target vehicle will be used as the target speed. The method for determining the acceleration speed of the target vehicle based on the current driving speed of the target vehicle and the fourth reference vehicle is as shown in formula (7). When the reference vehicle in formula (7) is the fourth reference vehicle, v2 is the current driving speed of the fourth reference vehicle, v u1 d is the acceleration speed of the target vehicle; t is the preset collision duration, which is not less than the collision duration required between the target vehicle and the fourth reference vehicle; v1′(t) is the pre-selected speed of the target vehicle, and d relative This is the fourth distance. In one example, the preset heading angle difference range is 15° to 45°.

[0163] If the fourth collision duration is greater than the reference collision duration, the third collision duration is greater than the third reference collision duration, the fifth collision duration is greater than the first reference collision duration, the fourth distance is greater than the fourth minimum safe distance, the third distance is greater than the third minimum safe distance, and the fifth distance is greater than the second reference distance, then the current driving speed of the target vehicle and the pre-selected lane will be used as the target speed and the target lane, respectively.

[0164] If the fourth collision duration is greater than the reference collision duration, the third collision duration is greater than the third reference collision duration, the fourth distance is greater than the fourth minimum safe distance, the third distance is greater than the third minimum safe distance, and the fifth distance is greater than the first reference distance, then the current speed of the target vehicle will be used as the target lane change lane. Based on the current speeds of the target vehicle and the fourth reference vehicle, the deceleration speed of the target vehicle will be determined and used as the target speed. Specifically, determining the deceleration speed of the target vehicle based on the current speeds of the target vehicle and the fourth reference vehicle means selecting the minimum value between their current speeds as the target vehicle's deceleration speed.

[0165] If the duration of the fourth collision is greater than the reference collision duration, the duration of the third collision is greater than the third reference collision duration, the duration of the fifth collision is greater than the first reference collision duration, the fourth distance is greater than the second reference distance, the third distance is greater than the second reference distance, and the fifth distance is greater than the second reference distance, then the current speed of the target vehicle will be used as the target lane. Based on the current speeds of the target vehicle and the fourth reference vehicle, the deceleration speed of the target vehicle will be determined and used as the target speed. Specifically, determining the deceleration speed of the target vehicle based on the current speeds of the target vehicle and the fourth reference vehicle means selecting the minimum value between their current speeds as the deceleration speed of the target vehicle.

[0166] In one example, the lane-changing scenario of the target vehicle is as follows: Figure 5 As shown, Figure 5 The lane-changing scenario includes vehicle-to-infrastructure (V2I) cooperative lane-changing scenarios. The pre-selected lane is the left lane shown in the diagram, and the target vehicle's current lane is the current lane shown in the diagram. If the fourth collision duration is less than the reference collision duration, the third collision duration is less than the third reference collision duration, the fourth distance is less than the fourth minimum safe distance, the third distance is less than the third minimum safe distance, or the third distance is less than the first reference distance, it indicates that there is an abnormal event in the target vehicle's pre-selected lane and / or current lane (i.e., the target vehicle cannot pass safely). Therefore, [the following will be implemented / determined]. Figure 6The right lane is designated as the new pre-selected lane, and the reference vehicle in the new pre-selected lane that is closest to the target vehicle and located behind the target vehicle is designated as the seventh reference vehicle, and the reference vehicle in the new pre-selected lane that is closest to the target vehicle and located in front of the target vehicle is designated as the eighth reference vehicle. The time required for the target vehicle to collide with the seventh reference vehicle is designated as the seventh collision time, the time required for the target vehicle to collide with the eighth reference vehicle is designated as the eighth collision time, the projected distance between the seventh reference vehicle and the target vehicle in the driving direction is designated as the seventh distance, and the projected distance between the eighth reference vehicle and the target vehicle in the driving direction is designated as the eighth distance. The minimum safe distance between the target vehicle and the eighth reference vehicle is determined as the eighth minimum safe distance, and the minimum safe distance between the target vehicle and the seventh reference vehicle is determined as the seventh minimum safe distance, according to formulas (3) and (5), respectively.

[0167] If the seventh collision duration is greater than the third reference collision duration, the eighth collision duration is greater than the reference collision duration, the seventh distance is greater than the seventh minimum safe distance, and the eighth distance is greater than the eighth minimum safe distance, then the new pre-selected lane will be used as the target lane for the target vehicle. Based on the current speeds of the target vehicle and the eighth reference vehicle, the deceleration speed of the target vehicle will be determined and used as the target speed. Specifically, determining the deceleration speed based on the current speeds of the target vehicle and the eighth reference vehicle means selecting the minimum value between their current speeds as the target vehicle's deceleration speed.

[0168] If at least one of the following conditions is not met: the seventh collision duration is greater than the third reference collision duration, the eighth collision duration is greater than the reference collision duration, the seventh distance is greater than the seventh minimum safe distance, and the eighth distance is greater than the eighth minimum safe distance, then the current driving lane of the target vehicle will be used as the target lane, and the target speed of the target vehicle will be determined based on the current driving speeds of the target vehicle and the fifth reference vehicle.

[0169] The target vehicle's current lane is used as the target lane, and the target speed of the target vehicle is determined based on the current speeds of the target vehicle and the fifth reference vehicle, including:

[0170] If the fifth collision duration is less than the first reference collision duration or the fifth distance is less than the second reference distance, then the minimum value between the current driving speeds of the target vehicle and the fifth reference vehicle is selected as the target speed of the target vehicle.

[0171] If the fifth collision duration is greater than the second reference collision duration and the fifth distance is greater than the fourth reference distance, then the maximum value between the current driving speeds of the target vehicle and the fifth reference vehicle is selected as the target speed of the target vehicle.

[0172] The method provided in this invention, in a vehicle-road cooperative lane-changing scenario, adjusts the speed of the target vehicle by using the current speeds of the target vehicle and surrounding reference vehicles, as well as the distance between the target vehicle and the surrounding reference vehicles, so that the target vehicle can safely change lanes, thereby improving the safety of the vehicle during driving.

[0173] In the above embodiments of the invention, the first reference distance, the second reference distance, the third reference distance, the fourth reference distance, the reference collision duration, the first reference collision duration, the second reference collision duration, and the third reference collision duration are set according to actual conditions. The units of the first reference distance, the second reference distance, the third reference distance, and the fourth reference distance are all meters (m), and the units of the reference collision duration, the first reference collision duration, the second reference collision duration, the third reference collision duration, and the preset collision duration t are all seconds (s).

[0174] In this system, the first reference distance is less than the second reference distance, the second reference distance is less than the fourth reference distance, and the fourth reference distance is greater than the third reference distance. In one example, the first, second, third, and fourth reference distances are 5m, 10m, 150m, and 120m, respectively.

[0175] The duration of the first reference collision is less than the duration of the third reference collision, the duration of the third reference collision is less than the duration of the first reference collision, and the duration of the first reference collision is less than the duration of the second reference collision. In one example, the durations of the first, second, and third reference collisions are 6s, 3s, 8s, and 4s, respectively. The preset collision duration t can take the value of 8s, 10s, or 12s.

[0176] In conjunction with the content of the above embodiments, such as Figure 6 As shown, a vehicle lane-changing control method further includes:

[0177] 601. Determine the pre-selected lane for the target vehicle;

[0178] 602. Obtain the driving information of the target vehicle and the driving information of the reference vehicle. The reference vehicle refers to a vehicle within the driving range of the target vehicle and traveling in the same direction as the target vehicle.

[0179] 603. Determine the lane-changing scenario of the target vehicle. The lane-changing scenario is divided into at least vehicle-to-vehicle cooperative lane-changing scenario and vehicle-to-infrastructure cooperative lane-changing scenario.

[0180] 604. The lane-changing scenario is a vehicle-to-vehicle cooperative lane-changing scenario. The driving information includes the current driving speed; determining whether there is a reference vehicle in the pre-selected lane; if there is no reference vehicle in the pre-selected lane, the current driving speed of the target vehicle and the pre-selected lane are used as the target lane and target speed, respectively; if there is a reference vehicle in the pre-selected lane, the target lane and target speed of the target vehicle are determined based on the position and current driving speed of the reference vehicle in the pre-selected lane, and the current driving speed of the target vehicle.

[0181] 605. Based on the target lane change and the target speed, control the target vehicle to change lanes.

[0182] The method provided in this invention can improve driving safety in vehicle-to-vehicle cooperative lane-changing scenarios by controlling the driving speeds of the reference vehicle and the target vehicle.

[0183] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0184] Based on the same inventive concept, this application also provides a vehicle lane-changing control device for implementing the vehicle lane-changing control method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations of one or more vehicle lane-changing control device embodiments provided below can be found in the limitations of the vehicle lane-changing control method described above, and will not be repeated here.

[0185] In one embodiment, such as Figure 7 As shown, a vehicle lane-changing control device is provided, comprising: a first determining module 701, a second determining module 702, a third determining module 703, and a fourth determining module 704, wherein:

[0186] The first determining module 701 is used to determine the pre-selected lane for the target vehicle;

[0187] The acquisition module is used to acquire the driving information of the target vehicle and the driving information of the reference vehicle. The reference vehicle refers to a vehicle that is within the driving range of the target vehicle and travels in the same direction as the target vehicle.

[0188] The second determining module 702 is used to determine the lane-changing scenario of the target vehicle;

[0189] The third determining module 703 is used to determine the target lane and target speed of the target vehicle based on the lane changing scenario, according to the pre-selected lane changing lane, the driving information of the target vehicle and the driving information of the reference vehicle.

[0190] The control module 704 is used to control the target vehicle to change to the target lane at the target speed.

[0191] In one embodiment, the third determining module 803 includes:

[0192] The first determining submodule is used to determine whether there is a reference vehicle in the pre-selected lane; if there is no reference vehicle in the pre-selected lane, the current driving speed of the target vehicle and the pre-selected lane are respectively used as the target lane and the target speed; if there is a reference vehicle in the pre-selected lane, the target lane and the target speed of the target vehicle are determined based on the position and current driving speed of the reference vehicle in the pre-selected lane and the current driving speed of the target vehicle.

[0193] In one embodiment, the first determining submodule includes:

[0194] The first determining unit is configured to, if a reference vehicle in the pre-selected lane is located in front of the target vehicle, take the reference vehicle located in front of the target vehicle and closest to the target vehicle as the first reference vehicle, and take the projected distance between the target vehicle and the first reference vehicle in the driving direction as the first distance; and determine the first minimum safe distance and the first collision duration.

[0195] The second determining unit is used to determine the target lane and target speed of the target vehicle based on the first distance, the first minimum safe distance, the first collision duration, the current driving speed of the first reference vehicle, and the current driving speed of the target vehicle.

[0196] In one embodiment, the first determining unit includes:

[0197] The first calculation subunit is used to calculate the first minimum safe distance based on the target vehicle's current driving speed, maximum reaction acceleration, minimum braking deceleration, and the first reference vehicle's current driving speed and maximum braking speed.

[0198] The second calculation subunit is used to calculate the first collision duration based on the current driving speed of the target vehicle and the first reference vehicle, as well as the first distance.

[0199] In one embodiment, the first determining submodule further includes:

[0200] The third determining unit is used to determine the second minimum safe distance and the second collision duration if the reference vehicle in the pre-selected lane is located behind the target vehicle, and to determine the second minimum safe distance and the second collision duration if the reference vehicle in the pre-selected lane is located behind the target vehicle and is closest to the target vehicle.

[0201] The fourth determining unit is used to determine the target lane and target speed of the target vehicle based on the second distance, the second minimum safe distance, the second collision duration, the current driving speed of the second reference vehicle and the current driving speed of the target vehicle.

[0202] In one embodiment, the third determining module 703 further includes:

[0203] The second determination submodule is used to determine the third reference vehicle, the fourth reference vehicle, and the fifth reference vehicle. The third reference vehicle refers to the reference vehicle that is closest to the target vehicle and located behind the target vehicle in the pre-selected lane. The fourth reference vehicle refers to the reference vehicle that is closest to the target vehicle and located in front of the target vehicle in the pre-selected lane. The fifth reference vehicle refers to the reference vehicle that is closest to the target vehicle and located in front of the target vehicle in the target vehicle's current driving lane.

[0204] The third determination submodule is used to determine the target lane and target speed of the target vehicle based on the projected distance between the third reference vehicle and the target vehicle in the driving direction, the projected distance between the fourth reference vehicle and the target vehicle in the driving direction, the projected distance between the fifth reference vehicle and the target vehicle in the driving direction, the third collision duration between the third reference vehicle and the target vehicle, the fourth collision duration between the fourth reference vehicle and the target vehicle, and the fifth collision duration between the fifth reference vehicle and the target vehicle.

[0205] Each module in the aforementioned vehicle lane-changing control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the corresponding operations of each module.

[0206] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 8As shown, the computer device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a vehicle lane-changing control method. The display unit is used to form a visually visible image and can be a display screen, projection device, or virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0207] Those skilled in the art will understand that Figure 8 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0208] In one embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0209] In one embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0210] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0211] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data shall comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0212] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0213] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0214] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A vehicle lane-changing control method, characterized in that, The method includes: Determine the pre-selected lane for the target vehicle; The driving information of the target vehicle and the driving information of the reference vehicle are obtained. The reference vehicle refers to a vehicle within the driving radiation range of the target vehicle and traveling in the same direction as the target vehicle. The lane-changing scenario of the target vehicle is determined; the lane-changing scenario includes vehicle-to-vehicle cooperative lane-changing scenario and vehicle-to-infrastructure cooperative lane-changing scenario; the vehicle-to-vehicle cooperative lane-changing scenario refers to a lane-changing scenario in which all vehicles are intelligent connected vehicles, that is, both the target vehicle and the reference vehicle are intelligent connected vehicles; the vehicle-to-infrastructure cooperative lane-changing scenario is a target vehicle that is intelligent connected vehicle, and the other vehicles are non-intelligent connected vehicles, that is, the target vehicle is an intelligent connected vehicle, and the reference vehicle is a non-intelligent connected vehicle. Based on the lane-changing scenario, the target lane and target speed of the target vehicle are determined according to the pre-selected lane, the driving information of the target vehicle, and the driving information of the reference vehicle. Control the target vehicle to change to the target lane at the target speed; In the vehicle-to-vehicle cooperative lane-changing scenario, if a reference vehicle in the pre-selected lane is located in front of the target vehicle, the reference vehicle located in front of and closest to the target vehicle is designated as the first reference vehicle, and the projected distance between the target vehicle and the first reference vehicle in the driving direction is designated as the first distance. If the first distance is greater than the first reference distance, the first distance is less than the second reference distance, and the current speed of the first reference vehicle is greater than the current speed of the target vehicle, then the pre-selected lane of the target vehicle is designated as the target lane, and the deceleration speed of the target vehicle is determined based on the current speeds of the target vehicle and the first reference vehicle, and this deceleration speed is designated as the target speed. Determining the deceleration speed of the target vehicle based on the current speeds of the target vehicle and the corresponding reference vehicle includes: ； v1 represents the current speed of the target vehicle; v2 represents the current speed of the corresponding reference vehicle. d1 v1 represents the deceleration speed of the target vehicle; t represents the preset collision duration, which is not less than the time required for the target vehicle to collide with the corresponding reference vehicle; ′ (t) represents the pre-selected speed of the target vehicle, and d relative The projected distance between the target vehicle and the corresponding reference vehicle in the direction of travel.

2. The method according to claim 1, characterized in that, In the vehicle-to-vehicle cooperative lane-changing scenario, the driving information includes the current driving speed; determining the target lane and target speed of the target vehicle based on the lane-changing scenario, according to the pre-selected lane, the driving information of the target vehicle, and the driving information of the reference vehicle, includes: If there is no reference vehicle in the pre-selected lane, then the current speed of the target vehicle and the pre-selected lane are respectively used as the target lane and the target speed. If there is a reference vehicle in the preselected lane, the target lane and target speed of the target vehicle are determined based on the position and current speed of the reference vehicle in the preselected lane and the current speed of the target vehicle.

3. The method according to claim 2, characterized in that, The step of determining the target lane and target speed of the target vehicle based on the position and current speed of reference vehicles in the pre-selected lane and the current speed of the target vehicle further includes: If a reference vehicle in the preselected lane is located behind the target vehicle, then the reference vehicle located behind the target vehicle and closest to the target vehicle is designated as the second reference vehicle, and the projected distance between the target vehicle and the second reference vehicle in the driving direction is designated as the second distance. Determine the second minimum safe distance and the second collision duration; The target lane and target speed of the target vehicle are determined based on the second distance, the second minimum safe distance, the second collision duration, the current speed of the second reference vehicle, and the current speed of the target vehicle.

4. The method according to claim 1, characterized in that, In the vehicle-road cooperative lane-changing scenario, the driving information includes the current driving speed; determining the target lane and target speed of the target vehicle based on the lane-changing scenario, according to the pre-selected lane, the driving information of the target vehicle, and the driving information of the reference vehicle, includes: A third reference vehicle, a fourth reference vehicle, and a fifth reference vehicle are determined. The third reference vehicle refers to the reference vehicle that is closest to the target vehicle and located behind the target vehicle in the pre-selected lane. The fourth reference vehicle refers to the reference vehicle that is closest to the target vehicle and located in front of the target vehicle in the pre-selected lane. The fifth reference vehicle refers to the reference vehicle that is closest to the target vehicle and located in front of the target vehicle in the target vehicle's current driving lane. Based on the projected distances between the third reference vehicle and the target vehicle in the driving direction, the projected distances between the fourth reference vehicle and the target vehicle in the driving direction, the projected distances between the fifth reference vehicle and the target vehicle in the driving direction, the third collision duration between the third reference vehicle and the target vehicle, the fourth collision duration between the fourth reference vehicle and the target vehicle, and the fifth collision duration between the fifth reference vehicle and the target vehicle, the target lane and target speed of the target vehicle are determined.

5. A vehicle lane-changing control device, characterized in that, The device includes: The first determining module is used to determine the pre-selected lane for the target vehicle; The acquisition module is used to acquire the driving information of the target vehicle and the driving information of the reference vehicle, wherein the reference vehicle refers to a vehicle within the driving radiation range of the target vehicle and traveling in the same direction as the target vehicle. The second determining module is used to determine the lane-changing scenario of the target vehicle; the lane-changing scenario includes vehicle-to-vehicle cooperative lane-changing scenario and vehicle-to-infrastructure cooperative lane-changing scenario; the vehicle-to-vehicle cooperative lane-changing scenario refers to a lane-changing scenario in which all vehicles are intelligent connected vehicles, that is, both the target vehicle and the reference vehicle are intelligent connected vehicles; in the vehicle-to-infrastructure cooperative lane-changing scenario, the target vehicle is an intelligent connected vehicle, and the other vehicles are non-intelligent connected vehicles, that is, the target vehicle is an intelligent connected vehicle, and the reference vehicle is a non-intelligent connected vehicle. The third determining module is used to determine the target lane and target speed of the target vehicle based on the lane changing scenario and the driving information of the pre-selected lane, the target vehicle, and the reference vehicle. The control module is used to control the target vehicle to change lanes based on the target lane and the target vehicle speed. In the vehicle-to-vehicle cooperative lane-changing scenario, if a reference vehicle in the pre-selected lane is located in front of the target vehicle, the reference vehicle located in front of and closest to the target vehicle is designated as the first reference vehicle, and the projected distance between the target vehicle and the first reference vehicle in the driving direction is designated as the first distance. If the first distance is greater than the first reference distance, the first distance is less than the second reference distance, and the current speed of the first reference vehicle is greater than the current speed of the target vehicle, then the pre-selected lane of the target vehicle is designated as the target lane, and the deceleration speed of the target vehicle is determined based on the current speeds of the target vehicle and the first reference vehicle, and this deceleration speed is designated as the target speed. Determining the deceleration speed of the target vehicle based on the current speeds of the target vehicle and the corresponding reference vehicle includes: ； v1 represents the current speed of the target vehicle; v2 represents the current speed of the corresponding reference vehicle. d1 v1 represents the deceleration speed of the target vehicle; t represents the preset collision duration, which is not less than the time required for the target vehicle to collide with the corresponding reference vehicle; ′ (t) represents the pre-selected speed of the target vehicle, and d relative The projected distance between the target vehicle and the corresponding reference vehicle in the direction of travel.

6. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 4.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 4.

8. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 4.

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