Lane changing trajectory generation method and device, and storage medium

Abstract

The present disclosure provides a lane-changing trajectory generation method and device and storage medium, relates to the technical field of artificial intelligence, and in particular to the technical field of automatic driving. The specific implementation scheme is: in the case that a first vehicle has a lane-changing intention to change lanes to a second lane where a second vehicle is located, an angle between a speed direction of the first vehicle when having the lane-changing intention and a lane direction of the first lane is determined, a position of a target point through which the first vehicle passes on a shared boundary line in the process of changing lanes from the first lane to the second lane is determined according to a current position of the first vehicle, a current speed of the first vehicle and the angle, and a position of a lane-changing end point of the first vehicle is determined according to the position of the target point and the current speed of the first vehicle; and a lane-changing trajectory of the first vehicle is generated according to the current position, the position of the target point and the position of the lane-changing end point. Thus, the lane-changing trajectory of the first vehicle is accurately determined, and therefore the safety of automatic driving of the second vehicle can be improved.

Description

Technical Field

[0001] This disclosure relates to the field of artificial intelligence, specifically to the field of autonomous driving technology, and in particular to a method, apparatus, and storage medium for generating lane change trajectories. Background Technology

[0002] With the development of technology, autonomous vehicles have become an important direction for the future development of automobiles. Autonomous vehicles can not only help improve people's travel convenience and experience, but also greatly improve the efficiency of people's travel.

[0003] During the operation of autonomous vehicles, there will sometimes be situations where other vehicles change lanes into the lane where the autonomous vehicle is located. In other words, there will be situations where other vehicles change lanes. In such cases, it is very important for the autonomous vehicle to accurately determine the lane-changing trajectory of the vehicle that is about to change lanes. Summary of the Invention

[0004] This disclosure provides a method, apparatus, and storage medium for generating lane change trajectories.

[0005] According to one aspect of this disclosure, a method for generating a lane-change trajectory is provided. The method, when a first vehicle intends to change lanes from its own first lane to a second lane occupied by a second vehicle, and the current speed of the first vehicle is less than a preset speed threshold, determines the angle between the speed direction of the first vehicle when it intends to change lanes and the lane direction of the first lane, wherein the first lane and the second lane share a common boundary line; based on the current position of the first vehicle, its current speed, and the angle, determines the position of a target point that the first vehicle passes through on the common boundary line during its lane-change from the first lane to the second lane; based on the position of the target point and the current speed of the first vehicle, determines the position of the end point of the lane change for the first vehicle; and based on the current position, the position of the target point, and the position of the end point of the lane change, generates the lane-change trajectory of the first vehicle.

[0006] According to another aspect of this disclosure, a lane change trajectory generation apparatus is provided, the apparatus being applied in a second vehicle, the apparatus comprising: a first determining module, configured to determine, when a first vehicle intends to change lanes from its own first lane to the second lane where the second vehicle is located, and the current speed of the first vehicle is less than a preset speed threshold, the angle between the speed direction of the first vehicle when it intends to change lanes and the lane direction of the first lane, wherein the first lane and the second lane share a common boundary line; a second determining module, configured to determine, based on the current position of the first vehicle, the current speed of the first vehicle, and the angle, the position of a target point passed by the first vehicle on the common boundary line during the process of changing lanes from the first lane to the second lane; a third determining module, configured to determine, based on the position of the target point and the current speed of the first vehicle, the position of the lane change endpoint of the first vehicle; and a generating module, configured to generate a lane change trajectory of the first vehicle based on the current position, the position of the target point, and the position of the lane change endpoint.

[0007] According to another aspect of this disclosure, an electronic device is provided, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the lane change trajectory generation method of this disclosure.

[0008] According to another aspect of this disclosure, a non-transitory computer-readable storage medium is provided storing computer instructions for causing the computer to execute the lane change trajectory generation method disclosed in embodiments of this disclosure.

[0009] According to another aspect of this disclosure, a computer program product is provided, including a computer program that, when executed by a processor, implements the lane change trajectory generation method of this disclosure.

[0010] According to another aspect of this disclosure, a vehicle is provided that includes the electronic devices disclosed in embodiments of this disclosure.

[0011] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this disclosure, nor is it intended to limit the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0012] The accompanying drawings are provided to better understand this solution and do not constitute a limitation of this disclosure. Wherein:

[0013] Figure 1 This is a schematic diagram based on the first embodiment of the present disclosure;

[0014] Figure 2 This is a schematic diagram according to the second embodiment of the present disclosure;

[0015] Figure 3 This is a schematic diagram according to the third embodiment of the present disclosure;

[0016] Figure 4 This is a schematic diagram according to the fourth embodiment of the present disclosure;

[0017] Figure 5 This is an example diagram corresponding to a first vehicle changing lanes to the lane where a second vehicle is located according to an embodiment of this disclosure;

[0018] Figure 6 This is a schematic diagram according to the fifth embodiment of the present disclosure;

[0019] Figure 7 This is a schematic diagram according to the sixth embodiment of the present disclosure;

[0020] Figure 8 This is a block diagram of an electronic device used to implement the lane change trajectory generation method of the embodiments of this disclosure. Detailed Implementation

[0021] The exemplary embodiments of this disclosure are described below with reference to the accompanying drawings, including various details of the embodiments to aid understanding, and should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this disclosure. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0022] In related technologies, when other vehicles need to switch into the lane currently occupied by an autonomous vehicle, the autonomous vehicle typically determines its lane-changing trajectory based on a trajectory prediction model and performs driving control based on that trajectory to ensure driving safety. However, in implementing this disclosure, the applicant discovered that when other vehicles are traveling at low speeds, the lane-changing trajectory predicted by the trajectory prediction model is inaccurate, which can easily lead to insufficient yielding by the autonomous vehicle and create driving safety hazards.

[0023] To address this issue, this application determines the angle between the speed direction of the first vehicle when it intends to change lanes from its own lane to the lane where the second vehicle is located, and the current speed of the first vehicle is less than a preset speed threshold.

[0024] In this embodiment, the first lane and the second lane share a common boundary line. Based on the current position, current speed, and included angle of the first vehicle, the position of the target point traversed by the first vehicle on the common boundary line during its lane change from the first lane to the second lane is determined. Based on the position of the target point and the current speed of the first vehicle, the position of the lane change endpoint is determined. Based on the current position, the position of the target point, and the position of the lane change endpoint, the lane change trajectory of the first vehicle is generated. Therefore, based on the current position of the first vehicle and the positions of the target points traversed by the first vehicle on the common boundary line during its lane change and the position of the lane change endpoint, the lane change trajectory of the first vehicle is accurately determined, thereby improving the safety of autonomous driving of the second vehicle. The method, apparatus, and storage medium for generating lane change trajectories according to embodiments of this disclosure are described below with reference to the accompanying drawings.

[0025] Figure 1 This is a schematic diagram based on the first embodiment of the present disclosure, which provides a method for generating lane change trajectories.

[0026] like Figure 1 As shown, the method for generating this lane change trajectory may include:

[0027] Step 101: If the first vehicle has the intention to change lanes from its own first lane to the second lane where the second vehicle is located, and the current speed of the first vehicle is less than a preset speed threshold, determine the angle between the speed direction of the first vehicle when it has the intention to change lanes and the lane direction of the first lane, wherein the first lane and the second lane share a common boundary line.

[0028] It should be noted that, in this embodiment, the execution subject of the lane change trajectory generation method is the lane change trajectory generation device, which can be implemented by software and / or hardware. The lane change trajectory generation device can be an electronic device, or it can be configured in an electronic device.

[0029] The electronic device can be configured in a second vehicle, which may be equipped with an assistance system or an autonomous driving system.

[0030] In one exemplary implementation, during the process of the second vehicle performing autonomous driving in its own second lane, the second vehicle can obtain the driving status information of the first vehicle in real time through its own perception system. Based on the driving status information, if it is determined that the first vehicle has the intention to change lanes from its own first lane to the second lane where the second vehicle is located, the second vehicle can obtain the current speed of the first vehicle and determine whether the current speed is greater than a preset speed threshold. If the current speed is less than the preset speed threshold, the lane change trajectory generation method proposed in this disclosure is used to generate the lane change trajectory of the first vehicle.

[0031] In addition, in some exemplary embodiments, when the current vehicle speed is greater than a preset vehicle speed threshold, the current driving data of the first vehicle can be input into the lane change trajectory prediction model so as to obtain the lane change trajectory of the first vehicle through the lane change trajectory prediction model.

[0032] The current driving data may include, but is not limited to, the current position, current speed, and acceleration of the first vehicle. This embodiment does not specifically limit this.

[0033] The preset speed threshold is a critical value for vehicle speed set in advance based on actual conditions. As an example, analysis of numerous road test results reveals that lane change trajectory prediction models often fail to accurately predict lane changes when the speed of the vehicle changing lanes is less than 5 m / s. Therefore, the preset speed threshold can be set to 5 meters per second (m / s).

[0034] As an example, the first lane and the second lane correspond to the same lane direction.

[0035] The lane direction is used to indicate the direction of travel within the lane.

[0036] It is understandable that the first and second vehicles are traveling in the same direction as the lane.

[0037] Step 102: Based on the current position, current speed and angle of the first vehicle, determine the position of the target point that the first vehicle passes through on the shared boundary line during the process of changing lanes from the first lane to the second lane.

[0038] As an example, based on the current vehicle speed, the lateral speed and longitudinal speed of the first vehicle are determined, and the first lateral distance between the current position of the first vehicle and the shared boundary line can be determined. Based on the first lateral distance and the lateral speed, the time for the first vehicle to reach the shared boundary line is determined. Based on the determined time and longitudinal speed, the first longitudinal distance between the current position and the target point on the shared boundary line is determined. Based on the first lateral distance and the included angle, the second longitudinal distance between the current position and the target point is determined. The first and second longitudinal distances are processed to obtain a third longitudinal distance. Based on the third longitudinal distance, the first lateral distance, and the current position, the position of the target point is determined.

[0039] Lateral speed refers to the component of the current vehicle speed in the lateral direction.

[0040] Among them, longitudinal speed refers to the speed component of the current vehicle speed in the longitudinal direction.

[0041] The longitudinal direction can be in the same direction or in the opposite direction as the driving direction of the first vehicle and the second vehicle; this embodiment does not specifically limit this.

[0042] Among them, the horizontal direction is perpendicular to the vertical direction.

[0043] As an example, the first and second vertical distances can be weighted and summed to obtain the third vertical distance. As another example, the maximum value between the first and second vertical distances can be used as the third vertical distance.

[0044] The first lateral distance is used to represent the current position of the first vehicle and the distance between the shared boundary line in the lateral direction.

[0045] Step 103: Determine the position of the first vehicle's lane change endpoint based on the target point's location and the first vehicle's current speed.

[0046] The position of the lane change endpoint indicates the position of the first vehicle after completing the lane change process.

[0047] Step 104: Generate the lane change trajectory of the first vehicle based on the current position, the position of the target point, and the position of the lane change endpoint.

[0048] In some examples, the lane change trajectory of the first vehicle can be generated using spline interpolation based on the current location, the location of the target point, and the location of the lane change endpoint.

[0049] Spline interpolation is a mathematical method that uses variable splines to create a smooth curve passing through a series of points, and the fitted curve is continuous.

[0050] Regarding the use of spline interpolation to generate the lane change trajectory of the first vehicle based on the current location, the location of the target point, and the location of the lane change endpoint, please refer to relevant technologies; this embodiment will not elaborate further on this.

[0051] It is understandable that after the second vehicle determines the lane-changing trajectory of the first vehicle, the second vehicle can perform driving control based on the lane-changing trajectory to ensure driving safety during the lane-changing process of the first vehicle.

[0052] The lane-change trajectory generation method provided in this disclosure, when a first vehicle intends to change lanes from its own first lane to the second lane where a second vehicle is located, and the current speed of the first vehicle is less than a preset speed threshold, determines the angle between the speed direction of the first vehicle when it intends to change lanes and the lane direction of the first lane, wherein the first lane and the second lane share a common boundary line; based on the current position of the first vehicle, its current speed, and the angle, determines the position of a target point passed by the first vehicle on the common boundary line during its lane change from the first lane to the second lane; based on the position of the target point and the current speed of the first vehicle, determines the position of the end point of the lane change; and based on the current position, the position of the target point, and the position of the end point of the lane change, generates the lane-change trajectory of the first vehicle. Therefore, based on the current position of the first vehicle and the positions of the target points passed by the first vehicle on the common boundary line during its lane change and the position of the end point of the lane change, the lane-change trajectory of the first vehicle is accurately determined, thereby improving the safety of the autonomous driving of the second vehicle.

[0053] In some exemplary embodiments, to clearly understand how the position of the target point passed by the first vehicle on the shared boundary line during the process of the first vehicle changing lanes from the first lane to the second lane is determined based on the current position, current speed, and included angle of the first vehicle, this embodiment also proposes a method for generating a lane change trajectory. The following is combined with... Figure 2 An exemplary description is provided of the method for generating the lane change trajectory.

[0054] Figure 2 This is a schematic diagram according to the second embodiment of the present disclosure.

[0055] like Figure 2 As shown, the method may include:

[0056] Step 201: If the first vehicle has the intention to change lanes from its own first lane to the second lane where the second vehicle is located, and the current speed of the first vehicle is less than a preset speed threshold, determine the angle between the speed direction of the first vehicle when it has the intention to change lanes and the lane direction of the first lane, wherein the first lane and the second lane share a common boundary line.

[0057] Step 202: Determine the first lateral distance between the current location and the shared boundary line.

[0058] Step 203: Determine the first longitudinal distance between the current position and the target point based on the current vehicle speed and the first lateral distance.

[0059] As an exemplary implementation, one possible way to determine the first longitudinal distance between the current position and the target point based on the current vehicle speed and the first lateral distance is as follows: Based on the current vehicle speed, determine the lateral speed and longitudinal speed of the first vehicle; based on the lateral speed and the first lateral distance, determine the first time required for the first vehicle to reach the shared boundary line; based on the longitudinal speed and the first time, determine the first longitudinal distance between the current position and the target point. Thus, the first longitudinal distance between the current position and the target point can be accurately determined.

[0060] Step 204: Determine the second longitudinal distance between the current position and the target point based on the first lateral distance and the included angle.

[0061] Step 205: Take the maximum value of the first longitudinal distance and the second longitudinal distance as the third longitudinal distance between the current position and the target point.

[0062] Step 206: Determine the location of the target point on the shared boundary line based on the current position, the third longitudinal distance, and the first lateral distance.

[0063] As an example, the horizontal and vertical coordinates of the target point on the shared boundary line can be determined based on the horizontal and vertical coordinates of the current position and the first horizontal distance, and the vertical coordinates of the target point on the shared boundary line can be determined based on the vertical coordinates of the current position and the third vertical distance.

[0064] Step 207: Determine the position of the first vehicle's lane change endpoint based on the target point's location and the first vehicle's current speed.

[0065] In one exemplary implementation, to accurately determine the location of the lane change endpoint of the first vehicle, in some exemplary implementations, the location of the lane change endpoint can be determined by convergence towards the centerline of the second lane based on the current position and the current speed of the first vehicle. An exemplary implementation involves: obtaining a second duration that is predictable for the lane change trajectory; subtracting the first duration from the second duration to obtain a third duration; determining a fifth longitudinal distance between the target point and the lane change endpoint based on the longitudinal speed and the second duration; determining a third lateral distance between the target point and the lane change endpoint based on a preset convergence coefficient, a second lateral distance from the centerline of the second lane to the shared boundary line, and the third duration; and determining the location of the lane change endpoint based on the fifth longitudinal distance, the third lateral distance, and the location of the target point. Thus, the location of the second vehicle's lane change endpoint after the lane change can be accurately predicted.

[0066] As an example, a function can be pre-set with a preset convergence coefficient, a second lateral distance from the centerline of the second lane to the shared boundary line, and a third duration input value, to determine the third lateral distance between the target point and the lane change endpoint.

[0067] As another example, one possible way to determine the third lateral distance between the target point and the lane change endpoint based on a preset convergence coefficient, the second lateral distance from the centerline of the second lane to the shared boundary line, and the third duration is as follows: Determine the corresponding convergence round based on the third duration; determine the third lateral distance between the target point and the lane change endpoint based on the convergence round, the convergence coefficient, and the second lateral distance from the centerline of the second lane to the shared boundary line. This allows for an accurate determination of the lateral distance between the target point and the lane change endpoint.

[0068] As an example, the third duration can be compared with the preset duration to obtain the corresponding convergence round.

[0069] The preset duration is a duration set according to actual needs. For example, the preset duration can be 0.1 seconds, where 0.1 represents the duration corresponding to one frame of image in the second vehicle.

[0070] For example, the second vehicle can predict its lane-changing trajectory for the next 8 seconds, meaning the second time interval is 8 seconds (s). Assuming the first vehicle's lateral speed vs, based on its current speed and the lateral distance between its current position and the shared boundary line, determines the first time interval t1 required for the first vehicle to reach the shared boundary line, then the corresponding second time interval t2 = 8 - t1. Correspondingly, assuming the second lateral distance from the centerline of the second lane to the shared boundary line is represented by L, the preset convergence coefficient is represented by α, the number of convergence rounds is represented by n, and the preset time interval is 0.1, then the corresponding number of convergence rounds... At this point, the third lateral distance f between the target point and the end of the lane change is... l =L*α n The fifth lateral distance f between the target point and the end of the lane change s =V s *t2.

[0071] Step 208: Generate the lane change trajectory of the first vehicle based on the current position, the position of the target point, and the position of the lane change endpoint.

[0072] In this example, the location of the target point on the shared boundary line during the process of the first vehicle changing lanes from the first lane to the second lane is accurately determined by combining the current position of the first vehicle, the current speed of the first vehicle, and the included angle. This can improve the accuracy of the generated lane-changing trajectory of the first vehicle and further improve driving safety.

[0073] Based on any of the above embodiments, considering that the speed and direction of the first vehicle are constantly changing during the lane change process, the angular velocity of the first vehicle can be determined based on the speed and direction at the target time corresponding to the vehicle's intention to change lanes and the speed and direction at historical times before the target time. The angle deflection value is then determined based on the angular velocity and a preset angle deflection time. This angle deflection value is then used to supplement the angle between the speed and direction of the first vehicle when it intends to change lanes, thereby improving the accuracy of the subsequently determined lane change trajectory. To clearly understand this process, the following section combines... Figure 3 The method of this embodiment is described by way of example.

[0074] Figure 3 This is a schematic diagram according to the third embodiment of the present disclosure.

[0075] like Figure 3 As shown, the method may include:

[0076] Step 301: If the first vehicle has the intention to change lanes from its own first lane to the second lane where the second vehicle is located, and the current speed of the first vehicle is less than a preset speed threshold, determine the angle between the speed direction of the first vehicle when it has the intention to change lanes and the lane direction of the first lane, wherein the first lane and the second lane share a common boundary line.

[0077] It should be noted that the specific implementation of step 301 can be found in the relevant description in the embodiments of this disclosure, and will not be repeated here.

[0078] Step 302: Obtain the target time corresponding to when the first vehicle intends to change lanes.

[0079] Step 303: Determine the direction of the first velocity of the first vehicle at the target time.

[0080] Step 304: Obtain the second velocity direction of the first vehicle at a specified historical time before the target time, wherein the time interval between the specified historical time and the target time is a preset time interval.

[0081] The preset time interval is a time interval that is set in advance.

[0082] Step 305: Determine the angular velocity of the first vehicle based on the first velocity direction, the second velocity direction, and the preset time interval.

[0083] Step 306: Determine the angle deflection value of the first vehicle based on the angular velocity and the preset angle deflection time.

[0084] The preset angle deflection time is pre-set. As an example, by analyzing the road test results, it is found that the test vehicle's angle rotation time is short during lane change. Based on the road test results, the angle deflection time is determined and used as the preset angle deflection time. For example, the preset angle deflection time can be 0.5 seconds.

[0085] Step 307: Take the sum of the included angle and the angle deflection value as the included angle.

[0086] Step 308: Based on the current position, current speed and included angle of the first vehicle, determine the position of the target point that the first vehicle passes through on the shared boundary line during the process of changing lanes from the first lane to the second lane.

[0087] Step 309: Determine the location of the first vehicle's lane change endpoint based on the target point's location and the first vehicle's current speed.

[0088] Step 310: Generate the lane change trajectory of the first vehicle based on the current position, the position of the target point, and the position of the lane change endpoint.

[0089] For details on the specific implementation of steps 308 to 310, please refer to the relevant descriptions in the embodiments of this disclosure, which will not be repeated here.

[0090] In this example, by combining the first velocity direction of the first vehicle at the target time when it intends to change lanes and the second velocity direction of the first vehicle at a specified historical time before the target time, the corresponding angular velocity is determined. Based on the angular velocity, the angle deflection value is determined. The angle deflection value is used to supplement the angle between the velocity direction of the first vehicle when it intends to change lanes and the lane direction, thereby further improving the accuracy of the determined target point position and thus improving the accuracy of the final determined lane change trajectory, which can further improve driving safety.

[0091] In some exemplary embodiments, in order to make the determined target point position closer to the actual target point position and further improve the accuracy of the generated lane change trajectory, after taking the sum of the included angle and the angle deflection value as the included angle, the included angle can also be adjusted based on a preset included angle threshold. Specifically, the maximum value between the included angle and the preset included angle threshold is taken as the included angle.

[0092] The preset angle threshold is a pre-set angle value. As an example, based on extensive road test results, the maximum angle between the lane-changing direction and the lane direction of the test vehicle when it intends to change lanes can be determined. The preset angle threshold can then be set based on this determined maximum angle. For instance, based on extensive road test results, if the maximum angle is determined to be around 30 degrees, the corresponding preset angle threshold can be 30 degrees.

[0093] To facilitate a clear understanding of this disclosure, the following will be combined with... Figure 4 and Figure 5 The method for generating lane change trajectories in this embodiment is described by way of example.

[0094] Figure 4 This is a schematic diagram according to the fourth embodiment of the present disclosure.

[0095] like Figure 4 As shown, the method may include:

[0096] Step 401: If the first vehicle has the intention to change lanes from its own first lane to the second lane where the second vehicle is located, and the current speed of the first vehicle is less than a preset speed threshold, determine the angle between the speed direction of the first vehicle when it has the intention to change lanes and the lane direction of the first lane, wherein the first lane and the second lane share a common boundary line.

[0097] Step 402: Determine the angular velocity of the first vehicle based on the first velocity direction at the target time when the first vehicle intends to change lanes and the second velocity direction at a specified historical time before the target time.

[0098] Specifically, the angular velocity of the first vehicle is determined based on the first velocity direction, the second velocity direction, and a preset time interval. The preset time interval is the time interval between the specified historical moment and the target moment.

[0099] The preset time interval is a pre-set time interval, for example, 0.5 seconds. Correspondingly, when h1 represents the first velocity direction and h5 represents the second velocity direction, the formula for calculating the angular velocity ω is:

[0100] In some exemplary implementations, to prevent perceived noise from introducing unreasonable angular velocity calculations, the maximum value of the angular velocity can be determined from road test results, and an angular velocity threshold can be set based on this maximum value. For example, the angular velocity threshold can be equal to the maximum value of the angular velocity; that is, the maximum value of the angular velocity can be directly set as the angular velocity threshold. Correspondingly, the maximum value between the angular velocity of the first vehicle and the angular velocity threshold can be used as the angular velocity of the first vehicle. For example, if the angular velocity threshold is 0.4, then the corresponding angular velocity of the first vehicle is ω = max(ω, 0.4).

[0101] Step 403: Determine the angle deflection value of the first vehicle based on the angular velocity and the preset angle deflection time.

[0102] Step 404: Take the sum of the included angle and the angle deflection value as the included angle.

[0103] For example, if the preset angle deflection time is 0.5, then after determining the angle θ between the speed direction and the lane direction of the first vehicle when it intends to change lanes, and after determining the angular velocity ω of the first vehicle, the angle θ = θ + ω × 0.5 is added to the angle deflection value.

[0104] Step 405: Take the maximum value between the included angle and the preset included angle threshold as the included angle.

[0105] For example, to prevent false velocity direction reports, a preset angle threshold of 30 degrees is added in this example, and the angle is adjusted based on this preset threshold. Correspondingly, the adjusted angle...

[0106] Step 406: Based on the current position, current speed and included angle of the first vehicle, determine the position of the target point that the first vehicle passes through on the shared boundary line during the process of changing lanes from the first lane to the second lane.

[0107] Specifically, after obtaining the adjusted included angle θ, if v represents the current speed of the first vehicle, then based on the current speed v, the longitudinal speed v of the first vehicle can be determined. s and lateral vehicle speed v l Among them, the longitudinal vehicle speed v s =v×cos(θ), lateral vehicle speed v l = v × sin(θ).

[0108] The first time t1 required to reach the boundary is calculated based on the lateral speed and the distance db between the current position of the first vehicle and the shared boundary line.

[0109] It should be noted that if t1 is greater than the second duration (e.g., 8 seconds), it means that the first vehicle failed to enter the second lane where the second vehicle is located within 8 seconds. In this case, there is no need to predict the lane change trajectory of the first vehicle.

[0110] For example, the distance between the current position of the first vehicle and the shared boundary line is represented by db, and correspondingly, the time required to reach the boundary.

[0111] For example, the center point of the second vehicle is located on the center line of the second vehicle. A coordinate system is established with the center point of the second vehicle as the origin. The vertical coordinate of the coordinate system is parallel to the lane direction, and the horizontal coordinate is perpendicular to the lane direction. The positive direction of the vertical coordinate is the same as the lane direction, and the positive direction of the horizontal coordinate is horizontal to the right. Assuming that the horizontal coordinate of the first vehicle's current position in this coordinate system is represented by inits, correspondingly, according to the longitudinal vehicle speed v... s Based on the first time interval t1, determine the first longitudinal distance between the current position and the target point. Based on the distance db between the current position of the first vehicle and the shared boundary line and the determined final included angle θ, the second longitudinal distance between the current position of the first vehicle and the target point is determined. Correspondingly, the maximum value of the first longitudinal distance and the second longitudinal distance can be used as the third longitudinal distance between the current position of the first vehicle and the target point. Correspondingly, the ordinate value of the target point in this coordinate system is cutin. s =init s +dist s Correspondingly, the x-coordinate of the target point in this coordinate system is cutin. l =dc. Where dc represents the distance between the centerline of the second lane and the shared boundary line. It can be understood that dc is half the width of the second lane. The example diagram shows the situation where vehicle A intends to change lanes from its current lane B to the third lane D where vehicle C is located, as shown below. Figure 5 As shown, it should be noted that, Figure 5 The text also provides examples of coordinate systems and their corresponding horizontal and vertical axes.

[0112] Step 407: Determine the position of the first vehicle's lane change endpoint based on the target point's location and the first vehicle's current speed.

[0113] Following the example above, the position of the first vehicle's lane change endpoint can be found by converging towards the lane centerline. Assuming a convergence coefficient α (e.g., 0.95), and the predictable time for the second vehicle's lane change trajectory is 8 seconds, the first time required for the first vehicle to reach the shared boundary line is determined as t1, the third time as t2, the preset time as 0.1, and the lane half-width as L. Correspondingly, based on the predictable time for the lane change trajectory and the first time, the third time t2 = 8 - t1 can be determined. Then, based on the third time t2 and the preset time, the convergence rounds can be determined. Correspondingly, the x-coordinate value of the end point of the lane change in the above coordinate system is final. l =L×a n Correspondingly, the ordinate value of the lane change end position is final. s =cutin s +v s *t2.

[0114] Step 408: Generate the lane change trajectory of the first vehicle based on the current position, the position of the target point, and the position of the lane change endpoint.

[0115] In this embodiment, when the first vehicle intends to change lanes to the lane where the second vehicle is located, the lane-changing trajectory of the first vehicle is predicted based on the angle between the speed direction and the lane direction corresponding to the first vehicle's intention to change lanes, as well as its current position and current speed. The lane-changing trajectory of the first vehicle can be accurately determined. Correspondingly, the second vehicle performs driving control based on the lane-changing trajectory, thereby improving the safety of the second vehicle's autonomous driving.

[0116] To implement the above embodiments, this disclosure also provides a lane change trajectory generation device.

[0117] Figure 6 This is a schematic diagram according to the fifth embodiment of the present disclosure, which provides a lane change trajectory generation device, wherein the lane change trajectory generation device is applied in a second vehicle.

[0118] like Figure 6 As shown, the lane change trajectory generation device 60 may include a first determining module 601, a second determining module 602, a third determining module 603, and a generation module 604, wherein:

[0119] The first determining module 601 is used to determine the angle between the speed direction of the first vehicle when it intends to change lanes and the lane direction of the first lane when the first vehicle intends to change lanes and the second lane where the second vehicle is located, provided that the first vehicle intends to change lanes from the first lane where it is located to the second lane where the second vehicle is located, and the current speed of the first vehicle is less than a preset speed threshold. The first lane and the second lane share a common boundary line.

[0120] The second determining module 602 is used to determine the position of the target point passed by the first vehicle on the shared boundary line during the process of the first vehicle changing lanes from the first lane to the second lane, based on the current position of the first vehicle, the current speed of the first vehicle, and the included angle.

[0121] The third determining module 603 is used to determine the position of the first vehicle's lane change endpoint based on the position of the target point and the current speed of the first vehicle.

[0122] The generation module 604 is used to generate the lane change trajectory of the first vehicle based on the current position, the position of the target point, and the position of the lane change endpoint.

[0123] The lane change trajectory generation apparatus of this disclosure, when a first vehicle intends to change lanes from its own first lane to the second lane where a second vehicle is located, and the current speed of the first vehicle is less than a preset speed threshold, determines the angle between the speed direction of the first vehicle when it intends to change lanes and the lane direction of the first lane, wherein the first lane and the second lane share a common boundary line; based on the current position of the first vehicle, the current speed of the first vehicle, and the angle, it determines the position of a target point passed by the first vehicle on the common boundary line during the process of changing lanes from the first lane to the second lane; based on the position of the target point and the current speed of the first vehicle, it determines the position of the end point of the lane change of the first vehicle; and based on the current position, the position of the target point, and the position of the end point of the lane change, it generates the lane change trajectory of the first vehicle. Therefore, based on the current position of the first vehicle and the positions of the target points passed by the first vehicle on the common boundary line during the lane change and the position of the end point of the lane change, the lane change trajectory of the first vehicle is accurately determined, thereby improving the safety of the autonomous driving of the second vehicle.

[0124] In one embodiment of this disclosure, such as Figure 7 As shown, the lane change trajectory generation device 70 may include: a first determining module 701, a second determining module 702, a third determining module 703, a generation module 704, a first acquiring module 705, a fourth determining module 706, a second acquiring module 707, a fifth determining module 708, a sixth determining module 709, a first adjusting module 710, and a second adjusting module 711. The second determining module 702 may include a first determining unit 7021, a second determining unit 7022, a third determining unit 7023, a fourth determining unit 7024, and a fifth determining unit 7025. The third determining module 703 may include: an acquiring unit 7031, a processing unit 7032, a sixth determining unit 7033, a seventh determining unit 7034, and an eighth determining unit 7035.

[0125] For a detailed description of the first determining module 701 and the generating module 704, please refer to [link / reference needed]. Figure 6The descriptions of the first determining module 601 and the generating module 604 in the illustrated embodiment will not be repeated here.

[0126] In one embodiment of this disclosure, the second determining module 702 includes:

[0127] The first determining unit 7021 is used to determine the first lateral distance between the current position and the shared boundary line.

[0128] The second determining unit 7022 is used to determine the first longitudinal distance between the current position and the target point based on the current vehicle speed and the first lateral distance.

[0129] The third determining unit 7023 is used to determine the second longitudinal distance between the current position and the target point based on the first lateral distance and the included angle.

[0130] The fourth determining unit 7024 is used to take the maximum value of the first longitudinal distance and the second longitudinal distance as the third longitudinal distance between the current position and the target point.

[0131] The fifth determining unit 7025 is used to determine the position of the target point on the shared boundary line based on the current position, the third longitudinal distance, and the first lateral distance.

[0132] In one embodiment of this disclosure, the second determining unit 7022 is specifically configured to: determine the lateral speed and longitudinal speed of the first vehicle based on the current vehicle speed; determine the first time required for the first vehicle to reach the shared boundary line based on the lateral speed and the first lateral distance; and determine the first longitudinal distance between the current position and the target point based on the longitudinal speed and the first time.

[0133] In one embodiment of this disclosure, the third determining module 703 includes:

[0134] Acquisition unit 7031 is used to acquire a second duration that is predictable for the lane change trajectory;

[0135] Processing unit 7032 is used to subtract the first duration from the second duration to obtain the third duration;

[0136] The sixth determining unit 7033 is used to determine the fifth longitudinal distance between the target point and the lane change endpoint based on the longitudinal vehicle speed and the second duration;

[0137] The seventh determining unit 7034 is used to determine the third lateral distance between the target point and the lane change endpoint based on the preset convergence coefficient, the second lateral distance from the center line of the second lane to the shared boundary line, and the third duration.

[0138] The eighth determining unit 7035 is used to determine the position of the lane change endpoint based on the fifth longitudinal distance, the third lateral distance and the position of the target point.

[0139] In one embodiment of this disclosure, the seventh determining unit 7034 is specifically used to: determine the corresponding convergence round based on the third duration; and determine the third lateral distance between the target point and the lane change endpoint based on the convergence round, the convergence coefficient, and the second lateral distance from the centerline of the second lane to the shared boundary line.

[0140] In one embodiment of this disclosure, the apparatus further includes:

[0141] The first acquisition module 705 is used to acquire the target time corresponding to when the first vehicle intends to change lanes.

[0142] The fourth determining module 706 is used to determine the first velocity direction of the first vehicle at the target time.

[0143] The second acquisition module 707 is used to acquire the second speed direction of the first vehicle at a specified historical time before the target time, wherein the time interval between the specified historical time and the target time is a preset time interval.

[0144] The fifth determining module 708 is used to determine the angular velocity of the first vehicle based on the first velocity direction, the second velocity direction, and a preset time interval.

[0145] The sixth determining module 709 is used to determine the angle deflection value of the first vehicle based on the angular velocity and the preset angle deflection time.

[0146] The first adjustment module 710 is used to take the sum of the included angle and the angle deflection value as the included angle.

[0147] In one embodiment of this disclosure, the apparatus further includes:

[0148] The second adjustment module 711 is used to take the maximum value between the included angle and the preset included angle threshold as the included angle.

[0149] It should be noted that the above explanation of the method for generating lane change trajectories also applies to the lane change trajectory generation device in this embodiment, and this embodiment will not repeat the above.

[0150] According to embodiments of this disclosure, this disclosure also provides an electronic device, a readable storage medium, and a computer program product.

[0151] According to embodiments of this disclosure, this disclosure also provides a vehicle that includes the electronic equipment disclosed in this disclosure.

[0152] Figure 8A schematic block diagram of an example electronic device 800 that can be used to implement embodiments of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0153] like Figure 8 As shown, the electronic device 800 may include a computing unit 801, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 802 or a computer program loaded from a storage unit 808 into a random access memory (RAM) 803. The RAM 803 may also store various programs and data required for the operation of the device 800. The computing unit 801, ROM 802, and RAM 803 are interconnected via a bus 804. An input / output (I / O) interface 805 is also connected to the bus 804.

[0154] Multiple components in device 800 are connected to I / O interface 805, including: input unit 806, such as keyboard, mouse, etc.; output unit 807, such as various types of monitors, speakers, etc.; storage unit 808, such as disk, optical disk, etc.; and communication unit 809, such as network card, modem, wireless transceiver, etc. Communication unit 809 allows device 800 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0155] The computing unit 801 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 801 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 801 performs the various methods and processes described above, such as the lane change trajectory generation method. For example, in some embodiments, the lane change trajectory generation method can be implemented as a computer software program tangibly contained in a machine-readable medium, such as storage unit 808. In some embodiments, part or all of the computer program can be loaded and / or installed on device 800 via ROM 802 and / or communication unit 809. When the computer program is loaded into RAM 803 and executed by the computing unit 801, one or more steps of the lane change trajectory generation method described above can be performed. Alternatively, in other embodiments, the computing unit 801 can be configured to perform the lane change trajectory generation method by any other suitable means (e.g., by means of firmware).

[0156] Various embodiments of the apparatuses and techniques described above herein can be implemented in digital electronic circuit devices, integrated circuit devices, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), device-on-a-chip (SoC) devices, complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable device including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage device, at least one input device, and at least one output device, and transmitting data and instructions to the storage device, the at least one input device, and the at least one output device.

[0157] The program code used to implement the methods of this disclosure may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, such that when executed by the processor or controller, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0158] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution apparatus, device, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor device, device, or device, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0159] To provide interaction with a user, the apparatus and techniques described herein can be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of apparatus can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0160] The apparatus and techniques described herein can be implemented in computing devices that include backend components (e.g., as a data server), or computing devices that include middleware components (e.g., an application server), or computing devices that include frontend components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with embodiments of the apparatus and techniques described herein), or computing devices that include any combination of such backend, middleware, or frontend components. The components of the apparatus can be interconnected via digital data communication of any form or medium (e.g., a communication network). Examples of communication networks include local area networks (LANs), wide area networks (WANs), the Internet, and blockchain networks.

[0161] Computer devices can include clients and servers. Clients and servers are generally located far apart and typically interact via communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. A server can be a cloud server, also known as a cloud computing server or cloud host, a hosting product within the cloud computing service system, addressing the shortcomings of traditional physical hosts and VPS (Virtual Private Server, or simply "VPS") services, such as high management difficulty and weak business scalability. A server can be a cloud server, a distributed server, or a server incorporating blockchain technology.

[0162] It's important to note that artificial intelligence (AI) is the study of enabling computers to simulate certain human thought processes and intelligent behaviors (such as learning, reasoning, thinking, and planning). It encompasses both hardware and software technologies. AI hardware technologies generally include sensors, dedicated AI chips, cloud computing, distributed storage, and big data processing. AI software technologies primarily include computer vision, speech recognition, natural language processing, machine learning / deep learning, big data processing, and knowledge graph technologies.

[0163] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this disclosure can be achieved, and this is not limited herein.

[0164] The specific embodiments described above do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A method for generating a lane change trajectory, the method being applied in a second vehicle, the method comprising: If a first vehicle has the intention to change lanes from its own first lane to the second lane where the second vehicle is located, and the current speed of the first vehicle is less than a preset speed threshold, the angle between the speed direction of the first vehicle when it has the intention to change lanes and the lane direction of the first lane is determined, wherein the first lane and the second lane share a common boundary line. Based on the current position of the first vehicle, the current speed of the first vehicle, and the included angle, determine the position of the target point that the first vehicle passes through on the shared boundary line during the process of changing lanes from the first lane to the second lane. Based on the location of the target point and the current speed of the first vehicle, determine the location of the lane change endpoint of the first vehicle; Based on the current location, the location of the target point, and the location of the lane change endpoint, the lane change trajectory of the first vehicle is generated.

2. The method according to claim 1, wherein, Determining the position of the target point passed by the first vehicle on the shared boundary line during the process of the first vehicle changing lanes from the first lane to the second lane, based on the current position of the first vehicle, the current speed of the first vehicle, and the included angle, includes: Determine the first lateral distance between the current position and the shared boundary line; Based on the current vehicle speed and the first lateral distance, determine the first longitudinal distance between the current position and the target point; Based on the first lateral distance and the included angle, determine the second longitudinal distance between the current position and the target point; The maximum value between the first longitudinal distance and the second longitudinal distance is taken as the third longitudinal distance between the current position and the target point; The position of the target point on the shared boundary line is determined based on the current position, the third longitudinal distance, and the first lateral distance.

3. The method according to claim 2, wherein, Determining the first longitudinal distance between the current position and the target point based on the current vehicle speed and the first lateral distance includes: Based on the current vehicle speed, determine the lateral speed and longitudinal speed of the first vehicle; Based on the lateral speed and the first lateral distance, determine the first time required for the first vehicle to reach the shared boundary line; Based on the longitudinal vehicle speed and the first duration, a first longitudinal distance between the current position and the target point is determined.

4. The method according to claim 3, wherein, Determining the position of the lane change endpoint of the first vehicle based on the position of the target point and the current speed of the first vehicle includes: Obtain the second predictable duration of the lane change trajectory; Subtract the first duration from the second duration to obtain the third duration; Based on the longitudinal vehicle speed and the second duration, determine the fifth longitudinal distance between the target point and the lane change endpoint; The third lateral distance between the target point and the lane change endpoint is determined based on the preset convergence coefficient, the second lateral distance from the centerline of the second lane to the shared boundary line, and the third duration. The location of the lane change endpoint is determined based on the fifth longitudinal distance, the third lateral distance, and the location of the target point.

5. The method according to claim 4, wherein, The step of determining the third lateral distance between the target point and the lane change endpoint based on a preset convergence coefficient, a second lateral distance from the centerline of the second lane to the shared boundary line, and the third duration includes: Based on the third duration, the corresponding convergence cycle is determined; The third lateral distance between the target point and the lane change endpoint is determined based on the convergence cycle, the convergence coefficient, and the second lateral distance from the centerline of the second lane to the shared boundary line.

6. The method according to any one of claims 1-5, wherein, Before determining the position of the target point passed by the first vehicle on the shared boundary line during the process of the first vehicle changing lanes from the first lane to the second lane based on the current position of the first vehicle, the current speed of the first vehicle, and the included angle, the method further includes: Obtain the target time corresponding to when the first vehicle intends to change lanes; Determine the first velocity direction of the first vehicle at the target time; Obtain the second velocity direction of the first vehicle at a specified historical time before the target time, wherein the time interval between the specified historical time and the target time is a preset time interval; The angular velocity of the first vehicle is determined based on the first velocity direction, the second velocity direction, and the preset time interval. The angle deflection value of the first vehicle is determined based on the angular velocity and the preset angle deflection time. The sum of the included angle and the angle deflection value is taken as the included angle.

7. The method according to claim 6, wherein, After taking the sum of the included angle and the angle deflection value as the included angle, the method further includes: The maximum value between the included angle and the preset included angle threshold is taken as the included angle.

8. A device for generating a lane change trajectory, the device being used in a second vehicle, the device comprising: The first determining module is used to determine the angle between the speed direction of the first vehicle when it has the intention to change lanes from the first lane where it is located to the second lane where the second vehicle is located, and the current speed of the first vehicle is less than a preset speed threshold, wherein the first lane and the second lane have a shared boundary line. The second determining module is used to determine the position of the target point that the first vehicle passes through on the shared boundary line during the process of the first vehicle changing lanes from the first lane to the second lane, based on the current position of the first vehicle, the current speed of the first vehicle, and the included angle. The third determining module is used to determine the position of the lane change endpoint of the first vehicle based on the position of the target point and the current speed of the first vehicle. The generation module is used to generate the lane change trajectory of the first vehicle based on the current position, the position of the target point, and the position of the lane change endpoint.

9. The apparatus according to claim 8, wherein, The second determining module includes: The first determining unit is configured to determine a first lateral distance between the current position and the shared boundary line; The second determining unit is configured to determine the first longitudinal distance between the current position and the target point based on the current vehicle speed and the first lateral distance; The third determining unit is used to determine the second longitudinal distance between the current position and the target point based on the first lateral distance and the included angle; The fourth determining unit is used to take the maximum value of the first longitudinal distance and the second longitudinal distance as the third longitudinal distance between the current position and the target point; The fifth determining unit is used to determine the position of the target point on the shared boundary line based on the current position, the third longitudinal distance, and the first lateral distance.

10. The apparatus according to claim 9, wherein, The second determining unit is specifically used for: Based on the current vehicle speed, determine the lateral speed and longitudinal speed of the first vehicle; Based on the lateral speed and the first lateral distance, determine the first time required for the first vehicle to reach the shared boundary line; Based on the longitudinal vehicle speed and the first duration, a first longitudinal distance between the current position and the target point is determined.

11. The apparatus according to claim 10, wherein, The third determining module includes: The acquisition unit is used to acquire a second duration that is predictable for the lane change trajectory; A processing unit is configured to subtract the first duration from the second duration to obtain a third duration; The sixth determining unit is used to determine the fifth longitudinal distance between the target point and the lane change endpoint based on the longitudinal vehicle speed and the second duration; The seventh determining unit is used to determine the third lateral distance between the target point and the lane change endpoint based on a preset convergence coefficient, the second lateral distance from the centerline of the second lane to the shared boundary line, and the third duration. The eighth determining unit is used to determine the position of the lane change endpoint based on the fifth longitudinal distance, the third lateral distance, and the position of the target point.

12. The apparatus according to claim 11, wherein, The seventh determining unit is specifically used for: Based on the third duration, the corresponding convergence cycle is determined; The third lateral distance between the target point and the lane change endpoint is determined based on the convergence cycle, the convergence coefficient, and the second lateral distance from the centerline of the second lane to the shared boundary line.

13. The apparatus according to any one of claims 8-12, wherein, The device further includes: The first acquisition module is used to acquire the target time corresponding to when the first vehicle intends to change lanes; The fourth determining module is used to determine the first velocity direction of the first vehicle at the target time; The second acquisition module is used to acquire the second velocity direction of the first vehicle at a specified historical time before the target time, wherein the time interval between the specified historical time and the target time is a preset time interval; The fifth determining module is used to determine the angular velocity of the first vehicle based on the first velocity direction, the second velocity direction, and the preset time interval; The sixth determining module is used to determine the angle deflection value of the first vehicle based on the angular velocity and the preset angle deflection time. The first adjustment module is used to take the sum of the included angle and the angle deflection value as the included angle.

14. The apparatus according to claim 13, wherein, The device further includes: The second adjustment module is used to take the maximum value between the included angle and the preset included angle threshold as the included angle.

15. An electronic device comprising: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-7.

16. A non-transitory computer-readable storage medium storing computer instructions, wherein, The computer instructions are used to cause the computer to perform the method according to any one of claims 1-7.

17. A computer program product comprising a computer program that, when executed by a processor, implements the steps of the method according to any one of claims 1-7.

18. A vehicle comprising the electronic equipment as claimed in claim 15.

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