An automatic lane changing method and device, electronic equipment and storage medium

Abstract

The application relates to the technical field of intelligent driving, in particular to an automatic lane changing method and device, an electronic device and a storage medium, which are used for improving the safety in the automatic lane changing process of a vehicle. Specifically, in the automatic lane changing process of the vehicle, the control state of a driving object of the vehicle with respect to a steering wheel is acquired in real time, so that the control state of the steering wheel is monitored in real time; if the control state at the current time is a hand holding state, the vehicle is instructed to continue the automatic lane changing operation at the current time, so that the driving object can take over the vehicle in time; optionally, if the control state at the current time is a hand off state, whether the target front wheel of the vehicle falls into the lane changing area of the target lane is further judged; if yes, the vehicle is instructed to continue the automatic lane changing operation at the current time; if no, the vehicle is instructed to return to the original lane to continue driving after the automatic lane changing operation at the current time is terminated, so that the safety in the automatic lane changing process of the vehicle is improved.

Description

Technical Field

[0001] This invention relates to the field of intelligent driving technology, and in particular to an automatic lane changing method, device, electronic device, and storage medium. Background Technology

[0002] Automatic Lane Change (ALC) technology is an intelligent driving assistance technology that uses onboard cameras, millimeter-wave radar and other sensors, high-precision positioning and high-precision maps to obtain road environment information, and uses the intelligent driving controller to determine lane changing conditions, so as to automatically change lanes without driver instruction.

[0003] In related technologies, in order to avoid safety accidents caused by the automatic lane changing function being automatically activated due to the perception unit's incorrect identification of the lane environment, it is usually necessary to monitor the driver's on-loop status and ensure that the driver has the ability to control the vehicle at any time.

[0004] Specifically, the system uses cameras inside the cockpit to monitor whether the driver is in the loop, and monitors whether the driver is holding the steering wheel based on steering wheel torque or capacitive steering wheel status, in order to ensure the driver has the ability to control the vehicle.

[0005] However, the inventors discovered that the current automatic lane change function's logic for handling drivers with their hands on the steering wheel is as follows: if the driver's hands-off warning has already been triggered before the request for automatic lane change, then automatic lane change cannot be triggered; if the driver takes their hands off the steering wheel during the automatic lane change process, then the automatic lane change will not be stopped.

[0006] The risk of the aforementioned problem is that if the driver takes their hands off the wheel during automatic lane changing, the vehicle continues to perform the lane change, and the driver does not have the ability to control the vehicle at all times during this process. Due to current technological limitations of the perception system, the rate of missed recognition of surrounding vehicles is very high, especially in adverse environments such as at night.

[0007] For example, if the driver takes their hands off the steering wheel when the vehicle begins to perform an automatic lane change, and a large vehicle appears in the target lane behind the vehicle's driving area, but the sensing system does not recognize the large vehicle, the driver's hands are not on the steering wheel at this time, and there is no time to control the vehicle to avoid the large vehicle, which will cause a serious safety accident. Summary of the Invention

[0008] This application provides an automatic lane changing method, apparatus, electronic device, and storage medium to improve the safety of vehicles during automatic lane changing.

[0009] In a first aspect, this application provides an automatic lane-changing method, the method comprising:

[0010] During the automatic lane change process, the control state of the driver regarding the steering wheel is acquired in real time, including the hand-holding state and the hands-free state.

[0011] When the current control state is the hand-held state, the vehicle is instructed to continue the automatic lane-changing operation at the current moment.

[0012] Secondly, this application provides an automatic lane-changing device, the device comprising:

[0013] The hands-free monitoring module acquires the control status of the driver regarding the steering wheel in real time during the automatic lane change process, including the hands-on state and the hands-free state.

[0014] When the control module obtains the current control state as the hand-held state, it instructs the vehicle to continue the automatic lane-changing operation at the current moment.

[0015] Optionally, before the vehicle performs an automatic lane change, a first control module is further included, for:

[0016] In response to the vehicle meeting the preset conditions for activating automatic lane changing, the control state of the vehicle's driver regarding the steering wheel is obtained;

[0017] If the control state is the hand-held state, then instruct the vehicle to perform an automatic lane change operation;

[0018] If the control state is the hands-free state, then the vehicle is instructed to maintain its original lane and continue driving.

[0019] Optionally, after acquiring the real-time control state of the vehicle's driver regarding the steering wheel, a second control module is further included, for:

[0020] When the current control state is obtained as the hands-free state, it is determined whether the target front wheel of the vehicle has fallen into the lane change area of ​​the target lane;

[0021] If the target front wheel of the vehicle falls into the lane change area of ​​the target lane, the vehicle is instructed to continue the automatic lane change operation at the current moment;

[0022] If the target front wheel of the vehicle does not fall into the lane change area of ​​the target lane, the vehicle is instructed to terminate the automatic lane change operation at the current moment and then return to the original lane to continue driving.

[0023] Optionally, the target front wheel is the front wheel of the vehicle located on the side closest to the target lane.

[0024] Optionally, the target lane includes a first edge line and a second edge line; the lane change area includes a second edge line and a third edge line; the first edge line, the second edge line, and the third edge line are parallel to each other; the first edge line or the second edge line is used to separate the target lane from the original lane.

[0025] Optionally, if the first edge line is used to separate the target lane from the original lane, then the first distance between the first edge line and the third edge line is less than the second distance between the third edge line and the second edge line.

[0026] If the second edge line is used to separate the target lane from the original lane, then the first distance between the first edge line and the third edge line is greater than the second distance between the third edge line and the second edge line.

[0027] Optionally, if the first edge line is used to separate the target lane from the original lane, then the ratio between the first distance and the second distance is one-half;

[0028] If the second edge line is used to separate the target lane from the original lane, then the ratio between the first distance and the second distance is two.

[0029] Thirdly, this application provides an electronic device, the electronic device comprising:

[0030] Memory, used to store computer programs;

[0031] When the processor executes the computer program stored in the memory, it implements the above-described automatic lane-changing method steps.

[0032] Fourthly, this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described automatic lane-changing method steps.

[0033] The beneficial effects of this application are as follows:

[0034] This application provides an automatic lane-changing method, device, electronic device, and storage medium. Specifically, during the automatic lane-changing process, the control state of the driver regarding the steering wheel is acquired in real time to achieve real-time monitoring of the steering wheel control state. If the current control state is a hand-held state, it can be confirmed that the driver is currently holding the steering wheel, and the vehicle is instructed to continue the automatic lane-changing operation at the current moment. This ensures that the driver can take over the vehicle in a timely manner in an emergency, thereby effectively improving the safety of the automatic lane-changing process.

[0035] Other features and advantages of this application will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the application. The objectives and other advantages of this application may be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings. Attached Figure Description

[0036] Figure 1 A structural diagram of an automatic lane-changing system provided in this application;

[0037] Figure 2 One of the flowcharts provided in this application is for an automatic lane changing method;

[0038] Figure 3 A flowchart of an automatic lane-changing method provided in this application;

[0039] Figure 4 A second flowchart of an automatic lane-changing method provided in this application;

[0040] Figure 5 One of the schematic diagrams provided in this application shows a target wheel falling into a lane-changing area;

[0041] Figure 6 The second schematic diagram provided in this application shows a target wheel falling into a lane-changing area;

[0042] Figure 7 Flowchart 3 of an automatic lane-changing method provided in this application;

[0043] Figure 8 A schematic diagram of an automatic lane-changing device provided in this application;

[0044] Figure 9 This is a schematic diagram of the structure of an electronic device provided in this application. Detailed Implementation

[0045] The technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this invention.

[0046] It should be noted that in the description of this application, the orientations or positional relationships indicated by terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", and "counterclockwise" are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description. They are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0047] Furthermore, in the description of this application, "multiple" is understood as "at least two". "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. A connected to B can represent: A and B directly connected, or A and B connected through C. Additionally, in the description of this application, terms such as "first" and "second" are used only for descriptive purposes and should not be construed as indicating or implying relative importance or order.

[0048] The design concept of this application embodiment is as follows:

[0049] The inventors discovered that in the relevant technologies, the current automatic lane change function's response logic for the driver holding the steering wheel is as follows: if the driver's hands-off warning has already been triggered before the request for automatic lane change, then automatic lane change cannot be triggered; if the driver takes their hands off the steering wheel during the automatic lane change process, then automatic lane change will not be stopped.

[0050] The risk of the aforementioned problem is that if the driver takes their hands off the wheel during automatic lane changing, the vehicle continues to perform the lane change, and the driver does not have the ability to control the vehicle at all times during this process. Due to current technological limitations of the perception system, the rate of missed recognition of surrounding vehicles is very high, especially in adverse environments such as at night.

[0051] For example, if the driver takes their hands off the steering wheel when the vehicle begins to perform an automatic lane change, and a large vehicle appears in the target lane behind the vehicle's driving area, but the sensing system does not recognize the large vehicle, the driver's hands are not on the steering wheel at this time, and there is no time to control the vehicle to avoid the large vehicle, which will cause a serious safety accident.

[0052] To improve safety during automatic lane changing, this application provides an automatic lane changing method, device, electronic device, and storage medium. Specifically, during automatic lane changing, the driver's control state regarding the steering wheel is acquired in real time to achieve real-time monitoring of the steering wheel control state. If the current control state is a hand-held state, it can be confirmed that the driver is currently holding the steering wheel, and the vehicle is instructed to continue the automatic lane changing operation at that moment. This ensures that the driver can take over the vehicle in a timely manner in an emergency, thereby effectively improving the safety of the automatic lane changing process.

[0053] See Figure 1 As shown in the figure, this application embodiment provides an automatic lane changing system, which may include: an automatic lane changing control module 100, a road environment module 110, a high-precision positioning module 120, a driver status monitoring module 130, a driver's hand-holding-the-steering-wheel status module 140, a navigation system 150, a vehicle status module 160, a lateral control module 170, a longitudinal control module 180, and a human-machine interface (HMI) module 190.

[0054] The automatic lane change control module 100 is used to establish communication with other modules in the automatic lane change system. These other modules include one or more of the following modules and combinations thereof: road environment module 110, high-precision positioning module 120, driver status monitoring module 130, driver's hand-holding-steering-wheel status module 140, navigation system 150, vehicle status module 160, lateral control module 170, longitudinal control module 180, and human-machine interface (HMI) module 190.

[0055] The road environment module 110 is used to acquire road environment information; the high-precision positioning module 120 is used to acquire the vehicle's position information; the driver's status monitoring module 130 is used to acquire whether the driver is in the loop; the driver's hand-holding-the-steering-wheel status module 140 is used to acquire the driver's hand-holding status about the steering wheel; the navigation system 150 is used to acquire route information; the vehicle status module 160 is used to acquire vehicle status information; the lateral control module 170 is used to control the vehicle to perform lateral lane changes; the longitudinal control module 180 is used to control the vehicle to perform longitudinal lane changes; and the human-machine interface module 190 is used to convert the automatic lane change information into a human-acceptable form for display on a visual interface.

[0056] Specifically, the automatic lane change control module 100 determines whether to activate the automatic lane change program based on information obtained from other modules, such as road environment information, vehicle position information, path information, vehicle status information, whether the driver is in the loop, and the driver's hand position on the steering wheel. If the automatic lane change program is activated, the automatic lane change control module 100 sends a lateral control command to the lateral control module 170, a longitudinal control command to the longitudinal control module 180, and sends the activation status information of the automatic lane change program to the human-machine interface module 190 for visual display to the driver.

[0057] Based on the above-mentioned automatic lane changing system, this application proposes an automatic lane changing method to improve the safety of automatic lane changing.

[0058] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0059] Example 1:

[0060] See Figure 2 As shown in the figure, this application proposes an automatic lane changing method to improve the safety of automatic lane changing. The specific process is as follows:

[0061] Step 201: During the automatic lane change process, the driver's control status of the steering wheel is acquired in real time.

[0062] Specifically, the aforementioned vehicles are those equipped with automatic lane-changing programs; the aforementioned driver can intervene in the activation or progress of the automatic lane-changing program by manipulating the vehicle's steering wheel; the aforementioned driver's control state regarding the steering wheel includes a hands-on state and a hands-free state; the hands-on state indicates that the driver can take over the vehicle at any time by manipulating the vehicle's steering wheel, achieving the purpose of timely control of the vehicle's movement; the hands-free state indicates that the driver needs time to take over the vehicle, and cannot achieve the purpose of timely control of the vehicle's movement. Here, "at any time" and "timely" are used to indicate that the required time difference meets current industry standards or application requirements.

[0063] In this embodiment of the application, in response to activating and enabling the automatic lane change program, the vehicle is controlled to perform an automatic lane change operation. During this process, the control state of the driver regarding the steering wheel is acquired in real time. In other words, this embodiment of the application adds real-time monitoring logic for the driver's hands holding the steering wheel during the execution of automatic lane change. Through this real-time monitoring, the control state can be acquired in real time.

[0064] Step 202: If the current control state is "hand-held" at the moment, instruct the vehicle to continue the automatic lane change operation at the current moment.

[0065] Specifically, since automatic lane changing is an instantaneous process, it is necessary to acquire and determine the control status of this process in real time; for example, if the current acquisition status is a hand-held state, it means that the driver has the ability to take over the vehicle at any time and instruct the vehicle to continue the automatic lane changing operation.

[0066] In this embodiment of the application, by acquiring the control status in real time, during the process of triggering automatic lane change, the system determines that the driver is holding the steering wheel, ensuring that the driver has the ability to take over the vehicle at any time. For example, if there is an object (e.g., a vehicle) behind the vehicle that is not recognized by the sensing system during the automatic lane change, the driver can take over the vehicle in time to avoid the occurrence of a safety accident, thereby achieving the technical effect of improving the safety of automatic lane change.

[0067] Optionally, before the vehicle performs an automatic lane change, it is also necessary to determine whether the automatic lane change procedure is enabled.

[0068] See Figure 3 The diagram shown is a flowchart of a method for enabling an automatic lane-changing procedure. The specific process is as follows:

[0069] Step 301: In response to the vehicle meeting the preset conditions for activating automatic lane change, obtain the control state of the vehicle's driver regarding the steering wheel;

[0070] Specifically, the preset conditions are designed based on information such as road environment information, vehicle location information, path information, vehicle status information, whether the driver is in the loop, and the driver's hand grip on the steering wheel. These conditions are used to determine whether to activate the automatic lane change function and enable the vehicle to perform an automatic lane change.

[0071] Step 302: Determine whether the driver's control state regarding the steering wheel is a hand-holding state;

[0072] Specifically, if the driver is holding the steering wheel, proceed to step 303; if not, the driver is not holding the steering wheel, i.e., the steering wheel is in a hands-free state, proceed to step 304.

[0073] In this embodiment of the application, under the preset condition of activating automatic lane changing, it is also necessary to determine the hand-holding state to ensure the safety of the vehicle during the automatic lane changing process.

[0074] Step 303: Instruct the vehicle to perform an automatic lane change;

[0075] In this embodiment of the application, by determining that the driver is holding the steering wheel, it is determined that the current driver has the ability to control the vehicle's movement at any time, and therefore the vehicle is instructed to perform an automatic lane change operation.

[0076] Step 304: Instruct the vehicle to continue driving in the original lane.

[0077] In this embodiment, by determining that the driver has taken their hands off the steering wheel, it is assumed that the current driver may not have the ability to control the vehicle in time. Therefore, the automatic lane change procedure is not initiated, and the vehicle is instructed to maintain the original lane and continue driving.

[0078] In summary, the embodiments of this application also obtain the driver's control over the steering wheel and determine whether to activate the automatic lane changing program for the vehicle based on the control situation, which can effectively improve the safety of the vehicle's automatic lane changing process.

[0079] This application provides a method to improve the safety of vehicles during automatic lane changing, thereby avoiding the safety risks caused by the driver being unable to control the vehicle in time when the steering wheel is off during automatic lane changing, and effectively improving the safety of automatic lane changing.

[0080] Example 2:

[0081] See Figure 4 As shown in the figure, this application proposes an automatic lane changing method to improve the safety of automatic lane changing. The specific process is as follows:

[0082] Step 401: During the automatic lane change process, the driver's control status of the steering wheel is acquired in real time.

[0083] Specifically, the aforementioned vehicles are those equipped with automatic lane-changing programs; the aforementioned driver can intervene in the activation or progress of the automatic lane-changing program by manipulating the vehicle's steering wheel; the aforementioned driver's control state regarding the steering wheel includes a hands-on state and a hands-free state; the hands-on state indicates that the driver can take over the vehicle at any time by manipulating the vehicle's steering wheel, achieving the purpose of timely control of the vehicle's movement; the hands-free state indicates that the driver needs time to take over the vehicle, and cannot achieve the purpose of timely control of the vehicle's movement. Here, "at any time" and "timely" are used to indicate that the required time difference meets current industry standards or application requirements.

[0084] In this embodiment of the application, in response to activating and enabling the automatic lane change program, the vehicle is controlled to perform an automatic lane change operation. During this process, the control state of the driver regarding the steering wheel is acquired in real time. In other words, this embodiment of the application adds real-time monitoring logic for the driver's hands holding the steering wheel during the execution of automatic lane change. Through this real-time monitoring, the control state can be acquired in real time.

[0085] Step 402: When the current control state is in the hands-free state, determine whether the target front wheel of the vehicle has fallen into the lane change area of ​​the target lane;

[0086] Specifically, if yes, that is, the target front wheel of the vehicle has fallen into the lane change area of ​​the target lane, then step 403 is executed; if no, that is, the target front wheel of the vehicle has not fallen into the lane change area of ​​the target lane, then step 404 is executed.

[0087] The target front wheel refers to the front wheel of the vehicle closest to the target lane. The target lane is the lane the vehicle is about to enter based on the automatic lane change procedure. The original lane is the lane the vehicle was traveling in before the automatic lane change operation was performed. The target front wheel of the vehicle falling into the lane change area of ​​the target lane includes at least two of the following situations.

[0088] Scenario 1: The target lane is located to the right of the original lane: The target lane includes a first edge line and a second edge line; the lane change area includes a second edge line and a third edge line; wherein, the first edge line, the second edge line and the third edge line are parallel to each other, the first edge line is used to separate the target lane from the original lane, for the target lane: the first edge line is the left edge line and the second edge line is the right edge line, for the lane change area: the third edge line is the left edge line and the second edge line is the right edge line.

[0089] like Figure 5 As shown, the target front wheel of the vehicle is the front wheel on the right side of the vehicle body. When the target front wheel crosses the third edge line, it is considered that the target front wheel of the vehicle has entered the lane-changing area of ​​the target lane. Further, a first distance is used to describe the spacing between the first and third edge lines, and a second distance is used to describe the spacing between the third and second edge lines. The first distance is less than the second distance. As one possible design, the ratio of the first distance to the second distance is one-half. Here, Figure 5 The lane change area shown is one possible design.

[0090] Scenario 2:

[0091] The target lane is located to the left of the original lane: the target lane includes a first edge line and a second edge line; the lane change area includes a second edge line and a third edge line; wherein, the first edge line, the second edge line and the third edge line are parallel to each other, the first edge line is used to separate the target lane and the original lane, for the target lane: the second edge line is the left edge line and the first edge line is the right edge line, for the lane change area: the second edge line is the left edge line and the third edge line is the right edge line.

[0092] like Figure 6As shown, the target front wheel of the vehicle is the front wheel on the left side of the vehicle body. When the target front wheel crosses the third edge line, it is considered that the target front wheel of the vehicle has entered the lane-changing area of ​​the target lane. Further, a first distance is used to describe the distance between the first and third edge lines, and a second distance is used to describe the distance between the third and second edge lines. The first distance is less than the second distance. As one possible design, the ratio of the first distance to the second distance is one-half. Here, Figure 6 The lane change area shown is one possible design.

[0093] In this embodiment, the safety of continuing to perform automatic lane changing operation is determined based on whether the target front wheel of the vehicle falls into the lane changing area of ​​the target lane or crosses the third edge line in the target lane, so as to improve the safety of using the automatic lane changing function.

[0094] Optionally, after obtaining the current control status as a hands-free state, a hands-free alarm can also be generated; the hands-free alarm can be displayed on the vehicle display screen based on a visual warning icon, and the hands-free alarm can be broadcast through the vehicle speakers based on a warning voice that is higher than a certain decibel requirement.

[0095] Step 403: Instruct the vehicle to continue the automatic lane change operation at the current moment;

[0096] In this embodiment of the application, during the process of the vehicle performing an automatic lane change operation, although it is obtained that the driver is in a state of not holding the steering wheel, the target front wheel of the vehicle has already fallen into the lane change area of ​​the target lane at the current moment. In other words, the automatic lane change may have been performed for a period of time. In this scenario, the risk of the vehicle turning back to the original lane is higher, so the vehicle is instructed to continue the automatic lane change operation at the current moment.

[0097] Step 404: Instruct the vehicle to terminate the automatic lane change operation at the current moment and return to the original lane to continue driving.

[0098] In this embodiment of the application, during the automatic lane change operation, although it is known that the driver has taken their hands off the steering wheel, the target front wheels of the vehicle have not yet entered the lane change area of ​​the target lane at the current moment. In other words, the automatic lane change operation may have just been performed. In this case, the risk of the vehicle turning back to the original lane is lower. Therefore, the vehicle is instructed to terminate the automatic lane change operation at the current moment, and an instruction is issued for the vehicle to change lanes back to the original lane to continue driving, so that the vehicle turns back to the original lane to continue driving.

[0099] As one implementation method, the vehicle is instructed to terminate the automatic lane change operation at the current moment and then return to the original lane to drive in the center.

[0100] Optionally, a determination can be made regarding the activation of the automatic lane-changing procedure before the vehicle performs an automatic lane-changing maneuver.

[0101] See Figure 3 The diagram shown is a flowchart of a method for enabling an automatic lane-changing procedure. The specific process is as follows:

[0102] Step 301: In response to the vehicle meeting the preset conditions for activating automatic lane change, obtain the control state of the vehicle's driver regarding the steering wheel;

[0103] Specifically, the preset conditions are designed based on information such as road environment information, vehicle location information, path information, vehicle status information, whether the driver is in the loop, and the driver's hand grip on the steering wheel. These conditions are used to determine whether to activate the automatic lane change function and enable the vehicle to perform an automatic lane change.

[0104] Step 302: Determine whether the driver's control state regarding the steering wheel is a hand-holding state;

[0105] Specifically, if the driver is holding the steering wheel, proceed to step 303; if not, the driver is not holding the steering wheel, i.e., the steering wheel is in a hands-free state, proceed to step 304.

[0106] In this embodiment of the application, under the preset condition of activating automatic lane changing, it is also necessary to determine the hand-holding state to ensure the safety of the vehicle during the automatic lane changing process.

[0107] Step 303: Instruct the vehicle to perform an automatic lane change;

[0108] In this embodiment of the application, by determining that the driver is holding the steering wheel, it is determined that the current driver has the ability to control the vehicle's movement at any time, and therefore the vehicle is instructed to perform an automatic lane change operation.

[0109] Step 304: Instruct the vehicle to continue driving in the original lane.

[0110] In this embodiment, by determining that the driver has taken their hands off the steering wheel, it is assumed that the current driver may not have the ability to control the vehicle in time. Therefore, the automatic lane change procedure is not initiated, and the vehicle is instructed to maintain the original lane and continue driving.

[0111] In summary, the embodiments of this application also obtain the driver's control over the steering wheel and determine whether to activate the automatic lane changing program for the vehicle based on the control situation, which can effectively improve the safety of the vehicle's automatic lane changing process.

[0112] This application provides a method to improve the safety of vehicles during automatic lane changing, thereby avoiding the safety risks caused by the driver being unable to control the vehicle in time when the steering wheel is off during automatic lane changing, and effectively improving the safety of automatic lane changing.

[0113] Example 3:

[0114] See Figure 7 As shown in the figure, this application proposes an automatic lane changing method to improve the safety of automatic lane changing. The specific process is as follows:

[0115] Step 701: In response to the vehicle meeting the preset conditions for activating automatic lane change, obtain the control state of the vehicle's driving object regarding the steering wheel;

[0116] Specifically, the aforementioned vehicles are those equipped with automatic lane-changing programs; the aforementioned driver can intervene in the activation or progress of the automatic lane-changing program by manipulating the vehicle's steering wheel; the aforementioned driver's control state regarding the steering wheel includes a hands-on state and a hands-free state; the hands-on state indicates that the driver can take over the vehicle at any time by manipulating the vehicle's steering wheel, achieving the purpose of timely control of the vehicle's movement; the hands-free state indicates that the driver needs time to take over the vehicle, and cannot achieve the purpose of timely control of the vehicle's movement. Here, "at any time" and "timely" are used to indicate that the required time difference meets current industry standards or application requirements.

[0117] In this embodiment of the application, in response to activating and enabling the automatic lane change program, the vehicle is controlled to perform an automatic lane change operation. During this process, the control state of the driver regarding the steering wheel is acquired in real time. In other words, this embodiment of the application adds real-time monitoring logic for the driver's hands holding the steering wheel during the execution of automatic lane change. Through this real-time monitoring, the control state can be acquired in real time.

[0118] Step 702: Determine whether the driver's control state regarding the steering wheel is a hand-holding state;

[0119] Specifically, if it is determined that the driver's control state regarding the steering wheel is a hand-holding state, then step 703 is executed; if it is determined that the driver's control state regarding the steering wheel is a hands-free state (i.e., non-hand-holding state), then step 704 is executed.

[0120] In detail, since automatic lane changing is an instantaneous process, it is necessary to acquire and determine the control status of this process in real time. For example, if the current state is determined to be "hands-on", it means that the driver has the ability to take over the vehicle at any time and instructs the vehicle to continue the automatic lane changing operation. On the other hand, if the current state is determined to be "hands-off", it means that the driver does not have the ability to take over the vehicle at any time and further determination is needed based on the target front wheel of the vehicle and the target lane.

[0121] In this embodiment of the application, by acquiring the control status in real time, during the process of triggering automatic lane change, the system determines that the driver is holding the steering wheel, ensuring that the driver has the ability to take over the vehicle at any time. For example, if there is an object (e.g., a vehicle) behind the vehicle that is not recognized by the sensing system during the automatic lane change, the driver can take over the vehicle in time to avoid the occurrence of a safety accident, thereby achieving the technical effect of improving the safety of automatic lane change.

[0122] Step 703: Instruct the vehicle to perform an automatic lane change;

[0123] As one implementation method, if the current control state is determined to be a hand-held state, the vehicle is instructed to continue the automatic lane-changing operation at that moment. Specifically, since automatic lane changing is an instantaneous process, the control state during this process needs to be acquired and determined in real time; for example, if the current state is determined to be a hand-held state, it means that the driver has the ability to take over the vehicle at any time, and the vehicle is instructed to continue the automatic lane-changing operation.

[0124] As another implementation, if the current control state is determined to be a hands-free state, and it is determined that the vehicle's target front wheel has fallen into the lane change area of ​​the target lane, then the vehicle is instructed to continue the automatic lane change operation at the current moment. Specifically, during the automatic lane change operation, although it is determined that the driver has taken their hands off the steering wheel, the vehicle's target front wheel has already fallen into the lane change area of ​​the target lane at the current moment; in other words, the automatic lane change may have already been performed for some time. In this scenario, the risk of the vehicle turning back to the original lane is higher, so the vehicle is instructed to continue the automatic lane change operation at the current moment.

[0125] Step 704: Determine whether the target front wheel of the vehicle has fallen into the lane change area of ​​the target lane;

[0126] Specifically, if yes, that is, the target front wheel of the vehicle has fallen into the lane change area of ​​the target lane, then step 703 is executed; if no, that is, the target front wheel of the vehicle has not fallen into the lane change area of ​​the target lane, then step 705 is executed.

[0127] The target front wheel refers to the front wheel of the vehicle closest to the target lane. The target lane is the lane the vehicle is about to enter based on the automatic lane change procedure. The original lane is the lane the vehicle was traveling in before the automatic lane change operation was performed. The target front wheel of the vehicle falling into the lane change area of ​​the target lane includes at least two of the following situations.

[0128] Scenario 1: The target lane is located to the right of the original lane: The target lane includes a first edge line and a second edge line; the lane change area includes a second edge line and a third edge line; wherein, the first edge line, the second edge line and the third edge line are parallel to each other, the first edge line is used to separate the target lane from the original lane, for the target lane: the first edge line is the left edge line and the second edge line is the right edge line, for the lane change area: the third edge line is the left edge line and the second edge line is the right edge line.

[0129] like Figure 5 As shown, the target front wheel of the vehicle is the front wheel on the right side of the vehicle body. When the target front wheel crosses the third edge line, it is considered that the target front wheel of the vehicle has entered the lane-changing area of ​​the target lane. Further, a first distance is used to describe the spacing between the first and third edge lines, and a second distance is used to describe the spacing between the third and second edge lines. The first distance is less than the second distance. As one possible design, the ratio of the first distance to the second distance is one-half. Here, Figure 5 The lane change area shown is one possible design.

[0130] Scenario 2:

[0131] The target lane is located to the left of the original lane: the target lane includes a first edge line and a second edge line; the lane change area includes a second edge line and a third edge line; wherein, the first edge line, the second edge line and the third edge line are parallel to each other, the first edge line is used to separate the target lane and the original lane, for the target lane: the second edge line is the left edge line and the first edge line is the right edge line, for the lane change area: the second edge line is the left edge line and the third edge line is the right edge line.

[0132] like Figure 6 As shown, the target front wheel of the vehicle is the front wheel on the left side of the vehicle body. When the target front wheel crosses the third edge line, it is considered that the target front wheel of the vehicle has entered the lane-changing area of ​​the target lane. Further, a first distance is used to describe the distance between the first and third edge lines, and a second distance is used to describe the distance between the third and second edge lines. The first distance is less than the second distance. As one possible design, the ratio of the first distance to the second distance is one-half. Here, Figure 6 The lane change area shown is one possible design.

[0133] In this embodiment, the safety of continuing to perform automatic lane changing operation is determined based on whether the target front wheel of the vehicle falls into the lane changing area of ​​the target lane or crosses the third edge line in the target lane, so as to improve the safety of using the automatic lane changing function.

[0134] Optionally, after obtaining the current control status as a hands-free state, a hands-free alarm can also be generated; the hands-free alarm can be displayed on the vehicle display screen based on a visual warning icon, and the hands-free alarm can be broadcast through the vehicle speakers based on a warning voice that is higher than a certain decibel requirement.

[0135] Step 705: Instruct the vehicle to terminate the automatic lane change operation at the current moment and return to the original lane to continue driving.

[0136] In this embodiment of the application, during the automatic lane change operation, although it is known that the driver has taken their hands off the steering wheel, the target front wheels of the vehicle have not yet entered the lane change area of ​​the target lane at the current moment. In other words, the automatic lane change operation may have just been performed. In this case, the risk of the vehicle turning back to the original lane is lower. Therefore, the vehicle is instructed to terminate the automatic lane change operation at the current moment, and an instruction is issued for the vehicle to change lanes back to the original lane to continue driving, so that the vehicle turns back to the original lane to continue driving.

[0137] As one implementation method, the vehicle is instructed to terminate the automatic lane change operation at the current moment and then return to the original lane to drive in the center.

[0138] Optionally, a determination can be made regarding the activation of the automatic lane-changing procedure before the vehicle performs an automatic lane-changing maneuver.

[0139] See Figure 3 The diagram shown is a flowchart of a method for enabling an automatic lane-changing procedure. The specific process is as follows:

[0140] Step 301: In response to the vehicle meeting the preset conditions for activating automatic lane change, obtain the control state of the vehicle's driver regarding the steering wheel;

[0141] Specifically, the preset conditions are designed based on information such as road environment information, vehicle location information, path information, vehicle status information, whether the driver is in the loop, and the driver's hand grip on the steering wheel. These conditions are used to determine whether to activate the automatic lane change function and enable the vehicle to perform an automatic lane change.

[0142] Step 302: Determine whether the driver's control state regarding the steering wheel is a hand-holding state;

[0143] Specifically, if the driver is holding the steering wheel, proceed to step 303; if not, the driver is not holding the steering wheel, i.e., the steering wheel is in a hands-free state, proceed to step 304.

[0144] In this embodiment of the application, under the preset condition of activating automatic lane changing, it is also necessary to determine the hand-holding state to ensure the safety of the vehicle during the automatic lane changing process.

[0145] Step 303: Instruct the vehicle to perform an automatic lane change;

[0146] In this embodiment of the application, by determining that the driver is holding the steering wheel, it is determined that the current driver has the ability to control the vehicle's movement at any time, and therefore the vehicle is instructed to perform an automatic lane change operation.

[0147] Step 304: Instruct the vehicle to continue driving in the original lane.

[0148] In this embodiment, by determining that the driver has taken their hands off the steering wheel, it is assumed that the current driver may not have the ability to control the vehicle in time. Therefore, the automatic lane change procedure is not initiated, and the vehicle is instructed to maintain the original lane and continue driving.

[0149] In summary, the embodiments of this application also obtain the driver's control over the steering wheel and determine whether to activate the automatic lane changing program for the vehicle based on the control situation, which can effectively improve the safety of the vehicle's automatic lane changing process.

[0150] This application provides a method to improve the safety of vehicles during automatic lane changing, thereby avoiding the safety risks caused by the driver being unable to control the vehicle in time when the steering wheel is off during automatic lane changing, and effectively improving the safety of automatic lane changing.

[0151] Specifically, during the automatic lane change process, the system continuously monitors the driver's control status regarding the steering wheel. If the current control status is "hands-on," the system instructs the vehicle to continue the automatic lane change operation, allowing the driver to take over the vehicle promptly. If the current control status is "hands-off," the system further determines whether the vehicle's front wheels have entered the lane change area of ​​the target lane. If so, the system instructs the vehicle to continue the automatic lane change operation; otherwise, the system instructs the vehicle to terminate the automatic lane change operation and return to the original lane to continue driving, thereby effectively improving the safety of the automatic lane change process.

[0152] Based on the same inventive concept, this application also provides an automatic lane changing device to improve the safety of vehicles during automatic lane changing. See [link to relevant documentation]. Figure 8 As shown, the device includes:

[0153] The hands-free monitoring module 801 acquires the control state of the driver regarding the steering wheel in real time during the automatic lane change process of the vehicle. The control state includes the hands-on state and the hands-free state.

[0154] When the control module 802 obtains the current control state as the hand-held state, it instructs the vehicle to continue the automatic lane-changing operation at the current moment.

[0155] Optionally, before the vehicle performs an automatic lane change, a first control module 800 is also included, for:

[0156] In response to the vehicle meeting the preset conditions for activating automatic lane changing, the control state of the vehicle's driver regarding the steering wheel is obtained;

[0157] If the control state is the hand-held state, then instruct the vehicle to perform an automatic lane change operation;

[0158] If the control state is the hands-free state, then the vehicle is instructed to maintain its original lane and continue driving.

[0159] Optionally, after acquiring the real-time control state of the vehicle's driver regarding the steering wheel, a second control module 803 is further included, for:

[0160] When the current control state is obtained as the hands-free state, it is determined whether the target front wheel of the vehicle has fallen into the lane change area of ​​the target lane;

[0161] If the target front wheel of the vehicle falls into the lane change area of ​​the target lane, the vehicle is instructed to continue the automatic lane change operation at the current moment;

[0162] If the target front wheel of the vehicle does not fall into the lane change area of ​​the target lane, the vehicle is instructed to terminate the automatic lane change operation at the current moment and then return to the original lane to continue driving.

[0163] Optionally, the target front wheel is the front wheel of the vehicle located on the side closest to the target lane.

[0164] Optionally, the target lane includes a first edge line and a second edge line; the lane change area includes a second edge line and a third edge line; the first edge line, the second edge line, and the third edge line are parallel to each other; the first edge line or the second edge line is used to separate the target lane from the original lane.

[0165] Optionally, if the first edge line is used to separate the target lane from the original lane, then the first distance between the first edge line and the third edge line is less than the second distance between the third edge line and the second edge line.

[0166] If the second edge line is used to separate the target lane from the original lane, then the first distance between the first edge line and the third edge line is greater than the second distance between the third edge line and the second edge line.

[0167] Optionally, if the first edge line is used to separate the target lane from the original lane, then the ratio between the first distance and the second distance is one-half;

[0168] If the second edge line is used to separate the target lane from the original lane, then the ratio between the first distance and the second distance is two.

[0169] Based on the same inventive concept, this application also provides an electronic device that can realize the function of the aforementioned automatic lane changing device. (Refer to...) Figure 9 The electronic device includes:

[0170] At least one processor 901 and a memory 902 connected to at least one processor 901. In this embodiment, the specific connection medium between the processor 901 and the memory 902 is not limited. Figure 9 The example shown is the connection between processor 901 and memory 902 via bus 900. Bus 900 is... Figure 9 The connections between other components are indicated by thick lines and are for illustrative purposes only, not as limiting information. The Bus 900 can be divided into address bus, data bus, control bus, etc., for ease of representation. Figure 9 The term is represented by a single thick line, but this does not imply that there is only one bus or one type of bus. Alternatively, the processor 901 can also be called a controller; there is no restriction on the name.

[0171] In this embodiment, memory 902 stores instructions executable by at least one processor 901. By executing the instructions stored in memory 902, at least one processor 901 can perform the automatic lane-changing method described above. Processor 901 can implement... Figure 8 The functions of each module in the device shown.

[0172] The processor 901 is the control center of the device. It can connect to various parts of the control device through various interfaces and lines. By running or executing instructions stored in memory 902 and calling data stored in memory 902, the processor can perform various functions and process data, thereby monitoring the device as a whole.

[0173] In one possible design, processor 901 may include one or more processing units. Processor 901 may integrate an application processor and a modem processor, wherein the application processor mainly handles the operating system, user interface, and applications, and the modem processor mainly handles wireless communication. It is understood that the modem processor may also not be integrated into processor 901. In some embodiments, processor 901 and memory 902 may be implemented on the same chip; in some embodiments, they may also be implemented on separate chips.

[0174] The processor 901 can be a general-purpose processor, such as a central processing unit (CPU), digital signal processor, application-specific integrated circuit, field-programmable gate array or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component, capable of implementing or executing the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the automatic lane-changing method disclosed in the embodiments of this application can be directly manifested as being executed by a hardware processor, or executed by a combination of hardware and software modules within the processor.

[0175] Memory 902, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. Memory 902 may include at least one type of storage medium, such as flash memory, hard disk, multimedia card, card-type memory, random access memory (RAM), static random access memory (SRAM), programmable read-only memory (PROM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), magnetic storage, magnetic disk, optical disk, etc. Memory 902 can be any other medium capable of carrying or storing desired program code in the form of instructions or data structures that can be accessed by a computer, but is not limited thereto. In the embodiments of this application, memory 902 can also be a circuit or any other device capable of implementing storage functions for storing program instructions and / or data.

[0176] By designing and programming the processor 901, the code corresponding to the automatic lane-changing method described in the aforementioned embodiments can be embedded into the chip, enabling the chip to execute it during operation. Figures 2-4 , Figure 7The steps of the automatic lane-changing method in the illustrated embodiment are described below. How to design and program the processor 901 is a technique well-known to those skilled in the art and will not be elaborated upon here.

[0177] Based on the same inventive concept, embodiments of this application also provide a storage medium storing computer instructions that, when executed on a computer, cause the computer to perform the automatic lane-changing method described above.

[0178] In some possible implementations, various aspects of the automatic lane-changing method provided in this application may also be implemented in the form of a program product, which includes program code that, when the program product is run on a device, causes the control device to perform the steps in the automatic lane-changing method according to the various exemplary embodiments of this application described above.

[0179] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0180] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (devices), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0181] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0182] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0183] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. An automatic lane-changing method, characterized in that, The method includes: During the automatic lane change process, the control state of the driver regarding the steering wheel is acquired in real time. The control state includes the hand-holding state and the hands-free state. The hand-holding state indicates that the driver can take over the vehicle at any time by manipulating the steering wheel. When the current control state is the hand-held state, the vehicle is instructed to continue the automatic lane-changing operation at the current moment; The process, following the real-time acquisition of the vehicle's driver's control state regarding the steering wheel, further includes: When the current control state is obtained as the hands-free state, it is determined whether the target front wheel of the vehicle has fallen into the lane change area of ​​the target lane; if the target front wheel of the vehicle has fallen into the lane change area of ​​the target lane, the vehicle is instructed to continue the automatic lane change operation at the current moment; if the target front wheel of the vehicle has not fallen into the lane change area of ​​the target lane, the vehicle is instructed to terminate the automatic lane change operation at the current moment and return to the original lane to continue driving. The target lane includes a first edge line and a second edge line; the lane change area includes a second edge line and a third edge line; the first edge line, the second edge line, and the third edge line are parallel to each other; the first edge line is used to separate the target lane from the original lane; the first distance between the first edge line and the third edge line is less than the second distance between the third edge line and the second edge line.

2. The method as described in claim 1, characterized in that, Before the vehicle performs an automatic lane change, the following is also included: In response to the vehicle meeting the preset conditions for activating automatic lane changing, the control state of the vehicle's driver regarding the steering wheel is obtained; If the control state is the hand-held state, then instruct the vehicle to perform an automatic lane change operation; If the control state is the hands-free state, then the vehicle is instructed to maintain its original lane and continue driving.

3. The method as described in claim 1, characterized in that, The target front wheel is the front wheel of the vehicle located on the side closest to the target lane.

4. The method as described in claim 1, characterized in that, The ratio between the first distance and the second distance is one-half.

5. An automatic lane-changing device, characterized in that, The device includes: The hands-free monitoring module acquires the driver's control status with respect to the steering wheel in real time during automatic lane changing. The control status includes hands-on state and hands-free state. The hands-on state indicates that the driver can take over the vehicle at any time by manipulating the steering wheel. When the control module obtains the current control state as the hand-held state, it instructs the vehicle to continue the automatic lane-changing operation at the current moment. The control module is further configured to: When the current control state is obtained as the hands-free state, it is determined whether the target front wheel of the vehicle has fallen into the lane change area of ​​the target lane; if the target front wheel of the vehicle has fallen into the lane change area of ​​the target lane, the vehicle is instructed to continue the automatic lane change operation at the current moment; if the target front wheel of the vehicle has not fallen into the lane change area of ​​the target lane, the vehicle is instructed to terminate the automatic lane change operation at the current moment and return to the original lane to continue driving. The target lane includes a first edge line and a second edge line; the lane change area includes a second edge line and a third edge line; the first edge line, the second edge line, and the third edge line are parallel to each other; the first edge line is used to separate the target lane from the original lane; the first distance between the first edge line and the third edge line is less than the second distance between the third edge line and the second edge line.

6. An electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method as described in 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 method as described in any one of claims 1-4.

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