Lane change guidance method, roadside device, system, and storage medium

Abstract

Embodiments of the present application provide a lane changing guidance method, a roadside device, a system and a storage medium, and relate to the field of intelligent transportation, which comprises: receiving a first message of a target vehicle requesting to change lanes to a target lane, the target lane being in the same direction as the target vehicle; in response to the first message, determining a candidate merging gap as an ith gap behind the target vehicle in the target lane, if the ith gap meets a preset condition, the preset condition being that the time interval between a front vehicle and a rear vehicle of the gap is greater than or equal to a minimum safe merging gap time interval; determining a target parameter based on the candidate merging gap, the target parameter comprising a lane changing position, the lane changing position being a position of the target vehicle merging from a current lane to the target lane; and sending a second message of guiding lane changing to the target vehicle if the target parameter meets a condition of the target vehicle merging into the candidate merging gap, the second message comprising the target parameter.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of intelligent transportation, and in particular to a lane changing guidance method, a roadside device, a system and a storage medium. BACKGROUND

[0002] Vehicles play an important role in modern life. With the rapid increase in the number of vehicles, various traffic accidents have become more and more frequent, especially traffic accidents caused by lane changing of vehicles.

[0003] At present, according to traffic accident statistics, during the lane changing process of a vehicle, due to the small distance between the front and rear vehicles on the lane to be changed, the high speed of the rear vehicle on the lane to be changed, or the failure of the lane changing vehicle to complete acceleration or deceleration in time, the probability of collision between the lane changing vehicle and the vehicle on the lane to be changed is high. Therefore, how to guide the vehicle to accurately change lanes has become a technical problem to be solved. SUMMARY

[0004] The present application provides a lane changing guidance method, a roadside device, a system and a storage medium, which solves the problem that the prior art cannot accurately guide the vehicle to change lanes.

[0005] To achieve the above-mentioned purpose, the present application adopts the following technical solutions:

[0006] In a first aspect, a lane changing guidance method is provided, which comprises:

[0007] receiving a first message of a target vehicle requesting to change lanes to a target lane, the target lane being provided with a vehicle driving direction identical to the driving direction of the target vehicle;

[0008] in response to the first message, in a case where an i-th gap located behind the target vehicle in the target lane meets a preset condition, determining the i-th gap as a candidate merging gap, the preset condition being that the time interval between the front vehicle and the rear vehicle of the gap is greater than or equal to a minimum safe merging gap time interval;

[0009] determining a target parameter based on the candidate merging gap, the target parameter comprising a lane changing position, the lane changing position being the position of the target vehicle merging from a current lane to the target lane;

[0010] if the target parameter meets the condition of the target vehicle merging into the candidate merging gap, sending a second message of guiding lane changing to the target vehicle, the second message comprising the target parameter;

[0011] wherein i is an integer starting from 1.

[0012] In some embodiments, the target parameter further comprises at least one of: a lane-changing speed, a lane-changing acceleration, a lane-changing time; the lane-changing speed is a driving speed of the target vehicle after changing lanes in the target lane; the lane-changing acceleration is an acceleration of the target vehicle changing from a current speed to the lane-changing speed; and the lane-changing time is a time used by the target vehicle to drive from a current position to a lane-changing position.

[0013] Correspondingly, based on the candidate merging gap, the target parameter is determined, comprising:

[0014] Based on the candidate merging gap, the lowest speed between a front vehicle speed and a rear vehicle speed of the candidate merging gap is determined as the lane-changing speed.

[0015] According to the lane-changing speed, the lane-changing position and the lane-changing time are determined.

[0016] If a distance from the lane-changing position to a starting end of the target lane is less than or equal to a length of the target lane, then according to the lane-changing speed and the lane-changing position, the lane-changing acceleration is determined.

[0017] In some embodiments, based on the candidate merging gap, the target parameter is determined, further comprising:

[0018] If the lane-changing acceleration is greater than or equal to a maximum safe deceleration provided by the target vehicle and less than or equal to a maximum acceleration provided by the target vehicle, then according to the lane-changing position and the lane-changing time, an absolute time distance between the target vehicle and a front vehicle of the candidate merging gap and an absolute time distance between the target vehicle and a rear vehicle of the candidate merging gap are determined.

[0019] If the target parameter satisfies a condition of the target vehicle merging into the candidate merging gap, a second message guiding lane changing is sent to the target vehicle, comprising:

[0020] If the absolute time distance between the target vehicle and the front vehicle of the candidate merging gap and the absolute time distance between the target vehicle and the rear vehicle of the candidate merging gap are both greater than or equal to a minimum absolute safe time distance, then any one of the following is performed:

[0021] The lane-changing position is re-determined as a current position of the target vehicle, the lane-changing time is re-determined as 0, and a second message is sent to the target vehicle, the second message comprising: the lane-changing speed, the lane-changing acceleration, the re-determined lane-changing position, and the re-determined lane-changing time.

[0022] Or,

[0023] The absolute time distance of the target vehicle and the front vehicle of the current lane, the absolute time distance of the target vehicle and the rear vehicle of the candidate merging gap are obtained, and if the absolute time distance of the target vehicle and the front vehicle of the candidate merging gap and the absolute time distance of the target vehicle and the rear vehicle of the candidate merging gap are both greater than or equal to the minimum absolute safety time distance, a second message is sent to the target vehicle, and the second message includes: the lane changing speed, the lane changing acceleration, the lane changing position, and the lane changing time.

[0024] In some embodiments, if the speed of the front vehicle of the candidate merging gap is less than the speed of the rear vehicle, the target parameters further include: the relative time distance of the target vehicle and the rear vehicle of the candidate merging gap;

[0025] The target parameters satisfying the condition of the target vehicle merging into the candidate merging gap further include: the relative time distance of the target vehicle and the rear vehicle of the candidate merging gap is greater than or equal to the minimum relative safety time distance.

[0026] In some embodiments, the target parameters are determined based on the candidate merging gap, and the method further includes:

[0027] If the speed of the front vehicle of the candidate merging gap is greater than or equal to the speed of the rear vehicle, if the lane changing acceleration is less than the maximum safe deceleration allowed to be provided by the target vehicle, the lane changing acceleration is reset to the maximum safe deceleration, and the lane changing position and the lane changing time are re-determined according to the maximum safe deceleration; or if the lane changing acceleration is greater than the maximum acceleration allowed to be provided by the target vehicle, the lane changing acceleration is reset to the maximum acceleration allowed to be provided by the target vehicle, and the lane changing position and the lane changing time are re-determined according to the maximum acceleration allowed to be provided by the target vehicle;

[0028] The absolute time distance of the target vehicle and the front vehicle of the candidate merging gap, and the absolute time distance of the target vehicle and the rear vehicle of the candidate merging gap are determined according to the re-determined lane changing position and the lane changing time;

[0029] If the target parameters satisfy the condition of the target vehicle merging into the candidate merging gap, a second message guiding the lane changing is sent to the target vehicle, including:

[0030] If the absolute time distance of the target vehicle and the front vehicle of the candidate merging gap and the absolute time distance of the target vehicle and the rear vehicle of the candidate merging gap are both greater than or equal to the minimum absolute safety time distance, and the distance from the re-determined lane changing position to the starting end of the target lane is less than or equal to the length of the target lane, a second message is sent to the target vehicle, and the second message includes: the lane changing speed, the re-determined lane changing acceleration, the re-determined lane changing position, and the re-determined lane changing time.

[0031] In some embodiments, the target parameters are determined based on the candidate merging gap, and the method further includes:

[0032] In a case where the front vehicle speed of the candidate merging gap is less than the rear vehicle speed, if the lane-changing acceleration is less than the maximum safe deceleration allowed to be provided by the target vehicle, the lane-changing acceleration is reset to the maximum safe deceleration, and the lane-changing position and the lane-changing time are re-determined according to the maximum safe deceleration; or if the lane-changing acceleration is greater than the maximum acceleration allowed to be provided by the target vehicle, the lane-changing acceleration is reset to the maximum acceleration allowed to be provided by the target vehicle, and the lane-changing position and the lane-changing time are re-determined according to the maximum acceleration allowed to be provided by the target vehicle.

[0033] According to the re-determined lane-changing position and the lane-changing time, the absolute time distance between the target vehicle and the front vehicle of the candidate merging gap, the absolute time distance between the target vehicle and the rear vehicle of the candidate merging gap, and the relative time distance between the target vehicle and the rear vehicle of the candidate merging gap are determined.

[0034] If the target parameters satisfy the conditions for the target vehicle to merge into the candidate merging gap, a second message for guiding the lane change is sent to the target vehicle, including:

[0035] If the absolute time distance between the target vehicle and the front vehicle of the candidate merging gap and the absolute time distance between the target vehicle and the rear vehicle of the candidate merging gap are both greater than or equal to the minimum absolute safe time distance, and the relative time distance between the target vehicle and the rear vehicle of the candidate merging gap is greater than or equal to the minimum relative safe time distance, and the distance from the re-determined lane-changing position to the starting end of the target lane is less than or equal to the length of the target lane, a second message is sent to the target vehicle, and the second message includes: the lane-changing speed, the re-determined lane-changing acceleration, the re-determined lane-changing position, and the re-determined lane-changing time.

[0036] In some embodiments, after the ith gap is determined as the candidate merging gap, the method further includes:

[0037] If the target parameters do not satisfy the conditions for the target vehicle to merge into the candidate merging gap, the candidate merging gap satisfying the preset conditions is searched for in the gap behind the ith gap in the target lane.

[0038] In some embodiments, after receiving the first message for requesting to change lanes to the target lane sent by the target vehicle, the method further includes:

[0039] In a case where no candidate merging gap satisfying the preset conditions is found in the target lane, a third message for keeping going straight is sent to the target vehicle.

[0040] In a second aspect, a roadside device is provided, including a communication module and a control module.

[0041] The communication module is configured to receive a first message for requesting to change lanes to a target lane sent by a target vehicle, the target lane being provided with a vehicle driving direction same as a driving direction of the target vehicle.

[0042] a control module, configured to, in response to the first message, determine an ith gap behind the target vehicle in the target lane as a candidate merging gap if the ith gap meets a preset condition, and determine a target parameter based on the candidate merging gap, wherein the preset condition is that a time interval between a front vehicle and a rear vehicle of the gap is greater than or equal to a minimum safe merging gap time interval, and the target parameter comprises a lane-changing position, the lane-changing position being a position of the target vehicle merging from a current lane to the target lane;

[0043] the communication module is further configured to, if the target parameter meets a condition of the target vehicle merging into the candidate merging gap, send a second message of guiding lane-changing to the target vehicle, the second message comprising the target parameter;

[0044] wherein i is an integer starting from 1.

[0045] In a third aspect, a roadside fusion perception system is provided, comprising a processor and a memory, the processor being coupled with the memory, and the processor being configured to execute computer programs or instructions stored in the memory, so that the system performs the lane-changing guiding method according to any one of the first aspect.

[0046] In a fourth aspect, a readable storage medium is provided, and the readable storage medium stores computer programs, when the computer programs run on the roadside fusion perception system, the roadside fusion perception system performs the lane-changing guiding method according to any one of the first aspect.

[0047] In the embodiments of the present application, when a vehicle travels along a current lane, if the vehicle wants to change lanes to a target lane, a lane-changing request message can be sent to a roadside device. After the roadside device receives the lane-changing message, it will find a candidate merging gap in the gaps behind the vehicle in the target lane, in which the time interval between the front vehicle and the rear vehicle is greater than or equal to the minimum safe merging gap time interval; then, at least one parameter is determined according to the candidate merging gap, for example, the lane-changing position from the current lane to the target lane; then, if the at least one parameter meets the condition of the merging gap, the at least one parameter of guiding lane-changing is sent to the vehicle, so that the vehicle can change lanes according to the at least one parameter. In this way, the roadside device guides the vehicle to change lanes accurately. BRIEF DESCRIPTION OF DRAWINGS

[0048] Figure 1 a flowchart of the lane-changing guiding method provided by the embodiments of the present application;

[0049] Figure 2 a scene diagram of guiding the vehicle to change lanes provided by the embodiments of the present application;

[0050] Figure 3 a structure diagram of the roadside fusion perception system provided by an embodiment of the present application;

[0051] Figure 4 A structure schematic diagram of a roadside fusion perception system provided for another embodiment of the present application. DETAILED DESCRIPTION

[0052] In the description of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" herein is only a description of the relationship between the associated objects, which means that there can be three relationships, for example, A and / or B, which can mean that A exists alone, A and B exist together, and B exists alone. And, in the description of the present application, unless otherwise specified, "multiple" means two or more than two. In addition, in order to clearly describe the technical solutions of the embodiments of the present application, "first" and "second" and the like in the embodiments of the present application are used to distinguish different objects or to distinguish different processing of the same object, rather than to describe the specific order of the object.

[0053] In the description of the present application, the reference "one embodiment" or "some embodiments" and the like means that the specific features, structures or characteristics described in connection with the embodiment are included in one or more embodiments of the present application. Therefore, the statements "in one embodiment", "in some embodiments", "in other some embodiments", "in another some embodiments" and the like appearing in different places in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized. The terms "include", "contain", "have" and their variants mean "include but not limited to", unless otherwise specifically emphasized.

[0054] Some professional terms related to the present application are described below.

[0055] Roadside device (RSU), also known as roadside unit, roadside base station, is a device integrating multiple technologies such as roadside perception, edge computing, vehicle to everything (V2X) and 5G technology. It can accurately obtain real-time dynamic information of road traffic participants in all directions, and use V2X / 5G to deliver information to surrounding vehicles. With the help of intelligent base station, regional information collection, calculation, fusion and service are realized, and the problems of automatic driving super-long distance and non-line-of-sight information perception are solved, and the cost of automatic driving is reduced.

[0056] An on-board unit (OBU) refers to a device that communicates with an RSU by using a dedicated short range communication (DSRC) technology. In V2X communication, the OBU establishes a microwave communication link with the RSU by using the DSRC technology, and can realize information interaction without stopping the vehicle during the travel.

[0057] The lane changing guidance method, the roadside device, the system, and the storage medium provided by the embodiments of the present application will be described below by way of examples in conjunction with the accompanying drawings.

[0058] Figure 1 A flowchart of a lane changing guidance method provided by the embodiments of the present application is shown in FIG. 1. As shown in FIG. 1, the method can include the following S101-S108. Figure 1

[0059] S101, receiving a first message of a request to change lanes to a target lane sent by a target vehicle.

[0060] It should be noted that the execution subject of the method can be a roadside device.

[0061] The target lane is specified for the same driving direction as the driving direction of the target vehicle.

[0062] Optionally, the target lane and the current lane of the target vehicle are adjacent lanes; or the target lane and the current lane of the target vehicle can be separated by several lanes.

[0063] For example, as shown in FIG. 2, the driving directions of the adjacent lane 1 and lane 2 are both shown by arrows, and there are multiple vehicles in each lane in a driving state. The on-board unit (OBU) loaded on the vehicle and the roadside device (RSU) set on the roadside can communicate wirelessly. Figure 2

[0064] Suppose a vehicle in lane 1 wants to change lanes to lane 2, the vehicle can send a lane changing request message to the roadside device set near the vehicle through the loaded on-board unit, requesting to change lanes to lane 2. In this way, the roadside device can find a suitable gap in the gap behind the vehicle in lane 2 according to the received lane changing request message, and guide the vehicle to change lanes if the conditions for merging into the gap are met.

[0065] S102, finding whether there is a candidate merging gap that meets the preset conditions in the gap behind the target vehicle in the target lane.

[0066] ​​After the roadside device receives the message of the target vehicle requesting to change lanes, it will search for a suitable merging gap from the rear of the target vehicle in the gap. In order to facilitate the roadside device to find a suitable merging gap, the embodiment of the present application quantifies the merging gap, for example, selects the headway as the evaluation standard of the merging gap. The calculation formula of the headway is as follows:

[0067]

[0068] Wherein, A is used to represent the front vehicle of the gap, B is used to represent the rear vehicle of the gap, T AB is used to represent the headway of A and B, S AB is used to represent the distance between the front and rear vehicles of the gap, V B is used to represent the speed of the rear vehicle.

[0069] The preset condition is set as: the headway of the front and rear vehicles of the gap is greater than or equal to the minimum safe merging gap time, i.e. T AB ≥ T min For the gap located behind the target vehicle in the target lane, it is first judged whether the first gap meets the preset condition; if not, it is judged whether the second gap meets the preset condition... until the ith gap meets the preset condition, then the following S103 is executed. Wherein, T min is used to represent the minimum safe merging gap, and the minimum safe merging gap of a small car is usually 4s, and the minimum safe merging gap of a large and medium-sized vehicle is 4.9s.

[0070] If until the last gap of the target lane, any candidate merging gap that meets the preset condition is still not found, the following S108 is executed.

[0071] S103, the ith gap is determined as a candidate merging gap.

[0072] S104, based on the candidate merging gap, a target parameter is determined.

[0073] S105, it is judged whether the target parameter meets the condition of the target vehicle merging into the candidate merging gap.

[0074] If the target parameter meets the condition of the target vehicle merging into the candidate merging gap, the following S106 is executed; if not, the following S107 is executed.

[0075] Optionally, the target parameter can include at least one of the following:

[0076] Lane change speed V' H : the driving speed of the target vehicle after changing lanes in the target lane;

[0077] Lane change acceleration a: the acceleration of the target vehicle changing from the current speed to the lane change speed;

[0078] lane change position S' H : position at which the target vehicle merges from the current lane to the target lane;

[0079] lane change time T' H : time taken by the target vehicle to travel from the current position to the lane change position.

[0080] Correspondingly, the target parameters satisfying the conditions for the target vehicle to merge into the candidate merging gap can include at least one of the following:

[0081] 1) lane change speed V' H is the lowest speed between the front vehicle speed and the rear vehicle speed of the candidate merging gap.

[0082] 2) lane change acceleration a is greater than or equal to the maximum safe deceleration allowed to be provided by the target vehicle, and the lane change acceleration is less than or equal to the maximum acceleration allowed to be provided by the target vehicle.

[0083] The lane change acceleration generally satisfies the following relationship:

[0084] a min ≤ a ≤ a max (Equation 2)

[0085] wherein a max is used to represent the maximum acceleration that can be provided by the target vehicle, which is generally 2.7 m / s 2 .

[0086] a min is used to represent the maximum safe deceleration that can be provided by the host vehicle, which is generally -2.5 m / s 2 .

[0087] 3) lane change position S' H is less than or equal to the length of the target lane.

[0088] The lane change position S' H satisfies the following relationship:

[0089]

[0090] wherein L is used to represent the length of the target lane, S H is used to represent the distance from the starting end of the target lane to the current position of the target vehicle, and V H is used to represent the current speed of the target vehicle.

[0091] 4) lane change time T' H is the shortest time to merge into the target lane.

[0092] The lane change time T' HThe following relationships need to be met:

[0093]

[0094] Further, the target parameters can further include: absolute time distance between the target vehicle and the front vehicle of the candidate merging gap, and absolute time distance between the target vehicle and the rear vehicle of the candidate merging gap. Correspondingly, the condition that the target parameters meet the target vehicle merging into the candidate merging gap further includes: both the absolute time distance between the target vehicle and the front vehicle of the candidate merging gap and the absolute time distance between the target vehicle and the rear vehicle of the candidate merging gap are greater than or equal to the minimum absolute safe time distance.

[0095] Further, the target parameters can further include: relative time distance between the target vehicle and the rear vehicle of the candidate merging gap. Correspondingly, the condition that the target parameters meet the target vehicle merging into the candidate merging gap further includes: the relative time distance between the target vehicle and the rear vehicle of the candidate merging gap is greater than or equal to the minimum relative safe time distance.

[0096] S106, a second message of guiding lane changing is sent to the target vehicle. The second message includes target parameters, such as lane changing speed, lane changing acceleration, lane changing position, and lane changing time.

[0097] S107, in the gap behind the i-th gap in the target lane, it is continued to search whether there is a candidate merging gap meeting the preset condition.

[0098] If there is a candidate merging gap meeting the preset condition, steps similar to S103 to S106 are performed; if not, S108 described below is performed.

[0099] S108, a third message of keeping going straight is sent to the target vehicle.

[0100] In the embodiments of the present application, when a vehicle travels along a current lane, if it wants to change lanes to a target lane, a lane changing request message can be sent to a roadside device. After the roadside device receives the lane changing message, it will search for a candidate merging gap in which the time distance between the front vehicle and the rear vehicle is greater than or equal to the minimum safe merging gap time distance, from front to back, in the gap behind the vehicle in the target lane; then, at least one parameter is determined according to the candidate merging gap, such as the lane changing position from the current lane to the target lane. Then, in the case that the at least one parameter meets the condition of the merging gap, the roadside device can send the at least one parameter guiding lane changing to the vehicle, so that the vehicle can change lanes according to the at least one parameter. In addition, in the case that no suitable merging gap is found, the roadside device will guide the vehicle to keep going straight, wait for a new lane changing opportunity, and guide the vehicle to change lanes according to the foregoing method in the case of meeting the condition. In this way, the vehicle is guided to change lanes accurately by the roadside device.

[0101] The following takes the target parameters including at least lane-changing speed, lane-changing acceleration, lane-changing position and lane-changing time as an example to illustrate the specific implementation of S104 to S106 of the above embodiment.

[0102] S1, based on the candidate merging gap, the lowest speed of the front vehicle speed and the rear vehicle speed of the candidate merging gap is determined as the lane-changing speed V' H .

[0103] Assuming that the front vehicle speed of the candidate merging gap is represented by V A , the rear vehicle speed of the candidate merging gap is represented by V B , then there are two cases:

[0104] The front vehicle speed of the candidate merging gap is greater than or equal to the rear vehicle speed, i.e. V A ≥V B ;

[0105] The front vehicle speed of the candidate merging gap is less than the rear vehicle speed, i.e. V A <V B .

[0106] When V A ≥V B , in order to ensure that the vehicle can merge into the target lane in the shortest time and prevent rear-end collision, the vehicle needs to accelerate or decelerate in the current lane to reach the rear vehicle speed before merging into the target lane, i.e. V' H =V B .

[0107] When V A <V B , in order to ensure that the vehicle can merge into the target lane in the shortest time and minimize the disturbance caused by the traffic on the target lane, the vehicle needs to accelerate or decelerate in the current lane to reach the front vehicle speed before merging into the target lane, i.e. V' H =V A .

[0108] Therefore, the selection principle of the lane-changing speed is V' H =min{V A ,V B}.

[0109] S2, according to the lane-changing speed V' H , the lane-changing position S' H and the lane-changing time T' H are determined.

[0110] For safety, when the vehicle merges into the candidate merging gap, the vehicle must maintain a safe time distance with both the front vehicle and the rear vehicle of the candidate merging gap. It is to be noted that in order to comprehensively judge whether the merging position of the vehicle maintains a safe time distance with the front and rear vehicles of the candidate merging gap, the concepts of absolute time distance and relative time distance are introduced in the embodiments of the present application.

[0111] Wherein, the absolute time distance can be used to limit the distance between the vehicle and the front and rear vehicles of the gap when the vehicle merges into the gap; the relative time distance can be used to limit the speed difference between the vehicle and the rear vehicle of the gap when the vehicle merges into the gap under the condition of V A <V B , so as to ensure that the rear vehicle of the gap has enough time to adjust its speed to avoid vehicle rear-end collision.

[0112] Suppose that the absolute time distance between the target vehicle and the front vehicle of the candidate merging gap is represented by T Aabs , the absolute time distance between the target vehicle and the rear vehicle of the candidate merging gap is represented by T Babs , the relative time distance between the target vehicle and the rear vehicle of the candidate merging gap is represented by T Brel , the minimum absolute safe time distance is represented by T abs , the minimum relative safe time distance is represented by T rel , the distance from the front vehicle of the candidate merging gap to the starting end of the target lane is represented by S A , the distance from the rear vehicle of the candidate merging gap to the starting end of the target lane is represented by S B .

[0113] When V A ≥ V B , when the target vehicle merges into the candidate merging gap, it needs to maintain an absolute safe time distance with both the front and rear vehicles of the candidate merging gap, that is, to satisfy:

[0114]

[0115]

[0116] When V A <V B , when the target vehicle merges into the candidate merging gap, it not only needs to maintain an absolute safe time distance with both the front and rear vehicles of the candidate merging gap, but also needs to maintain a relative safe time distance with the rear vehicle of the candidate merging gap, that is, to also satisfy:

[0117]

[0118] Since the candidate merging gap is located behind the target vehicle, the shortest lane changing time T H is the time required for the target vehicle to accelerate to the minimum safe time distance with the front vehicle of the gap, that is, T Aabs =Tabs Therefore, the lane change time T' H The following relationship must be satisfied:

[0119]

[0120] According to the description in the above embodiments, the lane change time T' H It also satisfies the following relationship:

[0121]

[0122] By combining formulas 8 and 9, we can calculate:

[0123]

[0124] The lane change position S' was calculated in this way. H At lane change position S' H Substituting back into Formula 9, the lane change time T' was calculated. H At this point, the lane change position S' has been calculated. H and lane change time T' H .

[0125] S3, Determine the lane change position S' H Distance S to the starting point of the target lane H Is it less than or equal to the length L of the target lane? If yes, proceed to S4 below; otherwise, proceed to S107.

[0126] The distance S from the lane change position to the starting point of the target lane H If the distance S from the lane change position to the starting point of the target lane is less than the length L of the target lane, it indicates that the lane change position is within the target lane, satisfying the request to change lanes to the target lane. Therefore, the vehicle can change lanes, and the following S4 is executed. H When the vehicle exceeds the length L of the target lane, it means that the lane change position is no longer in the target lane and the request to change lanes to the target lane is not met. Therefore, the vehicle needs to continue moving forward in the current lane and execute S107.

[0127] S4, based on the lane change speed V' H and lane change position S' H Determine the lane change acceleration 'a'.

[0128] Due to the target vehicle's current speed V H The distance S from the current position of the target vehicle to the beginning of the target lane H It can be seen that, combined with the lane change speed V' determined in S3 H and lane change position S' H The lane change acceleration 'a' can be calculated using the following formula:

[0129]

[0130] After determining the lane-changing acceleration a, in combination with Formula 2 of the above embodiment, it is necessary to determine whether the lane-changing acceleration a is greater than or equal to the maximum safe deceleration a min allowed to be provided by the target vehicle, and whether the lane-changing acceleration is less than or equal to the maximum acceleration a max allowed to be provided by the target vehicle.

[0131] S5, determine whether the lane-changing acceleration a is greater than or equal to the maximum safe deceleration a min allowed to be provided by the target vehicle, and whether the lane-changing acceleration is less than or equal to the maximum acceleration a max allowed to be provided by the target vehicle.

[0132] There are three relationships between the lane-changing acceleration a, the maximum safe deceleration a min allowed to be provided by the target vehicle, and the maximum acceleration a max allowed to be provided by the target vehicle: a min ≤ a ≤ a max , a < a min , and a > a max . The following will illustrate exemplary descriptions around the three relationships.

[0133] The first relationship: a min ≤ a ≤ a max

[0134] When a min ≤ a ≤ a max is satisfied, the target vehicle needs to maintain absolute time distances with the front and rear vehicles of the candidate merging gap if it wants to successfully and safely change lanes to the target lane. Therefore, it is necessary to first determine the absolute time distance T Aabs of the target vehicle with the front vehicle of the candidate merging gap, and the absolute time distance T Babs of the target vehicle with the rear vehicle of the candidate merging gap according to the lane-changing position S' H and the lane-changing time T' H . In addition, the relative time distance T Brel of the target vehicle with the rear vehicle of the candidate merging gap also needs to be determined when V A < V B .

[0135] According to the calculation of the above embodiment, the speed V A of the front vehicle of the candidate merging gap, the speed V B of the rear vehicle of the candidate merging gap, the distance S A from the front vehicle of the candidate merging gap to the starting end of the target lane, the distance S B from the rear vehicle of the candidate merging gap to the starting end of the target lane, and the lane-changing speed V'H , the lane-changing position S' H , the lane-changing time T' H , the absolute time distance T Aabs , the absolute time distance T Babs , the relative time distance T Brel .

[0136] When V A ≥ V B , for safety, the roadside device needs to judge whether the absolute time distance T Aabs , the absolute time distance T Babs of the target vehicle and the front vehicle of the candidate merging gap are both greater than or equal to the minimum absolute safety time distance T abs . In the case of T Aabs ≥ T abs , T Babs ≥ T abs , the following scheme 1 or scheme 2 can be used to guide the vehicle to change lanes; otherwise, it is necessary to continue to search for whether there is a candidate merging gap that meets the preset conditions in the gap behind the i-th gap in the target lane, that is, to perform the above S107.

[0137] When V A <V B , for safety, the roadside device not only needs to judge whether the absolute time distance T Aabs , the absolute time distance T Babs of the target vehicle and the front vehicle of the candidate merging gap are both greater than or equal to the minimum absolute safety time distance T abs , but also needs to judge whether the relative time distance T Brel of the target vehicle and the rear vehicle of the candidate merging gap is greater than or equal to the minimum relative safety time distance T rel . In the case of T Aabs ≥ T abs , T Babs ≥ T abs , T Brel ≥ T rel , the following scheme 1 or scheme 2 can be used to guide the vehicle to change lanes; otherwise, it is necessary to continue to search for whether there is a candidate merging gap that meets the preset conditions in the gap behind the i-th gap in the target lane, that is, to perform the above S107.

[0138] Scheme 1: Guide the target vehicle to change lanes immediately at the current position S H .

[0139] Specifically, the lane change position S' H is re-determined as the current position of the target vehicle (i.e., S' H = S H ), and the lane change time T' H is re-determined as 0 (i.e., T' H = 0). Then, a second message is sent to the target vehicle to guide the target vehicle to change lane. The second message includes: the lane change speed V' H , the lane change acceleration a, the re-determined lane change position S' H , and the re-determined lane change time T' H .

[0140] In this scheme, by re-determining the lane change position S' H as the current position of the target vehicle and re-determining the lane change time T' H as 0, the target vehicle can be guided to change lane immediately at the current position, thereby improving the lane change efficiency.

[0141] Scheme 2: Guide the target vehicle to change lane at the determined lane change position S' H and the determined lane change time T' H .

[0142] If the target vehicle needs to accelerate or decelerate to the lane change speed V' H , the target vehicle needs to maintain a safe time distance with the front and rear vehicles in the current lane during this process.

[0143] Suppose the absolute time distance between the target vehicle and the front vehicle of the target vehicle in the current lane is denoted as T Cabs , the absolute time distance between the target vehicle and the rear vehicle of the target vehicle in the current lane is denoted as T Dabs , the distance from the front vehicle of the target vehicle in the current lane to the starting end of the target lane is denoted as S C , the distance from the rear vehicle of the target vehicle in the current lane to the starting end of the target lane is denoted as S D , the speed of the front vehicle of the target vehicle in the current lane is denoted as V C , the speed of the rear vehicle of the target vehicle in the current lane is denoted as V D , then there is the following relationship:

[0144]

[0145]

[0146] According to formula 12 and formula 13, the absolute time distance T Cabs between the target vehicle and the front vehicle of the current lane, and the absolute time distance T DabsThen, it is needed to determine whether the absolute time distance T Cabs between the target vehicle and the front vehicle of the candidate merging gap and the absolute time distance T Dabs between the target vehicle and the rear vehicle of the candidate merging gap are both greater than or equal to the minimum absolute safety time distance T abs .

[0147] If T Cabs ≥ T abs and T Dabs ≥ T abs , the target vehicle keeps safety time distance with the front and rear vehicles of the current lane, so the roadside device can send a second message to the target vehicle to guide the target vehicle to change lane. The second message includes: lane change speed V' H , lane change acceleration a, lane change position S' H , and lane change time T' H .

[0148] The second relationship is:

[0149] When a < a min , the lane change acceleration a is reset to the maximum safe braking deceleration a min , i.e. a = a min .

[0150] Substitute a = a min into the above formula 3, the following relationship is obtained:

[0151]

[0152] Since the lane change speed V' H , the current speed V H of the target vehicle, and the distance S H from the current position of the target vehicle to the start of the target lane are known, the lane change position S' H is calculated by using formula 14. Then, the re-determined lane change position S' H is substituted into formula 9 to calculate the lane change time T' H .

[0153] If the target vehicle wants to successfully and safely change lane to the target lane, it needs to keep absolute time distance with the front and rear vehicles of the candidate merging gap of the target lane. Therefore, the roadside device needs to first determine the absolute time distance T Aabs between the target vehicle and the front vehicle of the candidate merging gap and the absolute time distance T Babs between the target vehicle and the rear vehicle of the candidate merging gap according to the re-determined lane change position and the lane change time. In addition, when V A < V B , the relative time distance T Brel between the target vehicle and the rear vehicle of the candidate merging gap is also determined.

[0154] According to the calculation of the above embodiment, the front vehicle speed V of the candidate merging gap A , the rear vehicle speed V of the candidate merging gap B , the distance S of the front vehicle of the candidate merging gap to the starting end of the target lane A , the distance S of the rear vehicle of the candidate merging gap to the starting end of the target lane B , the lane changing speed V' H , the re-determined lane changing position S' H , the re-determined lane changing time T' H , the absolute time distance T of the target vehicle and the front vehicle of the candidate merging gap Aabs , the absolute time distance T of the target vehicle and the rear vehicle of the candidate merging gap Babs , the relative time distance T of the target vehicle and the rear vehicle of the candidate merging gap Brel .

[0155] When V A ≥ V B , for safety, the roadside device needs to determine whether the absolute time distance T of the target vehicle and the front vehicle of the candidate merging gap Aabs , the absolute time distance T of the target vehicle and the rear vehicle of the candidate merging gap Babs are greater than or equal to the minimum absolute safety time distance T abs . In the case of T Aabs ≥ T abs , T Babs ≥ T abs , a second message guiding lane changing can be sent to the target vehicle, and the second message includes: the lane changing speed V' H , the re-determined lane changing acceleration a min , the re-determined lane changing position S' H , the re-determined lane changing time T' H ; otherwise, it is necessary to continue to search for a candidate merging gap that meets the preset condition in the gap behind the i-th gap in the target lane, that is, to perform the above S107.

[0156] When V A <V B , for safety, the roadside device not only needs to determine whether the absolute time distance T of the target vehicle and the front vehicle of the candidate merging gap Aabs , the absolute time distance T of the target vehicle and the rear vehicle of the candidate merging gap Babs are greater than or equal to the minimum absolute safety time distance T abs , but also needs to determine whether the relative time distance T of the target vehicle and the rear vehicle of the candidate merging gap Brel is greater than or equal to the minimum relative safety time distance T rel. In the case of satisfying T Aabs ≥ T abs , T Babs ≥ T abs , T Brel ≥ T rel , a second message guiding the lane change can be sent to the target vehicle, the second message comprising: the lane change speed V' H , the re-determined lane change acceleration a min , the re-determined lane change position S' H , the re-determined lane change time T' H ; otherwise, it is necessary to continue to search for whether there is a candidate merging gap satisfying the preset condition in the gap behind the i-th gap in the target lane, that is, to perform the above S107.

[0157] Further, before sending the lane change speed V' H , the re-determined lane change acceleration a min , the re-determined lane change position S' H , the re-determined lane change time T' H to the target vehicle, since the target vehicle needs to accelerate or decelerate to the lane change speed V' H , the target vehicle needs to maintain a safe time distance with the front and rear vehicles in the current lane in this process, therefore the lane change guiding method provided by the embodiments of the present application can further comprise:

[0158] determining whether the target vehicle maintains a safe time distance with the front and rear vehicles in the current lane. If T Cabs ≥ T abs and T Dabs ≥ T abs , the target vehicle maintains a safe time distance with the front and rear vehicles in the current lane, and therefore a second message can be sent to the target vehicle to guide the target vehicle to change lanes.

[0159] It should be noted that for the specific implementation of determining whether the target vehicle maintains a safe time distance with the front and rear vehicles in the current lane, reference can be made to the description related to formula 12 and formula 13 in the above first relationship, which will not be described here. It should be understood that when calculating the absolute time distance T Cabs of the target vehicle with the front vehicle in the current lane and the absolute time distance T Dabs of the target vehicle with the rear vehicle in the candidate merging gap, the re-determined lane change position S' H and the re-determined lane change time T' H should be used.

[0160] The third relationship:

[0161] When a>a max is satisfied, the lane change acceleration a can be reset to the maximum safe braking deceleration amax , that is, a=a max .

[0162] Let a=a max Substituting into Formula 3 above, we obtain the following relationship:

[0163]

[0164] Due to lane change speed V' H The current speed V of the target vehicle H The distance S from the current position of the target vehicle to the beginning of the target lane H Given that the lane change position S' can be calculated using Formula 15, H Then, the newly determined lane change position S' H Substituting into Formula 9, the lane change time T' was calculated. H .

[0165] For a target vehicle to successfully and safely change lanes into the target lane, it needs to maintain an absolute time distance from both the vehicles in front and behind it in the candidate merging gap. Therefore, it is necessary to first determine the absolute time distance T between the target vehicle and the vehicle in front of the candidate merging gap, based on the newly determined lane change position and time. Aabs The absolute time distance T between the target vehicle and the following vehicle in the gap between the candidate merging vehicles. Babs Furthermore, in V A <V B It is also necessary to determine the relative time distance T between the target vehicle and the following vehicle in the candidate merging gap. Brel .

[0166] Based on the calculations in the above embodiments, the following was obtained: the speed V of the vehicle ahead in the candidate merging gap. A The following vehicle speed V during the candidate merging gap B The distance S from the preceding vehicle in the candidate merging gap to the starting point of the target lane. A The distance S from the rear vehicle of the candidate merging gap to the starting point of the target lane. B Lane change speed V' H The redefined lane change position S' H The redefined lane change time T' H Substituting these parameters into Formulas 5-7 above, the absolute time distance T between the target vehicle and the preceding vehicle in the merging gap can be calculated. Aabs The absolute time distance T between the target vehicle and the following vehicle in the gap between the candidate merging vehicles. Babs The relative time distance T between the target vehicle and the following vehicle in the merging gap of the candidate vehicle. Brel .

[0167] When V A ≥V BFor safety, the roadside device needs to determine whether the absolute time distance T Aabs between the target vehicle and the front vehicle of the candidate merging gap and the absolute time distance T Babs between the target vehicle and the rear vehicle of the candidate merging gap are both greater than or equal to the minimum absolute safety time distance T abs If T Aabs ≥ T abs , T Babs ≥ T abs , the roadside device can send a second message guiding the lane change to the target vehicle, and the second message includes: the lane change speed V' H , the re-determined lane change acceleration a min , the re-determined lane change position S' H , and the re-determined lane change time T' H Otherwise, the roadside device needs to continue to search for a candidate merging gap that meets the preset conditions in the gap behind the i-th gap in the target lane, that is, to perform S107.

[0168] When V A < V B , for safety, the roadside device not only needs to determine whether the absolute time distance T Aabs between the target vehicle and the front vehicle of the candidate merging gap and the absolute time distance T Babs between the target vehicle and the rear vehicle of the candidate merging gap are both greater than or equal to the minimum absolute safety time distance T abs , but also needs to determine whether the relative time distance T Brel between the target vehicle and the rear vehicle of the candidate merging gap is greater than or equal to the minimum relative safety time distance T rel If T Aabs ≥ T abs , T Babs ≥ T abs , T Brel ≥ T rel , the roadside device can send a second message guiding the lane change to the target vehicle, and the second message includes: the lane change speed V' H , the re-determined lane change acceleration a min , the re-determined lane change position S' H , and the re-determined lane change time T' H Otherwise, the roadside device needs to continue to search for a candidate merging gap that meets the preset conditions in the gap behind the i-th gap in the target lane, that is, to perform S107.

[0169] Further, after the roadside device sends the lane change speed V' H , the re-determined lane change acceleration a min , the re-determined lane change position S' H , and the re-determined lane change time T'H These parameters are previously, because the target vehicle needs to accelerate or decelerate to the lane change speed V' H , in this process, the target vehicle needs to maintain a safe time distance with the front and rear vehicles of the current lane, therefore, the lane change guidance method provided by the embodiments of the present application can further comprise:

[0170] determine whether the target vehicle and the front and rear vehicles of the current lane maintain a safe time distance. If T Cabs ≥ T abs and T Dabs ≥ T abs , then the target vehicle and the front and rear vehicles of the current lane maintain a safe time distance, so a second message can be sent to the target vehicle to guide the target vehicle to change lanes.

[0171] It should be noted that for the specific implementation of determining whether the target vehicle and the front and rear vehicles of the current lane maintain a safe time distance, please refer to the description related to formula 12 and formula 13 in the above first relationship, which will not be repeated here. It should be understood that when calculating the absolute time distance T Cabs , the absolute time distance T Dabs of the target vehicle and the rear vehicle of the candidate merging gap, the re-determined lane change position S' H , the re-determined lane change time T' H should be used.

[0172] The embodiments of the present application can guide the vehicle to change lanes accurately in the shortest time under the premise of ensuring traffic safety, prevent missing the best lane change opportunity, and improve the traffic efficiency and safety of vehicle lane change. And the lane change guidance algorithm has strong universality, which is suitable for the case that there is one vehicle in the current lane and the target lane, and the case that there are several vehicles in the current lane and the target lane; it is suitable for the case that all traffic participants are equipped with on-board units, and the case that other vehicles except the host vehicle are not equipped with on-board units; it is suitable for the case that the host vehicle changes lanes on ordinary lanes, and the case that the host vehicle merges into the main road on the highway ramp.

[0173] Figure 3 The structure diagram of the road side fusion perception system provided by an embodiment of the present application is shown. The system includes an on-board device (OBU) and a road side device (RSU). The on-board device includes a communication module 31, a vehicle information acquisition module 32 and an information display module 33. The road side device includes a communication module 34, a sensing detection module 35 and a control module 36.

[0174] The vehicle information acquisition module 32 is used to acquire the state information of the vehicle itself in real time, including position information, speed information, angular velocity information and heading angle information, etc.

[0175] The communication module 31 is configured to interact and share information with the roadside device in real time, including: sending the state information and service request information of the vehicle to the roadside device in real time, and receiving the guidance service information sent by the roadside device. The communication module 31 can be a wireless communication module.

[0176] The information display module 33 is configured to display the guidance information sent by the roadside device and the state information of the vehicle in real time for the driver to refer. For example, the information display module 33 presents the vehicles around the vehicle in the form of a two-dimensional or three-dimensional map, and marks the vehicle gap, lane changing position and the like in the form of an arrow, a square and the like, so that the driver can successfully complete lane changing according to the information.

[0177] The wireless communication module 34 is configured to interact and share information with the vehicle carrying the vehicle-mounted device in real time, including: receiving the service request information and real-time state information sent by the vehicle-mounted device, and sending the guidance service information to the vehicle-mounted device. The communication module 34 can be a wireless communication module.

[0178] The sensing and detecting module 35 includes a radar sensor, a visual sensor and the like, and is configured to collect and acquire traffic information in real time, such as the congestion of the surrounding road, the speed of the surrounding vehicle or the surrounding weather and the like.

[0179] The control module 36 is configured to integrate and analyze the service request information sent by the vehicle-mounted device and the traffic information sensed by the sensing and detecting module 35, and quickly calculate to form accurate guidance control instructions, and then send the control instructions to the vehicle-mounted device through the communication module 34 to guide the vehicle to make safe and efficient traffic behavior.

[0180] Exemplarily, taking that the vehicle-mounted device of the target vehicle sends a message of requesting to change lanes to a target lane to the roadside device as an example. When the target vehicle travels along the current lane, if it wants to change lanes to the target lane, the communication module 31 of the vehicle-mounted device can send a first message of requesting to change lanes to the target lane to the communication module 34 of the roadside device. After the communication module 34 receives the first message, the control module 36 responds to the first message, and in a case that an i-th gap located behind the target vehicle in the target lane meets a preset condition, the i-th gap is determined as a candidate merging gap; and based on the candidate merging gap, a target parameter is determined, wherein the preset condition is that the time interval between the front vehicle and the rear vehicle of the gap is greater than or equal to a minimum safe merging interval time interval; and the target parameter includes a lane changing position. If the target parameter meets the condition of the target vehicle merging into the candidate merging gap, the communication module 34 sends a second message of guiding to change lanes to the target vehicle, and the second message includes the target parameter. The integer i starts from 1.

[0181] It should be noted that the roadside device provided in this embodiment can execute the method embodiments described above, and the implementation principles and technical effects are similar, which will not be described here.

[0182] Figure 4 The structural diagram of a roadside fusion perception system provided for another embodiment of the present application is shown in FIG. 6. As shown in FIG. 6, the system includes a processor 41 and a memory 42, the processor 41 is coupled with the memory 42, and the processor 41 is used to execute the computer program or instructions stored in the memory 42, so that the system executes the lane changing guidance method provided in the method embodiments described above. Figure 4

[0183] The processor can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs) or other programmable logic devices, discrete gates or transistor logic, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0184] The memory can be an internal storage unit in some embodiments, such as a hard disk or a memory. The memory can also be an external storage device in other embodiments, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. Further, the memory can include both an internal storage unit and an external storage device. The memory is used to store an operating system, application programs, a boot loader, data and other programs, such as program codes of computer programs, etc. The memory can also be used to temporarily store data that has been output or will be output.

[0185] ​The roadside fusion perception system provided by the embodiment can execute the method of the method embodiment. When a vehicle travels along a current lane and wants to change lanes to a target lane, a lane change request message can be sent to a roadside device. After the roadside device receives the lane change message, a candidate merging gap is searched from front to back in a gap behind the vehicle in the target lane, and the time interval of the front and rear vehicles of the candidate merging gap is greater than or equal to the minimum safe merging gap time interval. Then, at least one parameter is determined according to the candidate merging gap, for example, a lane change position from the current lane to the target lane. Then, in the case that the at least one parameter meets the conditions of the merging gap, the roadside device can send the at least one parameter guiding the lane change to the vehicle, so that the vehicle can change lanes according to the at least one parameter. In addition, in the case that a suitable merging gap is not found, the roadside device guides the vehicle to continue driving, waits for a new lane change opportunity, and guides the vehicle to change lanes according to the foregoing method in the case that the conditions are met. Thus, the vehicle is guided to change lanes accurately by the roadside device.

[0186] The embodiment of the present application further provides a readable storage medium, which stores a computer program. The computer program is executed by a processor to realize the steps in the vehicle axle number determination method embodiment and achieve the same technical effects. To avoid repetition, details are not described herein. The computer readable storage medium is, for example, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0187] Those skilled in the art can realize that the units and steps of the examples described in combination with the embodiments disclosed herein can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to realize the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0188] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the system, device and unit described above can refer to the corresponding process in the foregoing method embodiments, which will not be described herein.

[0189] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other manners. For example, the described device embodiment is merely illustrative. For example, the division of the units is only a logical function division. There can be another division manner for the actual implementation, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections between different units, or the among different units, can be indirect couplings or communication connections through some interfaces, devices or units, and can be in electrical, mechanical or other forms.

[0190] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, i.e., can be located in one place, or can be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0191] In addition, each functional unit in the various embodiments of the present application can be integrated into one unit, or each unit can exist physically, or two or more units can be integrated into one unit.

[0192] If the functions are realized in the form of software function units and sold or used as independent products, they can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application, in essence, or the part of the prior art that contributes to the technical solutions, or part of the technical solutions, can be embodied in the form of a computer software product stored in a storage medium. The computer software product includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in the various embodiments of the present application.

[0193] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0194] The above describes only the specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed in the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A lane change guidance method characterized by, The method comprises: receiving a first message of a target vehicle requesting to change lane to a target lane, the target lane being in the same direction as the target vehicle; in response to the first message, determining an ith gap behind the target vehicle in the target lane as a candidate merging gap if the ith gap meets a preset condition, the preset condition being that the time interval between the front vehicle and the rear vehicle of the gap is greater than or equal to a minimum safe merging interval; determining a target parameter based on the candidate merging gap, the target parameter comprising a lane change position, the lane change position being the position of the target vehicle merging from a current lane to the target lane; if the target parameter meets the condition of the target vehicle merging into the candidate merging gap, sending a second message of guiding lane change to the target vehicle, the second message comprising the target parameter; wherein i is an integer starting from 1; the target parameter further comprises at least one of the following: a lane change speed, a lane change acceleration, and a lane change time; the lane change speed is the driving speed of the target vehicle after lane change in the target lane; the lane change acceleration is the acceleration of the target vehicle changing from a current speed to the lane change speed; and the lane change time is the time used by the target vehicle to travel from a current position to the lane change position; correspondingly, the determining of the target parameter based on the candidate merging gap comprises: determining the lowest speed between the speed of the front vehicle and the speed of the rear vehicle of the candidate merging gap as the lane change speed based on the candidate merging gap; determining the lane change position and the lane change time according to the lane change speed; if the distance from the lane change position to the starting end of the target lane is less than or equal to the length of the target lane, determining the lane change acceleration according to the lane change speed and the lane change position.

2. The method of claim 1, wherein, the determining of the target parameter based on the candidate merging gap further comprises: if the lane change acceleration is greater than or equal to the maximum safe deceleration allowed to be provided by the target vehicle, and the lane change acceleration is less than or equal to the maximum acceleration allowed to be provided by the target vehicle, determining the absolute time interval between the target vehicle and the front vehicle of the candidate merging gap and the absolute time interval between the target vehicle and the rear vehicle of the candidate merging gap according to the lane change position and the lane change time; if the target parameter meets the condition of the target vehicle merging into the candidate merging gap, sending a second message of guiding lane change to the target vehicle, comprising: if the absolute time interval between the target vehicle and the front vehicle of the candidate merging gap and the absolute time interval between the target vehicle and the rear vehicle of the candidate merging gap are both greater than or equal to a minimum absolute safe time interval, performing any one of the following: redetermining the lane change position as the current position of the target vehicle and the lane change time as 0, and sending the second message to the target vehicle, the second message comprising the lane change speed, the lane change acceleration, the redetermined lane change position, and the redetermined lane change time; or acquire absolute time distance of the target vehicle and a front vehicle of a current lane, absolute time distance of the target vehicle and a rear vehicle of the candidate merging gap, and send the second message to the target vehicle in a case that absolute time distance of the target vehicle and a front vehicle of the candidate merging gap, absolute time distance of the target vehicle and a rear vehicle of the candidate merging gap are greater than or equal to minimum absolute safety time distance, the second message comprising: lane changing speed, lane changing acceleration, lane changing position, lane changing time.

3. The method of claim 2, wherein, In a case that the front vehicle speed of the candidate merging gap is less than the rear vehicle speed, the target parameter further comprising: relative time distance of the target vehicle and the rear vehicle of the candidate merging gap; In a case that the target parameter meets the condition of the target vehicle merging into the candidate merging gap, the target parameter further comprising: relative time distance of the target vehicle and the rear vehicle of the candidate merging gap is greater than or equal to minimum relative safety time distance.

4. The method of claim 1, wherein, The determining the target parameter based on the candidate merging gap further comprising: In a case that the front vehicle speed of the candidate merging gap is greater than or equal to the rear vehicle speed, if the lane changing acceleration is less than maximum safety deceleration allowed to be provided by the target vehicle, the lane changing acceleration is reset to the maximum safety deceleration, and the lane changing position and the lane changing time are re-determined according to the maximum safety deceleration; or, if the lane changing acceleration is greater than maximum acceleration allowed to be provided by the target vehicle, the lane changing acceleration is reset to the maximum acceleration allowed to be provided by the target vehicle, and the lane changing position and the lane changing time are re-determined according to the maximum acceleration allowed to be provided by the target vehicle; determine absolute time distance of the target vehicle and the front vehicle of the candidate merging gap, absolute time distance of the target vehicle and the rear vehicle of the candidate merging gap according to the re-determined lane changing position and lane changing time; if the target parameter meets the condition of the target vehicle merging into the candidate merging gap, send the second message to the target vehicle, the second message comprising: if absolute time distance of the target vehicle and the front vehicle of the candidate merging gap, absolute time distance of the target vehicle and the rear vehicle of the candidate merging gap are greater than or equal to minimum absolute safety time distance, and distance from the re-determined lane changing position to the start end of the target lane is less than or equal to the length of the target lane, send the second message to the target vehicle, the second message comprising: lane changing speed, re-determined lane changing acceleration, re-determined lane changing position, re-determined lane changing time.

5. The method of claim 1, wherein, The determining the target parameter based on the candidate merging gap further comprising: if the front vehicle speed of the candidate merging gap is less than the rear vehicle speed, and if the lane-changing acceleration is less than the maximum safe deceleration allowed by the target vehicle, the lane-changing acceleration is reset to the maximum safe deceleration, and the lane-changing position and the lane-changing time are re-determined according to the maximum safe deceleration; or if the lane-changing acceleration is greater than the maximum acceleration allowed by the target vehicle, the lane-changing acceleration is reset to the maximum acceleration allowed by the target vehicle, and the lane-changing position and the lane-changing time are re-determined according to the maximum acceleration allowed by the target vehicle; determining the absolute time distance between the target vehicle and the front vehicle of the candidate merging gap, the absolute time distance between the target vehicle and the rear vehicle of the candidate merging gap, and the relative time distance between the target vehicle and the rear vehicle of the candidate merging gap according to the re-determined lane-changing position and the re-determined lane-changing time; if the target parameters satisfy the conditions for the target vehicle to merge into the candidate merging gap, sending a second message for guiding lane-changing to the target vehicle, the second message comprising: if the absolute time distance between the target vehicle and the front vehicle of the candidate merging gap, the absolute time distance between the target vehicle and the rear vehicle of the candidate merging gap are both greater than or equal to the minimum absolute safe time distance, the relative time distance between the target vehicle and the rear vehicle of the candidate merging gap is greater than or equal to the minimum relative safe time distance, and the distance from the re-determined lane-changing position to the starting end of the target lane is less than or equal to the length of the target lane, sending the second message to the target vehicle, the second message comprising: the lane-changing speed, the re-determined lane-changing acceleration, the re-determined lane-changing position, and the re-determined lane-changing time.

6. The method of claim 1, wherein, after the i-th gap is determined as the candidate merging gap, the method further comprises: if the target parameters do not satisfy the conditions for the target vehicle to merge into the candidate merging gap, continuing to search for a candidate merging gap satisfying the preset conditions in a gap behind the i-th gap in the target lane.

7. The method of claim 6, wherein, the method further comprises: if no candidate merging gap satisfying the preset conditions is found in the target lane, sending a third message for keeping going straight to the target vehicle.

8. A roadside device, characterized by comprising a communication module and a control module; the communication module is configured to receive a first message for requesting lane-changing to a target lane sent by a target vehicle, the target lane being defined for vehicles to travel in the same direction as the target vehicle; the control module is configured to, in response to the first message, determine an i-th gap behind the target vehicle in the target lane as a candidate merging gap if the i-th gap satisfies a preset condition; and determine target parameters based on the candidate merging gap; wherein the preset condition is that the time distance between the front vehicle and the rear vehicle of the gap is greater than or equal to the minimum safe merging gap time distance; and the target parameters comprise a lane-changing position, which is the position of the target vehicle merging from a current lane to the target lane. The communication module is further configured to send a second message for guiding lane changing to the target vehicle if the target parameter satisfies the condition for the target vehicle to merge into the candidate merging gap, and the second message comprises the target parameter. wherein i is an integer starting from 1; The target parameter further comprises at least one of the following: a lane changing speed, a lane changing acceleration, and a lane changing time; the lane changing speed is a driving speed of the target vehicle after lane changing in the target lane; the lane changing acceleration is an acceleration of the target vehicle changing from a current speed to the lane changing speed; and the lane changing time is a time used by the target vehicle to drive from a current position to a lane changing position; Correspondingly, the determining of the target parameter based on the candidate merging gap comprises: determining, based on the candidate merging gap, a lowest speed between a front vehicle speed and a rear vehicle speed of the candidate merging gap as the lane changing speed; determining the lane changing position and the lane changing time according to the lane changing speed; if a distance from the lane changing position to a starting end of the target lane is less than or equal to a length of the target lane, determining the lane changing acceleration according to the lane changing speed and the lane changing position.

9. A roadside fusion perception system, comprising: The road side fusion perception system comprises a processor and a memory, the processor is coupled with the memory, and the processor is configured to execute a computer program or instructions stored in the memory, so that the road side fusion perception system performs the lane changing guiding method according to any one of claims 1 to 7.

10. A storage medium, characterized by The storage medium stores a computer program, and the computer program is loaded by the processor to execute the lane changing guiding method according to any one of claims 1 to 7.

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