A vehicle lane change method and system

Abstract

The present application relates to a kind of vehicle lane changing method and system, comprising: according to the current lane changing road condition information and current lane changing position information, determine lane changing difficulty, and according to the lane changing difficulty, determine corresponding lane changing mode;The lane changing mode includes automatic lane changing, auxiliary lane changing and driver takeover lane changing;According to the lane changing reason, determine corresponding lane changing priority;According to the lane changing priority and the lane changing mode, control vehicle initiates lane changing;When the lane changing priority is necessary lane changing, and initiate automatic lane changing fails, lane changing mode is switched to driver takeover lane changing;When the lane changing priority is ordinary lane changing, and initiate automatic lane changing fails, lane changing mode is switched to auxiliary lane changing;When the lane changing priority is non-essential lane changing, and initiate automatic lane changing fails, cancel lane changing;The present application effectively overcomes the defect brought by the existing automatic driving system when the lane changing condition does not meet.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving technology, and specifically to a vehicle lane-changing method and system. Background Technology

[0002] When the automatic navigation-assisted driving function is activated, if the autonomous driving system initiates a lane change but the conditions for the lane change are not met, the system will cancel the lane change and request the driver to take over. For the driver, when a lane change is necessary and urgent, canceling the lane change directly can easily lead to untimely lane changes and steering, resulting in deviation from the route and causing defects such as poor user experience and poor usability. Summary of the Invention

[0003] The purpose of this invention is to propose a vehicle lane-changing method and system to overcome the shortcomings of existing autonomous driving systems that directly cancel lane changes when the lane-changing conditions are not met.

[0004] To achieve the above objectives, embodiments of the present invention provide a vehicle lane-changing method, comprising the following steps:

[0005] When a vehicle needs to change lanes, it receives current road condition information and current lane change location information, determines the difficulty of the lane change based on the current road condition information and current lane change location information, and determines the corresponding lane change mode based on the lane change difficulty; wherein, the lane change mode includes automatic lane change, assisted lane change and driver-taken lane change.

[0006] The lane change priority is determined based on the reason for the lane change; wherein, the lane change priority includes necessary lane change, normal lane change and unnecessary lane change;

[0007] The system controls the vehicle to initiate a lane change based on the lane change priority and the lane change mode, and outputs corresponding lane change prompts to the driver. Specifically, when the lane change priority is necessary and the automatic lane change fails, the lane change mode is switched to driver-controlled lane change, and corresponding lane change prompts are output to the driver. When the lane change priority is normal lane change and the automatic lane change fails, the lane change mode is switched to assisted lane change, and corresponding lane change prompts are output to the driver. When the lane change priority is unnecessary lane change and the automatic lane change fails, the lane change is canceled, and corresponding lane change prompts are output to the driver.

[0008] Preferably, the step of controlling the vehicle to initiate a lane change based on the lane change priority and the lane change mode further includes:

[0009] When the lane change priority is necessary and the assisted lane change fails, the lane change mode is switched to driver-controlled lane change, and the corresponding lane change prompt message is output to remind the driver; when the lane change priority is normal lane change and the assisted lane change fails, the lane change is canceled, and the corresponding lane change prompt message is output to remind the driver.

[0010] Preferably, determining the corresponding lane-changing mode based on the lane-changing difficulty includes:

[0011] When the lane change difficulty is low, the corresponding lane change mode is set to automatic lane change; when the lane change difficulty is medium, the corresponding lane change mode is set to assisted lane change, and corresponding lane change prompts are output to inform the driver; when the lane change difficulty is high, the corresponding lane change mode is set to driver-initiated lane change, and corresponding lane change prompts are output to inform the driver.

[0012] Preferably, the step of controlling the vehicle to initiate a lane change based on the lane change priority and the lane change mode further includes:

[0013] When initiating a lane change, the lane change difficulty is updated based on the current road condition information and the current lane change position information;

[0014] If the lane change priority is necessary, when initiating an automatic lane change, the lane change difficulty is updated to medium, the lane change mode is switched to assisted lane change, and the corresponding lane change prompt message is output to inform the driver; when initiating an automatic lane change or assisted lane change, the lane change difficulty is updated to high, the lane change mode is switched to driver-controlled lane change, and the corresponding lane change prompt message is output to inform the driver.

[0015] If the lane change priority is normal lane change, when an automatic lane change is initiated, the lane change difficulty is updated to medium, the lane change mode is switched to assisted lane change, and the corresponding lane change prompt message is output to remind the driver; when an automatic lane change or assisted lane change is initiated, the lane change difficulty is updated to high, the lane change is canceled, and the corresponding lane change prompt message is output to remind the driver.

[0016] If the lane change priority is non-essential, when initiating an automatic lane change, the lane change difficulty is updated to medium, the lane change is canceled, and the corresponding lane change prompt message is output to remind the driver.

[0017] Preferably, determining the corresponding lane change priority based on the lane change reason includes:

[0018] When the reason for changing lanes is to switch roads according to navigation guidance, the corresponding lane change priority is determined as necessary lane change; when the reason for changing lanes is to give way to large vehicles or to avoid congestion, the corresponding lane change priority is determined as normal lane change; when the reason for changing lanes is to switch to the fast lane, overtake, or when the driver actively requests a lane change, the corresponding lane change priority is determined as unnecessary lane change.

[0019] Preferably, controlling the vehicle to initiate a lane change based on the lane change priority and the lane change mode includes:

[0020] When initiating a lane change, the lane change difficulty is updated based on the current road condition information and the current lane change position information;

[0021] When assisted lane change is initiated and the lane change request fails, the lane change mode is switched to driver-in-control lane change, and the corresponding lane change prompt message is output to inform the driver.

[0022] When a driver initiates a lane change and the lane change difficulty is updated to medium, the lane change mode is switched to assisted lane change, and the corresponding lane change prompt message is output to remind the driver.

[0023] When a driver initiates a lane change and the lane change difficulty is updated to low, the lane change mode is switched to automatic lane change, and the corresponding lane change prompt message is output to remind the driver.

[0024] When assisted lane change is initiated and the lane change difficulty is updated to low, the lane change mode is switched to automatic lane change, and the corresponding lane change prompt information is output to remind the driver.

[0025] Preferably, the method further includes:

[0026] During vehicle operation, it is determined in advance whether the vehicle needs to initiate a lane change on the road ahead. If so, the difficulty of changing lanes on the current road and the difficulty of changing lanes on the road ahead are determined based on the current road condition information and the current lane change position information.

[0027] If the difficulty of changing lanes in the current road segment is medium or low, and the difficulty of changing lanes in the road segment ahead is high, the vehicle will be automatically controlled to change lanes to the target lane in the current road segment in advance, and the corresponding lane change prompt information will be output to inform the driver. If the difficulty of changing lanes in the current road segment and the difficulty of changing lanes in the road segment ahead are both high, the lane change mode in the road segment ahead will be determined to be driver-controlled lane change, and the corresponding lane change prompt information will be output to inform the driver in advance.

[0028] Embodiments of the present invention also provide a vehicle lane-changing system, comprising:

[0029] The lane change mode determination unit is used to receive current road condition information and current lane change position information when a vehicle needs to change lanes, determine the lane change difficulty based on the current road condition information and current lane change position information, and determine the corresponding lane change mode based on the lane change difficulty; wherein, the lane change mode includes automatic lane change, assisted lane change and driver-taken lane change.

[0030] A priority determination unit is used to determine the corresponding lane change priority based on the lane change reason; wherein, the lane change priority includes necessary lane change, normal lane change and unnecessary lane change;

[0031] The lane change control unit is used to control the vehicle to initiate a lane change according to the lane change priority and the lane change mode, and output corresponding lane change prompt information to inform the driver. Specifically, when the lane change priority is necessary lane change and the automatic lane change fails, the lane change mode is switched to driver-controlled lane change, and corresponding lane change prompt information is output to inform the driver. When the lane change priority is normal lane change and the automatic lane change fails, the lane change mode is switched to assisted lane change, and corresponding lane change prompt information is output to inform the driver. When the lane change priority is unnecessary lane change and the automatic lane change fails, the lane change is canceled, and corresponding lane change prompt information is output to inform the driver.

[0032] Preferably, the lane change control unit is used for:

[0033] When the lane change priority is necessary lane change and the assisted lane change fails, the lane change mode is switched to driver-controlled lane change, and the corresponding lane change prompt message is output to remind the driver; when the lane change priority is normal lane change and the assisted lane change fails, the lane change is canceled, and the corresponding lane change prompt message is output to remind the driver.

[0034] When assisted lane change is initiated and the lane change request fails, the lane change mode is switched to driver-in-control lane change, and the corresponding lane change prompt message is output to inform the driver.

[0035] When a driver initiates a lane change and the lane change difficulty is updated to medium, the lane change mode is switched to assisted lane change, and the corresponding lane change prompt message is output to remind the driver.

[0036] When a driver initiates a lane change and the lane change difficulty is updated to low, the lane change mode is switched to automatic lane change, and the corresponding lane change prompt message is output to remind the driver.

[0037] When assisted lane change is initiated and the lane change difficulty is updated to low, the lane change mode is switched to automatic lane change, and the corresponding lane change prompt information is output to remind the driver.

[0038] Preferably, the lane change control unit is used for:

[0039] When initiating a lane change, the lane change difficulty is updated based on the current road condition information and the current lane change position information;

[0040] If the lane change priority is necessary, when initiating an automatic lane change, the lane change difficulty is updated to medium, the lane change mode is switched to assisted lane change, and the corresponding lane change prompt message is output to inform the driver; when initiating an automatic lane change or assisted lane change, the lane change difficulty is updated to high, the lane change mode is switched to driver-controlled lane change, and the corresponding lane change prompt message is output to inform the driver.

[0041] If the lane change priority is normal lane change, when an automatic lane change is initiated, the lane change difficulty is updated to medium, the lane change mode is switched to assisted lane change, and the corresponding lane change prompt message is output to remind the driver; when an automatic lane change or assisted lane change is initiated, the lane change difficulty is updated to high, the lane change is canceled, and the corresponding lane change prompt message is output to remind the driver.

[0042] If the lane change priority is non-essential, when initiating an automatic lane change, the lane change difficulty is updated to medium, the lane change is canceled, and the corresponding lane change prompt message is output to remind the driver.

[0043] The embodiments of the present invention have at least the following beneficial effects:

[0044] This invention analyzes the lane-changing difficulty of the current driving scenario through an autonomous driving system, designs different lane-changing modes for different levels of difficulty, and designs different lane-changing priorities for different reasons for lane changing. When the lane-changing priority is necessary and the automatic lane-changing attempt fails, the lane-changing mode is switched to driver-led lane changing; when the lane-changing priority is normal and the automatic lane-changing attempt fails, the lane-changing mode is switched to assisted lane changing; when the lane-changing priority is unnecessary and the automatic lane-changing attempt fails, the lane-changing is canceled. This effectively overcomes the shortcomings of existing autonomous driving systems that directly cancel lane-changing when the conditions are not met. At the same time, corresponding lane-changing prompts are output to inform the driver during the lane-changing decision, allowing the user to more intuitively understand the status and operation of the lane-changing, enhancing the user's participation and sense of cooperation in the automatic navigation assisted driving process, helping the user respond in a timely manner during lane changing, improving the user's trust in the system, ensuring driving safety while improving driving efficiency.

[0045] Other features and advantages of embodiments of the present invention will be set forth in the following description. Attached Figure Description

[0046] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0047] Figure 1This is a flowchart illustrating a vehicle lane-changing method according to an embodiment of the present invention.

[0048] Figure 2 This is a schematic diagram of the framework of a vehicle lane-changing system according to an embodiment of the present invention. Detailed Implementation

[0049] The various exemplary embodiments, features, and aspects of this disclosure will now be described in detail with reference to the accompanying drawings. Furthermore, numerous specific details are set forth in the following detailed embodiments to better illustrate the invention. Those skilled in the art will understand that the invention can be practiced without certain specific details. In some instances, means well known to those skilled in the art have not been described in detail in order to highlight the spirit of the invention.

[0050] See Figure 1 The present invention proposes a vehicle lane changing method, which is applied to the decision-making part of a vehicle autonomous driving system, and is particularly suitable for L2 level autonomous driving systems. The method of this embodiment includes: when the vehicle is using an autonomous driving system for assisted driving, the autonomous driving system determines in real time whether a lane change is required for the current driving. When a lane change is required, the following steps S10-S30 are executed.

[0051] Step S10: Receive current lane change information and current lane change position information, determine the lane change difficulty based on the current lane change information and current lane change position information, and determine the corresponding lane change mode based on the lane change difficulty; wherein, the lane change mode includes automatic lane change, assisted lane change and driver-taken-off lane change;

[0052] Specifically, the current lane change information includes first perception information collected by the autonomous driving perception module and second perception information collected by the V2X (vehicle to everything) module. The first perception information may include lane line information, surrounding road condition information, road congestion information, traffic participant types, and traffic participant movement information, etc. The second perception information may include the coordinates and driving behavior of surrounding vehicles, etc. The current lane change position information can be provided by a high-precision map positioning module, specifically including lane change planning information, navigation path information, lane positioning information, and the position of the lane to be changed, etc. In specific applications, scenarios with different lane change difficulties can be customized, but it should be understood that the definition of a difficult lane change scenario is necessarily based on the current lane change information and the current lane change position information.

[0053] The automatic lane change refers to the vehicle changing lanes by the vehicle's automatic driving system alone; the assisted lane change refers to the vehicle changing lanes by the vehicle's automatic driving system assisting the driver in operating and controlling the vehicle; and the driver-take-over lane change refers to the driver manually operating and controlling the vehicle to change lanes alone.

[0054] Step S20: Determine the corresponding lane change priority based on the lane change reason; wherein, the lane change priority includes necessary lane change, normal lane change and unnecessary lane change;

[0055] It should be understood that lane changing refers to the process by which a vehicle changes lanes from its current lane to another lane for some reason during driving. Reasons for lane changing include, for example, changing lanes according to navigation guidance, changing lanes to avoid large vehicles or traffic jams, changing lanes to switch to the fast lane, overtaking, or the driver actively activating the lane change turn signal.

[0056] Step S30: Control the vehicle to initiate a lane change according to the lane change priority and the lane change mode, and output corresponding lane change prompt information to inform the driver; wherein, when the lane change priority is necessary lane change and the automatic lane change fails, switch the lane change mode to driver-controlled lane change and output corresponding lane change prompt information to inform the driver; when the lane change priority is normal lane change and the automatic lane change fails, switch the lane change mode to assisted lane change and output corresponding lane change prompt information to inform the driver; when the lane change priority is unnecessary lane change and the automatic lane change fails, cancel the lane change and output corresponding lane change prompt information to inform the driver.

[0057] Specifically, in this embodiment, the initiation of a lane change is executed by the vehicle's autonomous driving actuator. The lane change prompt information can be output to the driver through one or more methods such as display, prompt sound, voice, and lights. The lane change prompt information may include one or more of the following: lane change mode, lane change reason, lane change direction, lane change priority, lane change mode switching, reason for lane change mode switching, and lane change cancellation. The specific information to be output can be preset according to different scenarios. The lane change priority can be understood as the urgency of the lane change; the more urgent the urgency, the higher the priority. In this embodiment, corresponding handling strategies are proposed for automatic lane change failures under different lane change modes based on different lane change priorities, thereby effectively overcoming the shortcomings of existing autonomous driving systems that directly cancel lane changes when the lane change conditions are not met. The corresponding lane change prompt information is also output to the driver during the lane change decision, allowing the user to more intuitively understand the status and operation of the lane change, enhancing the user's participation and sense of cooperation in the automatic navigation assisted driving process, helping the user to respond in a timely manner during the lane change process, improving the user's trust in the system, ensuring driving safety while improving driving efficiency.

[0058] Specifically, in this embodiment, step S30 further includes:

[0059] When the lane change priority is necessary lane change and the assisted lane change fails, the lane change mode is switched to driver-controlled lane change, and the corresponding lane change prompt message is output to remind the driver; when the lane change priority is normal lane change and the assisted lane change fails, the lane change is canceled, and the corresponding lane change prompt message is output to remind the driver.

[0060] Specifically, this embodiment proposes corresponding handling strategies for assisted lane change failures under different lane change modes based on different lane change priorities, thereby effectively overcoming the shortcomings of existing autonomous driving systems that directly cancel lane changes when lane change conditions are not met.

[0061] Specifically, in this embodiment, step S10 includes:

[0062] When the lane change difficulty is low, the corresponding lane change mode is set to automatic lane change; when the lane change difficulty is medium, the corresponding lane change mode is set to assisted lane change; when the lane change difficulty is high, the corresponding lane change mode is set to driver-initiated lane change.

[0063] In this embodiment, "low difficulty in lane changing" means that the lane changing conditions are suitable. Suitable lane changing conditions include: smooth road, clear lane lines, good weather conditions, and small curvature of the lane.

[0064] In this embodiment, the difficulty of changing lanes is medium, which means that the conditions for changing lanes are generally normal. The conditions for changing lanes generally include: the lane line to be changed is a solid line, the lane to be changed is congested, a large vehicle is approaching from behind the lane to be changed, the lane line to be changed ahead is unclear, and the curvature of the current lane is moderate.

[0065] In this embodiment, "high difficulty in changing lanes" refers to complex lane-changing conditions. These complex conditions include: traffic congestion, the lane ahead being a construction zone, the lane ahead being a lost lane line, severe weather conditions (such as heavy rain, fog, blizzard, etc.), and the current lane being a sharp curve.

[0066] Specifically, in this embodiment, step S30 further includes:

[0067] When initiating a lane change, the lane change difficulty is updated based on the current road condition information and the current lane change position information. It should be understood that since the lane change decision is made in advance, unexpected situations may occur when initiating a lane change after the lane change decision is output, such as a traffic accident on the road ahead. At this time, the lane change conditions change. Therefore, in this embodiment, the lane change difficulty is updated in real time based on the current road condition information and the current lane change position information in order to adjust the lane change decision in a timely manner and improve driving safety.

[0068] If the lane change priority is necessary, when initiating an automatic lane change, the lane change difficulty is updated to medium, the lane change mode is switched to assisted lane change, and the corresponding lane change prompt message is output to inform the driver; when initiating an automatic lane change or assisted lane change, the lane change difficulty is updated to high, the lane change mode is switched to driver-controlled lane change, and the corresponding lane change prompt message is output to inform the driver.

[0069] If the lane change priority is normal lane change, when an automatic lane change is initiated, the lane change difficulty is updated to medium, the lane change mode is switched to assisted lane change, and the corresponding lane change prompt message is output to remind the driver; when an automatic lane change or assisted lane change is initiated, the lane change difficulty is updated to high, the lane change is canceled, and the corresponding lane change prompt message is output to remind the driver.

[0070] If the lane change priority is non-essential, when initiating an automatic lane change, the lane change difficulty is updated to medium, the lane change is canceled, and the corresponding lane change prompt message is output to remind the driver.

[0071] Specifically, in this embodiment, step S20 includes:

[0072] When the reason for changing lanes is to switch roads according to navigation guidance, the corresponding lane change priority is determined as necessary lane change, which is a high priority level; when the reason for changing lanes is to give way to large vehicles or to avoid congestion, the corresponding lane change priority is determined as ordinary lane change, which is a medium priority level; when the reason for changing lanes is to switch to the fast lane, overtake, or when the driver actively requests a lane change, the corresponding lane change priority is determined as unnecessary lane change, which is a low priority level.

[0073] Specifically, in this embodiment, step S30 includes:

[0074] When initiating a lane change, the lane change difficulty is updated based on the current road condition information and the current lane change position information;

[0075] When assisted lane change is initiated and the lane change request fails, the lane change mode is switched to driver-in-control lane change, and the corresponding lane change prompt message is output to inform the driver.

[0076] When a driver initiates a lane change and the lane change difficulty is updated to medium, the lane change mode is switched to assisted lane change, and the corresponding lane change prompt message is output to remind the driver.

[0077] When a driver initiates a lane change and the lane change difficulty is updated to low, the lane change mode is switched to automatic lane change, and the corresponding lane change prompt message is output to remind the driver.

[0078] When assisted lane change is initiated and the lane change difficulty is updated to low, the lane change mode is switched to automatic lane change, and the corresponding lane change prompt information is output to remind the driver.

[0079] Specifically, in this embodiment, the method further includes:

[0080] Step S40: During the vehicle's journey, determine in advance whether the vehicle needs to initiate a lane change on the road ahead. If so, determine the difficulty of changing lanes on the current road and the difficulty of changing lanes on the road ahead based on the current road condition information and the current lane change position information.

[0081] Step S50: If the difficulty of changing lanes in the current road segment is medium or low, and the difficulty of changing lanes in the road segment ahead is high, control the vehicle to initiate an automatic lane change to the target lane in the current road segment in advance, and output the corresponding lane change prompt information to inform the driver; if the difficulty of changing lanes in the current road segment and the difficulty of changing lanes in the road segment ahead are both high, determine that the lane change mode in the road segment ahead is driver-controlled lane change, and output the corresponding lane change prompt information to inform the driver in advance.

[0082] Specifically, in this embodiment, it is determined in advance whether the vehicle needs to initiate a lane change on the road ahead. The advance lane change determination here is mainly based on the prediction of the situation of changing lanes by switching roads according to navigation guidance. Generally speaking, navigation systems have lane change navigation indication functions. This step can be achieved with the help of the navigation system. In this embodiment, it is assumed that the road conditions on the road ahead are complex, such as traffic congestion, and the difficulty of changing lanes is high, while the road conditions on the current road are relatively good, so a lane change can be carried out in advance on the current road.

[0083] See Figure 2 The present invention also proposes a vehicle lane-changing system. Each functional unit of this system can be used to execute each step of the method described in the above embodiments. This system includes:

[0084] Lane change mode determination unit 1 is used to receive current lane change road condition information and current lane change position information when a vehicle needs to change lanes, determine the lane change difficulty based on the current lane change road condition information and current lane change position information, and determine the corresponding lane change mode based on the lane change difficulty; wherein, the lane change mode includes automatic lane change, assisted lane change and driver-taken lane change.

[0085] Priority determination unit 2 is used to determine the corresponding lane change priority based on the lane change reason; wherein, the lane change priority includes necessary lane change, normal lane change and unnecessary lane change;

[0086] The lane change control unit 3 is used to control the vehicle to initiate a lane change according to the lane change priority and the lane change mode, and output corresponding lane change prompt information to inform the driver. Specifically, when the lane change priority is necessary lane change and the automatic lane change fails, the lane change mode is switched to driver-controlled lane change, and corresponding lane change prompt information is output to inform the driver. When the lane change priority is normal lane change and the automatic lane change fails, the lane change mode is switched to assisted lane change, and corresponding lane change prompt information is output to inform the driver. When the lane change priority is unnecessary lane change and the automatic lane change fails, the lane change is canceled, and corresponding lane change prompt information is output to inform the driver.

[0087] Specifically, in this embodiment, the lane change mode determination unit 1 is used for:

[0088] When the lane change difficulty is low, the corresponding lane change mode is set to automatic lane change; when the lane change difficulty is medium, the corresponding lane change mode is set to assisted lane change, and corresponding lane change prompts are output to inform the driver; when the lane change difficulty is high, the corresponding lane change mode is set to driver-initiated lane change, and corresponding lane change prompts are output to inform the driver.

[0089] Specifically, in this embodiment, the lane change control unit 3 is used for:

[0090] When the lane change priority is necessary lane change and the assisted lane change fails, the lane change mode is switched to driver-controlled lane change, and the corresponding lane change prompt message is output to remind the driver; when the lane change priority is normal lane change and the assisted lane change fails, the lane change is canceled, and the corresponding lane change prompt message is output to remind the driver.

[0091] When assisted lane change is initiated and the lane change request fails, the lane change mode is switched to driver-in-control lane change, and the corresponding lane change prompt message is output to inform the driver.

[0092] When a driver initiates a lane change and the lane change difficulty is updated to medium, the lane change mode is switched to assisted lane change, and the corresponding lane change prompt message is output to remind the driver.

[0093] When a driver initiates a lane change and the lane change difficulty is updated to low, the lane change mode is switched to automatic lane change, and the corresponding lane change prompt message is output to remind the driver.

[0094] When assisted lane change is initiated and the lane change difficulty is updated to low, the lane change mode is switched to automatic lane change, and the corresponding lane change prompt information is output to remind the driver.

[0095] Specifically, in this embodiment, the lane change control unit 3 is used for:

[0096] When initiating a lane change, the lane change difficulty is updated based on the current road condition information and the current lane change position information;

[0097] If the lane change priority is necessary, when initiating an automatic lane change, the lane change difficulty is updated to medium, the lane change mode is switched to assisted lane change, and the corresponding lane change prompt message is output to inform the driver; when initiating an automatic lane change or assisted lane change, the lane change difficulty is updated to high, the lane change mode is switched to driver-controlled lane change, and the corresponding lane change prompt message is output to inform the driver.

[0098] If the lane change priority is normal lane change, when an automatic lane change is initiated, the lane change difficulty is updated to medium, the lane change mode is switched to assisted lane change, and the corresponding lane change prompt message is output to remind the driver; when an automatic lane change or assisted lane change is initiated, the lane change difficulty is updated to high, the lane change is canceled, and the corresponding lane change prompt message is output to remind the driver.

[0099] If the lane change priority is non-essential, when initiating an automatic lane change, the lane change difficulty is updated to medium, the lane change is canceled, and the corresponding lane change prompt message is output to remind the driver.

[0100] Specifically, in this embodiment, the priority determination unit 2 is used for:

[0101] When the reason for changing lanes is to switch roads according to navigation guidance, the corresponding lane change priority is determined as necessary lane change; when the reason for changing lanes is to give way to large vehicles or to avoid congestion, the corresponding lane change priority is determined as normal lane change; when the reason for changing lanes is to switch to the fast lane, overtake, or when the driver actively requests a lane change, the corresponding lane change priority is determined as unnecessary lane change.

[0102] Specifically, in this embodiment, the lane change mode determination unit 1 is used for:

[0103] During vehicle operation, it is determined in advance whether the vehicle needs to initiate a lane change on the road ahead. If so, the difficulty of changing lanes on the current road and the difficulty of changing lanes on the road ahead are determined based on the current road condition information and the current lane change position information.

[0104] The lane change control unit 3 is used for:

[0105] If the difficulty of changing lanes in the current road segment is medium or low, and the difficulty of changing lanes in the road segment ahead is high, the vehicle will be automatically controlled to change lanes to the target lane in the current road segment in advance, and the corresponding lane change prompt information will be output to inform the driver. If the difficulty of changing lanes in the current road segment and the difficulty of changing lanes in the road segment ahead are both high, the lane change mode in the road segment ahead will be determined to be driver-controlled lane change, and the corresponding lane change prompt information will be output to inform the driver in advance.

[0106] The systems described in the embodiments above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of the system solution in the embodiments, depending on actual needs.

[0107] It should be noted that the system in the above embodiments corresponds to the method in the above embodiments. Therefore, the parts of the system in the above embodiments that are not described in detail can be obtained by referring to the content of the method in the above embodiments. That is, the specific steps recorded in the method in the above embodiments can be understood as the functions that the system in the above embodiments can achieve, and will not be described again here.

[0108] Furthermore, if the vehicle lane-changing system described in the above embodiments is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium.

[0109] The embodiments of the present invention have the following advantages:

[0110] By analyzing the lane-changing difficulty of the current driving scenario through the autonomous driving system, different lane-changing modes are designed for different levels of difficulty, and different lane-changing priorities are designed for different reasons for lane changing. When the lane-changing priority is necessary and the automatic lane-changing attempt fails, the lane-changing mode is switched to driver-led lane changing; when the lane-changing priority is normal and the automatic lane-changing attempt fails, the lane-changing mode is switched to assisted lane changing; when the lane-changing priority is unnecessary and the automatic lane-changing attempt fails, the lane-changing is canceled. This effectively overcomes the shortcomings of existing autonomous driving systems that directly cancel lane-changing when the conditions for lane changing are not met. At the same time, corresponding lane-changing prompts are output to inform the driver during the lane-changing decision, allowing the user to more intuitively understand the status and operation of the lane-changing, enhancing the user's participation and sense of cooperation in the process of automatic navigation assisted driving, helping the user to respond in a timely manner during lane changing, improving the user's trust in the system, ensuring driving safety while improving driving efficiency.

[0111] The various embodiments of the present invention have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or technical improvements to the embodiments in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A vehicle lane change method, characterized by, The method comprises the following steps: When the vehicle needs to change lane, receiving current lane-changing road condition information and current lane-changing position information, determining a lane-changing difficulty according to the current lane-changing road condition information and the current lane-changing position information, and determining a corresponding lane-changing mode according to the lane-changing difficulty; wherein the lane-changing mode comprises automatic lane changing, assisted lane changing, and driver taking over lane changing; Determining a corresponding lane-changing priority according to a lane-changing reason; wherein the lane-changing priority comprises necessary lane changing, ordinary lane changing, and non-necessary lane changing; when the lane-changing reason is to change lane according to navigation guidance, the corresponding lane-changing priority is determined as necessary lane changing; when the lane-changing reason is to avoid large vehicles or congestion, the corresponding lane-changing priority is determined as ordinary lane changing; when the lane-changing reason is to switch to a fast lane, overtake, or the driver actively requests lane changing, the corresponding lane-changing priority is determined as non-necessary lane changing; Controlling the vehicle to initiate lane changing according to the lane-changing priority and the lane-changing mode, and outputting corresponding lane-changing prompt information to prompt the driver; when the lane-changing priority is necessary lane changing and automatic lane changing fails to be initiated, the lane-changing mode is switched to driver taking over lane changing, and corresponding lane-changing prompt information is outputted to prompt the driver; when the lane-changing priority is ordinary lane changing and automatic lane changing fails to be initiated, the lane-changing mode is switched to assisted lane changing, and corresponding lane-changing prompt information is outputted to prompt the driver; when the lane-changing priority is non-necessary lane changing and automatic lane changing fails to be initiated, the lane changing is cancelled, and corresponding lane-changing prompt information is outputted to prompt the driver.

2. The method of claim 1, wherein, The step of controlling the vehicle to initiate lane changing according to the lane-changing priority and the lane-changing mode further comprises: When the lane-changing priority is necessary lane changing and assisted lane changing fails to be initiated, the lane-changing mode is switched to driver taking over lane changing, and corresponding lane-changing prompt information is outputted to prompt the driver; when the lane-changing priority is ordinary lane changing and assisted lane changing fails to be initiated, the lane changing is cancelled, and corresponding lane-changing prompt information is outputted to prompt the driver.

3. The method of claim 1, wherein, The step of determining the corresponding lane-changing mode according to the lane-changing difficulty comprises: When the lane-changing difficulty is low, the corresponding lane-changing mode is determined as automatic lane changing; when the lane-changing difficulty is medium, the corresponding lane-changing mode is determined as assisted lane changing; when the lane-changing difficulty is high, the corresponding lane-changing mode is determined as driver taking over lane changing.

4. The method of claim 3, wherein, The step of controlling the vehicle to initiate lane changing according to the lane-changing priority and the lane-changing mode further comprises: When initiating lane changing, updating the lane-changing difficulty according to the current lane-changing road condition information and the current lane-changing position information; When the lane-changing priority is necessary lane changing, if the lane-changing difficulty is updated to medium when automatic lane changing is initiated, the lane-changing mode is switched to assisted lane changing, and corresponding lane-changing prompt information is outputted to prompt the driver; if the lane-changing difficulty is updated to high when automatic lane changing or assisted lane changing is initiated, the lane-changing mode is switched to driver taking over lane changing, and corresponding lane-changing prompt information is outputted to prompt the driver; If the lane-changing priority is ordinary lane-changing, when initiating automatic lane-changing, the lane-changing difficulty is updated to medium, the lane-changing mode is switched to assisted lane-changing, and corresponding lane-changing prompt information is output to prompt the driver; when initiating automatic lane-changing or assisted lane-changing, the lane-changing difficulty is updated to high, the lane-changing is cancelled, and corresponding lane-changing prompt information is output to prompt the driver; If the lane-changing priority is non-essential lane-changing, when initiating automatic lane-changing, the lane-changing difficulty is updated to medium, the lane-changing is cancelled, and corresponding lane-changing prompt information is output to prompt the driver.

5. The method of claim 1, wherein, The method further comprises: During vehicle driving, it is determined in advance whether the vehicle needs to initiate lane-changing on the front road section, and if so, the current road lane-changing difficulty and the front road lane-changing difficulty are determined according to the current road lane-changing information and the current lane-changing position information; If the current road lane-changing difficulty is medium or low and the front road lane-changing difficulty is high, automatic lane-changing to the target lane is initiated on the current road section in advance, and corresponding lane-changing prompt information is output to inform the driver; if the current road lane-changing difficulty and the front road lane-changing difficulty are both high, it is determined that the lane-changing mode on the front road section is driver-taken lane-changing, and corresponding lane-changing prompt information is output to inform the driver in advance. The method further comprises: During vehicle driving, it is determined in advance whether the vehicle needs to initiate lane-changing on the front road section, and if so, the current road lane-changing difficulty and the front road lane-changing difficulty are determined according to the current road lane-changing information and the current lane-changing position information; If the current road lane-changing difficulty is medium or low and the front road lane-changing difficulty is high, automatic lane-changing to the target lane is initiated on the current road section in advance, and corresponding lane-changing prompt information is output to inform the driver; if the current road lane-changing difficulty and the front road lane-changing difficulty are both high, it is determined that the lane-changing mode on the front road section is driver-taken lane-changing, and corresponding lane-changing prompt information is output to inform the driver in advance.

6. The method of claim 1, wherein, The method further comprises: During vehicle driving, it is determined in advance whether the vehicle needs to initiate lane-changing on the front road section, and if so, the current road lane-changing difficulty and the front road lane-changing difficulty are determined according to the current road lane-changing information and the current lane-changing position information; If the current road lane-changing difficulty is medium or low and the front road lane-changing difficulty is high, automatic lane-changing to the target lane is initiated on the current road section in advance, and corresponding lane-changing prompt information is output to inform the driver; if the current road lane-changing difficulty and the front road lane-changing difficulty are both high, it is determined that the lane-changing mode on the front road section is driver-taken lane-changing, and corresponding lane-changing prompt information is output to inform the driver in advance.

7. A vehicle lane change system characterized by, The method further comprises: During vehicle driving, it is determined in advance whether the vehicle needs to initiate lane-changing on the front road section, and if so, the current road lane-changing difficulty and the front road lane-changing difficulty are determined according to the current road lane-changing information and the current lane-changing position information; If the current road lane-changing difficulty is medium or low and the front road lane-changing difficulty is high, automatic lane-changing to the target lane is initiated on the current road section in advance, and corresponding lane-changing prompt information is output to inform the driver; if the current road lane-changing difficulty and the front road lane-changing difficulty are both high, it is determined that the lane-changing mode on the front road section is driver-taken lane-changing, and corresponding lane-changing prompt information is output to inform the driver in advance. The method further comprises: During vehicle driving, it is determined in advance whether the vehicle needs to initiate lane-changing on the front road section, and if so, the current road lane-changing difficulty and the front road lane-changing difficulty are determined according to the current road lane-changing information and the current lane-changing position information; If the current road lane-changing difficulty is medium or low and the front road lane-changing difficulty is high, automatic lane-changing to the target lane is initiated on the current road section in advance, and corresponding lane-changing prompt information is output to inform the driver; if the current road lane-changing difficulty and the front road lane-changing difficulty are both high, it is determined that the lane-changing mode on the front road section is driver-taken lane-changing, and corresponding lane-changing prompt information is output to inform the driver in advance. The lane changing control unit is configured to control the vehicle to initiate lane changing according to the lane changing priority and the lane changing mode, and output corresponding lane changing prompt information to prompt the driver; when the lane changing priority is necessary lane changing, and automatic lane changing fails to be initiated, the lane changing mode is switched to driver takeover lane changing, and corresponding lane changing prompt information is output to prompt the driver; when the lane changing priority is ordinary lane changing, and automatic lane changing fails to be initiated, the lane changing mode is switched to assisted lane changing, and corresponding lane changing prompt information is output to prompt the driver; and when the lane changing priority is non-essential lane changing, and automatic lane changing fails to be initiated, the lane changing is cancelled, and corresponding lane changing prompt information is output to prompt the driver.

8. The system of claim 7, wherein, The lane changing control unit is configured to: when the lane changing priority is necessary lane changing, and assisted lane changing fails to be initiated, the lane changing mode is switched to driver takeover lane changing, and corresponding lane changing prompt information is output to prompt the driver; when the lane changing priority is ordinary lane changing, and assisted lane changing fails to be initiated, the lane changing is cancelled, and corresponding lane changing prompt information is output to prompt the driver; when assisted lane changing is initiated, and lane changing fails to be requested, the lane changing mode is switched to driver takeover lane changing, and corresponding lane changing prompt information is output to prompt the driver; when driver takeover lane changing is initiated, and the lane changing difficulty is updated to medium at this time, the lane changing mode is switched to assisted lane changing, and corresponding lane changing prompt information is output to prompt the driver; when driver takeover lane changing is initiated, and the lane changing difficulty is updated to low at this time, the lane changing mode is switched to automatic lane changing, and corresponding lane changing prompt information is output to prompt the driver; when assisted lane changing is initiated, and the lane changing difficulty is updated to low at this time, the lane changing mode is switched to automatic lane changing, and corresponding lane changing prompt information is output to prompt the driver.

9. The system of claim 7, wherein, The lane changing control unit is configured to: update the lane changing difficulty according to the current lane condition information and the current lane position information when initiating lane changing; if the lane changing priority is necessary lane changing, when initiating automatic lane changing, the lane changing difficulty is updated to medium, the lane changing mode is switched to assisted lane changing, and corresponding lane changing prompt information is output to prompt the driver; and when initiating automatic lane changing or assisted lane changing, the lane changing difficulty is updated to high, the lane changing mode is switched to driver takeover lane changing, and corresponding lane changing prompt information is output to prompt the driver; if the lane changing priority is ordinary lane changing, when initiating automatic lane changing, the lane changing difficulty is updated to medium, the lane changing mode is switched to assisted lane changing, and corresponding lane changing prompt information is output to prompt the driver; and when initiating automatic lane changing or assisted lane changing, the lane changing difficulty is updated to high, the lane changing is cancelled, and corresponding lane changing prompt information is output to prompt the driver; if the lane changing priority is non-essential lane changing, when initiating automatic lane changing, the lane changing difficulty is updated to medium, the lane changing is cancelled, and corresponding lane changing prompt information is output to prompt the driver.

Images