Control Method, Device, Vehicle and Medium for Controlling Turn Signal Lights during Automatic Lane Change

Abstract

The present application relates to a method, device, vehicle and medium for controlling a turn signal during automatic lane change. The method includes: detecting the actual type and actual state of the current automatic lane change working condition of the vehicle; identifying the actual operation of the driver, and querying a relationship table of operations, types and states according to the actual type, actual state and actual operation to determine the target control strategy for the turn signal of the vehicle during automatic lane change; controlling the autonomous driving system to not turn on or turn off the turn signal, turn on the left turn signal of the turn signal or turn on the right turn signal of the turn signal according to the target control strategy. During the automatic lane change process, the present application makes a comprehensive decision based on different operations of the user on the turn signal, combined with the actual movement direction and trend of the vehicle itself, so as to realize the control of the turn signal, clearly inform surrounding vehicles of the movement behavior of the vehicle itself, and avoid the situation of not turning on or mis-turning on the turn signal during the lane change process of the vehicle itself, thereby effectively improving the driving safety of the vehicle and enhancing the safety and reliability of the vehicle.

Description

Technical Field

[0001] This application relates to the technical field of automotive automatic or assisted driving, and particularly relates to a control method, device, vehicle and medium for controlling a turn signal during automatic lane change. Background Art

[0002] Currently, with the continuous development and popularization of intelligent driving technology, more and more intelligent vehicles are equipped with the functions of triggering lane change by the driver turning the turn signal lever and the system triggering automatic lane change according to the actual scenario. During the entire automatic lane change process, the key lies in correctly lighting the turn signal that matches the actual movement behavior of the vehicle for surrounding traffic participants.

[0003] Currently, related technologies can use a controller and operation method to solve the problems of low functional safety level and poor integration of the automatic lane change controller, mainly describing the composition of the automatic lane change controller and the interaction logic with associated systems; related technologies can also automatically judge whether to turn on the turn signal according to the road conditions, and determine the timing of turning on the turn signal, as well as the judgment of the decision-making module based on the current position information and environmental obstacle information; in addition, related technologies can also judge whether the turn signal function is turned on based on the body controller according to the received turn signal switch signal. If the turn signal switch is in the closed state, it is determined that the turn signal function is turned on; if the turn signal switch is in the open state, it is determined that the turn signal function is not turned on. At the same time, the body controller communicates with other turn signal controllers through the CAN (Controller Area Network) bus.

[0004] However, related technologies fail to distinguish and process turn signal levers with different reset methods and different strokes (short pull, continuous pull) of the lever, nor do they make decisions on the behavior of the driver actively operating the turn signal lever during the automatic lane change process (especially when the driver reverses the turn signal lever or short-pulls the turn signal lever). As a result, there may be scenarios where the turn signal is not lit or mislit during the automatic lane change process, misleading the judgment of surrounding traffic participants on the movement behavior of the vehicle and causing traffic hazards, which urgently need to be solved. Summary of the Invention

[0005] This application provides a control method, device, vehicle and medium for controlling a turn signal during automatic lane change to solve the problems that related technologies fail to distinguish and process turn signal levers with different reset methods and different strokes, and are also unable to make decisions on the behavior of the driver actively operating the turn signal lever during the automatic lane change process, which easily misleads the judgment of surrounding traffic participants on the movement behavior of the vehicle and causes traffic hazards.

[0006] The first aspect of the embodiments of the present application provides a method for controlling a turn signal during an automatic lane change, including the following steps: detecting the actual type and actual state of the current automatic lane change condition of the vehicle; identifying the actual operation of the driver, and querying a relationship table of operations, types, and states according to the actual type, the actual state, and the actual operation to determine the target control strategy for the turn signal of the vehicle during an automatic lane change; and controlling the autonomous driving system to not turn on or turn off the turn signal, turn on the left turn signal of the turn signal, or turn on the right turn signal of the turn signal according to the target control strategy.

[0007] According to the above technical means, in the process of automatic lane change, the embodiments of the present application make a comprehensive decision based on different operations of the user on the turn signal, combined with the actual movement direction and trend of the vehicle itself, so as to realize the control of the turn signal, clearly inform the surrounding vehicles of the movement behavior of the vehicle itself, and avoid the situation of not turning on or mis-turning on the turn signal during the lane change process of the vehicle itself, thereby effectively improving the driving safety of the vehicle and enhancing the safety and reliability of the vehicle.

[0008] Optionally, in an embodiment of the present application, querying the relationship table of operations, types, and states according to the actual type, the actual state, and the actual operation, and determining the target control strategy for the turn signal when the vehicle changes lanes automatically includes: If the actual type is the left lane change activation type, and the actual state is the automatic lane change activation waiting state, the automatic lane change activation control - before the action line state, or the automatic lane change activation control - after the action line state, and the actual operation is a short pull of the left turn signal lever operation, then the target control strategy is the automatic driving system controls to turn on the left turn signal strategy; If the actual type is the left lane change activation type, and the actual state is the automatic lane change activation waiting state, the automatic lane change activation control - before the action line state, or the automatic lane change activation control - after the action line state, and the actual operation is a long pull of the left turn signal lever operation, then the target control strategy is the automatic driving system controls to turn on the left turn signal strategy; If the actual type is the left lane change activation type, and the actual state is the automatic lane change activation waiting state, the automatic lane change activation control - before the action line state, or the automatic lane change activation control - after the action line state, and the actual operation is a return of the turn signal lever operation, then the target control strategy is the automatic driving system controls to turn on the left turn signal strategy; If the actual type is the left lane change activation type, and the actual state is the automatic lane change activation waiting state, and the actual operation is a short pull of the right turn signal lever operation or a long pull of the right turn signal lever operation, then the target control strategy is the driving system does not turn on or turns off the turn signal strategy; If the actual type is the left lane change activation type, and the actual state is the automatic lane change activation control - before the action line state, and the actual operation is a short pull of the right turn signal lever operation or a long pull of the right turn signal lever operation, then the target control strategy is the automatic driving system controls to turn on the right turn signal strategy; If the actual type is the left lane change activation type, and the actual state is the automatic lane change activation control - after the action line state, and the actual operation is a short pull of the right turn signal lever operation or a long pull of the right turn signal lever operation, then the target control strategy is the automatic driving system controls to turn on the left turn signal strategy.

[0009] According to the above technical means, on the premise that the current working condition type of the vehicle is the left lane change activation type in the embodiment of the present application, combined with the actual state and actual operation of the vehicle, a reasonable and scientific control strategy is formulated for the turn signal, which effectively guarantees the safety and reliability of the vehicle when changing lanes to the left and improves the driving safety of the vehicle.

[0010] Optionally, in an embodiment of the present application, the step of querying the relationship table of operations, types, and states according to the actual type, the actual state, and the actual operation, and determining the target control strategy for the turn signal when the vehicle changes lanes automatically further includes: If the actual type is the right lane change activation type, and the actual state is the automatic lane change activation waiting state or the automatic lane change activation control - past the action line state, and the actual operation is the short - pull left turn signal lever operation or the long - pull left turn signal lever operation, then the target control strategy is the automatic driving system controls to turn on the right turn signal strategy; If the actual type is the right lane change activation type, and the actual state is the automatic lane change activation control - not past the action line state, and the actual operation is the short - pull left turn signal lever operation or the long - pull left turn signal lever operation, then the target control strategy is the automatic driving system controls to turn on the left turn signal strategy; If the actual type is the right lane change activation type, and the actual state is the automatic lane change activation waiting state, and the actual operation is the short - pull right turn signal lever operation or the long - pull right turn signal lever operation, then the target control strategy is the automatic driving system does not turn on or turns off the turn signal strategy; If the actual type is the right lane change activation type, and the actual state is the automatic lane change activation waiting state, the automatic lane change activation control - not past the action line state, or the automatic lane change activation control - past the action line state, and the actual operation is the short - pull right turn signal lever operation, the long - pull right turn signal lever operation, or the turn signal lever return - to - neutral operation, then the target control strategy is the automatic driving system controls to turn on the right turn signal strategy.

[0011] According to the above technical means, on the premise that the right lane change activation type is used as the actual working condition type of the vehicle in the embodiment of the present application, combined with the actual state and actual operation of the vehicle, a safe and reasonable turn signal control strategy is formulated, making the vehicle right - lane - changing process safer.

[0012] Optionally, in an embodiment of the present application, when querying the relationship table of operations, types, and states according to the actual type, the actual state, and the actual operation to determine the target control strategy for the turn signal when the vehicle is changing lanes automatically, it further includes: If the actual state is the automatic lane change deactivated state and the actual operation is the no-operation state, then the target control strategy is that the autonomous driving system does not turn on or turns off the turn signal; If the actual type is the left lane change activation type, and the actual state is the automatic lane change activation waiting state, the automatic lane change activation control - before the action line state, or the automatic lane change activation control - after the action line state, and the actual operation is the no-operation state, then the target control strategy is that the autonomous driving system controls to turn on the left turn signal; If the actual type is the right lane change activation type, and the actual state is the automatic lane change activation waiting state, the automatic lane change activation control - before the action line state, or the automatic lane change activation control - after the action line state, and the actual operation is the no-operation state, then the target control strategy is that the autonomous driving system controls to turn on the right turn signal.

[0013] According to the above technical means, in the embodiment of the present application, without the driver operating the steering lever, in combination with the actual state and actual type of the vehicle, a turn signal control strategy is further formulated, so that the control strategy tends to be perfect, and the safety and efficiency of the vehicle's automatic lane change are improved.

[0014] Optionally, in an embodiment of the present application, when querying the relationship table of operations, types, and states according to the actual type, the actual state, and the actual operation to determine the target control strategy for the turn signal when the vehicle is changing lanes automatically, it further includes: If the actual state is the automatic lane change deactivated state and the actual operation is the short pull of the left turn signal lever operation or the long pull of the left turn signal lever operation, then the target control strategy is that the autonomous driving system controls to turn on the left turn signal; If the actual state is the automatic lane change deactivated state and the actual operation is the short pull of the right turn signal lever operation or the long pull of the right turn signal lever operation, then the target control strategy is that the autonomous driving system controls to turn on the right turn signal; If the actual state is the automatic lane change deactivated state and the actual operation is the return of the turn signal lever operation, then the target control strategy is that the autonomous driving system does not turn on or turns off the turn signal.

[0015] According to the above technical means, by analyzing the control strategy of the turn signal in the unactivated state of automatic lane change, the embodiments of the present application not only improve the control strategy of the turn signal in various situations, making the control strategy more reasonable, scientific and complete, but also make the vehicle safer during the lane change process, avoid the situation of incorrect indication of the turn signal during turning, and greatly improve the safety of the vehicle and the driving experience of users.

[0016] The second aspect of the embodiments of the present application provides a control device for a turn signal during automatic lane change, including: a detection module for detecting the actual type and actual state of the current automatic lane change working condition of the vehicle; an identification module for identifying the actual operation of the driver, and querying a relationship table of operations, types and states according to the actual type, the actual state and the actual operation to determine the target control strategy of the vehicle for the turn signal during automatic lane change; and a control module for controlling the automatic driving system to not light or extinguish the turn signal, light the left turn signal of the turn signal or light the right turn signal of the turn signal according to the target control strategy.

[0017] Optionally, in an embodiment of the present application, the recognition module includes: a first left-turning strategy unit, configured to, if the actual type is a left-lane change activation type, and the actual state is an automatic lane change activation waiting state, an automatic lane change activation control - before the action line state, or an automatic lane change activation control - after the action line state, and the actual operation is a short pull of the left-turn signal lever operation, then the target control strategy is an automatic driving system control to turn on the left-turn signal strategy; a second left-turning strategy unit, configured to, if the actual type is the left-lane change activation type, and the actual state is the automatic lane change activation waiting state, the automatic lane change activation control - before the action line state, or the automatic lane change activation control - after the action line state, and the actual operation is a long pull of the left-turn signal lever operation, then the target control strategy is the automatic driving system control to turn on the left-turn signal strategy; a third left-turning strategy unit, configured to, if the actual type is the left-lane change activation type, and the actual state is the automatic lane change activation waiting state, the automatic lane change activation control - before the action line state, or the automatic lane change activation control - after the action line state, and the actual operation is a return of the turn signal lever operation, then the target control strategy is the automatic driving system control to turn on the left-turn signal strategy; a first light-off strategy unit, configured to, if the actual type is the left-lane change activation type, and the actual state is the automatic lane change activation waiting state, and the actual operation is a short pull of the right-turn signal lever operation or a long pull of the right-turn signal lever operation, then the target control strategy is a driving system control not to turn on or turn off the turn signal strategy; a first right-turning strategy unit, configured to, if the actual type is the left-lane change activation type, and the actual state is the automatic lane change activation control - before the action line state, and the actual operation is a short pull of the right-turn signal lever operation or a long pull of the right-turn signal lever operation, then the target control strategy is an automatic driving system control to turn on the right-turn signal strategy; a fourth left-turning strategy unit, configured to, if the actual type is the left-lane change activation type, and the actual state is the automatic lane change activation control - after the action line state, and the actual operation is a short pull of the right-turn signal lever operation or a long pull of the right-turn signal lever operation, then the target control strategy is the automatic driving system control to turn on the left-turn signal strategy.

[0018] Optionally, in an embodiment of the present application, the recognition module further includes: a second right-turning strategy unit, configured to, if the actual type is a right-lane change activation type, and the actual state is the automatic lane change activation waiting state or the automatic lane change activation control - passing the action line state, and the actual operation is a short pull of the left-turning lever operation or a long pull of the left-turning lever operation, then the target control strategy is the automatic driving system controls the strategy of turning on the right turn signal; a fifth left-turning strategy unit, configured to, if the actual type is a right-lane change activation type, and the actual state is the automatic lane change activation control - not passing the action line state, and the actual operation is a short pull of the left-turning lever operation or a long pull of the left-turning lever operation, then the target control strategy is the automatic driving system controls the strategy of turning on the left turn signal; a second light-off strategy unit, configured to, if the actual type is a right-lane change activation type, and the actual state is the automatic lane change activation waiting state, and the actual operation is a short pull of the right-turning lever operation or a long pull of the right-turning lever operation, then the target control strategy is the automatic driving system does not turn on or turns off the turn signal strategy; a third right-turning strategy unit, configured to, if the actual type is a right-lane change activation type, and the actual state is the automatic lane change activation waiting state, the automatic lane change activation control - not passing the action line state or the automatic lane change activation control - passing the action line state, and the actual operation is a short pull of the right-turning lever operation, a long pull of the right-turning lever operation or a return of the turn signal lever operation, then the target control strategy is the automatic driving system controls the strategy of turning on the right turn signal.

[0019] Optionally, in an embodiment of the present application, the recognition module further includes: a third light-off strategy unit, configured to, if the actual state is an automatic lane change not-activated state, and the actual operation is a no-operation state, then the target control strategy is the automatic driving system does not turn on or turns off the turn signal strategy; a sixth left-turning strategy unit, configured to, if the actual type is a left-lane change activation type, and the actual state is the automatic lane change activation waiting state, the automatic lane change activation control - not passing the action line state or the automatic lane change activation control - passing the action line state, and the actual operation is a no-operation state, then the target control strategy is the automatic driving system controls the strategy of turning on the left turn signal; a fourth right-turning strategy unit, configured to, if the actual type is a right-lane change activation type, and the actual state is the automatic lane change activation waiting state, the automatic lane change activation control - not passing the action line state or the automatic lane change activation control - passing the action line state, and the actual operation is a no-operation state, then the target control strategy is the automatic driving system controls the strategy of turning on the right turn signal.

[0020] Optionally, in an embodiment of the present application, the recognition module further includes: a seventh left-turning strategy unit, configured to, if the actual state is the automatic lane change deactivated state, and the actual operation is the short-pull left-turn signal lever operation or the long-pull left-turn signal lever operation, then the target control strategy is the automatic driving system controls the left-turn signal to light up; a fifth right-turning strategy unit, configured to, if the actual state is the automatic lane change deactivated state, and the actual operation is the short-pull right-turn signal lever operation or the long-pull right-turn signal lever operation, then the target control strategy is the automatic driving system controls the right-turn signal to light up; a fourth light-off strategy unit, configured to, if the actual state is the automatic lane change deactivated state, and the actual operation is the return of the turn signal lever operation, then the target control strategy is the automatic driving system does not light up or turns off the turn signal.

[0021] An embodiment of the third aspect of the present application provides a vehicle, including: a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the program to implement the method for controlling the turn signal during automatic lane change as described in the above embodiments.

[0022] An embodiment of the fourth aspect of the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the program is executed by a processor, it implements the method for controlling the turn signal during automatic lane change as described above.

[0023] Therefore, the embodiments of the present application have the following beneficial effects:

[0024] (1) In the process of automatic lane change in the embodiments of the present application, according to different operations of the user on the turn signal, combined with the actual movement direction and trend of the vehicle itself, comprehensive decision-making is carried out to achieve the control of the turn signal, clearly informing surrounding vehicles of the movement behavior of the vehicle itself, and avoiding the situation of not turning on or mis-turning on the turn signal during the lane change process of the vehicle itself, thereby effectively improving the driving safety of the vehicle and enhancing the safety and reliability of the vehicle.

[0025] (2) On the premise that the current working condition type of the vehicle is the left-lane change activation type in the embodiments of the present application, combined with the actual state and actual operation of the vehicle, a reasonable and scientific control strategy is formulated for the turn signal, effectively guaranteeing the safety and reliability of the vehicle's left-lane change and enhancing the driving safety of the vehicle.

[0026] (3) On the premise that the right-lane change activation type is the actual working condition type of the vehicle in the embodiments of the present application, combined with the actual state and actual operation of the vehicle, a safe and reasonable turn signal control strategy is formulated, making the vehicle's right-lane change process safer.

[0027] (4)Under the premise that the driver does not operate the steering lever, the embodiments of the present application further formulate a turn signal control strategy in combination with the actual state and actual type of the vehicle, so that the control strategy tends to be perfect, and the safety and efficiency of the vehicle's automatic lane change are improved.

[0028] (5)By analyzing the control strategy of the turn signal in the state where the automatic lane change is not activated, the embodiments of the present application not only improve the control strategy of the turn signal in various situations, making the control strategy more reasonable, scientific and complete, but also make the vehicle safer during the lane change process, avoiding the situation of incorrect indication of the turn signal during turning, and greatly improving the safety of the vehicle and the driving experience of users.

[0029] Additional aspects and advantages of the present application will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The above-mentioned and / or additional aspects and advantages of the present application will become apparent and easy to understand from the following description of the embodiments in conjunction with the drawings, where:

[0031] Figure 1 is a flowchart of a method for controlling a turn signal during automatic lane change according to an embodiment of the present application;

[0032] Figure 2 is a schematic diagram of an automatic lane change process provided by an embodiment of the present application;

[0033] Figure 3 is a schematic diagram of the execution logic of turn signal control during an automatic lane change process provided by an embodiment of the present application;

[0034] Figure 4 is a flowchart for judging whether a driver operates a turn signal lever provided by an embodiment of the present application;

[0035] Figure 5 is a schematic diagram of a lane change action line provided by an embodiment of the present application;

[0036] Figure 6 is an exemplary diagram of a device for controlling a turn signal during automatic lane change according to an embodiment of the present application;

[0037] Figure 7 is a schematic diagram of the structure of a vehicle provided by an embodiment of the present application.

[0038] Wherein, 10 - a device for controlling a turn signal during automatic lane change, 100 - a detection module, 200 - an identification module, 300 - a control module, 701 - a memory, 702 - a processor, 703 - a communication interface. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0039] Embodiments of the present application will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are intended to explain the present application, but should not be construed as limiting the present application.

[0040] A method, apparatus, vehicle, and medium for controlling a turn signal during automatic lane change according to an embodiment of the present application will be described below with reference to the accompanying drawings. In view of the problems mentioned in the above background art, the present application provides a method for controlling a turn signal during automatic lane change. In this method, the actual type and actual state of the current automatic lane change condition of the vehicle are detected; the actual operation of the driver is identified, and according to the actual type, actual state, and actual operation, a relationship table of operations, types, and states is queried to determine the target control strategy for the turn signal of the vehicle during automatic lane change; according to the target control strategy, the autonomous driving system is controlled to not turn on or turn off the turn signal, turn on the left turn signal of the turn signal, or turn on the right turn signal of the turn signal. During the automatic lane change process of the present application, according to different operations of the user on the turn signal, combined with the actual movement direction and trend of the vehicle itself, a comprehensive decision is made to achieve the control of the turn signal, clearly informing surrounding vehicles of the movement behavior of the vehicle itself, and avoiding the situation of not turning on or mis-turning on the turn signal during the lane change process of the vehicle itself, thereby effectively improving the driving safety of the vehicle and enhancing the safety and reliability of the vehicle. Thus, the problems in the related art that fail to distinguish and process turn signal levers with different reset methods and different strokes of the lever, and are also unable to make a decision on the behavior of the driver actively operating the turn signal lever during the automatic lane change process, which is likely to mislead the judgment of surrounding traffic participants on the movement behavior of the vehicle itself and cause traffic hazards, are solved.

[0041] Specifically, Figure 1 FIG. is a flowchart of a method for controlling a turn signal during automatic lane change according to an embodiment of the present application.

[0042] As Figure 1 shown, the method for controlling a turn signal during automatic lane change includes the following steps:

[0043] In step S101, the actual type and actual state of the current automatic lane change condition of the vehicle are detected.

[0044] Embodiments of the present application may first divide the vehicle automatic lane change condition into two types: left lane change activation and right lane change activation. Further, the automatic lane change process under each condition type may be further divided into the following four states:

[0045] 1. Automatic lane change not activated;

[0046] 2. Automatic lane change activation waiting;

[0047] 3. Automatic Lane Change Activation Control - Before Crossing the Action Line;

[0048] 4. Automatic Lane Change Activation Control - After Crossing the Action Line.

[0049] It should be noted that the above - mentioned non - activated state of automatic lane change means that the autonomous driving system controls the vehicle to drive in the center of the lane. In the current scenario, the conditions for triggering automatic lane change are not met (such as lane line type, road type, and collision relationship with surrounding traffic participants), and the driver does not operate the turn signal lever. This state can also be directly entered after the completion or end of the previous lane change (i.e., the driver actively takes over the vehicle during the automatic lane change process);

[0050] The sub - state of waiting for automatic lane change activation means that the autonomous driving system determines that the current scenario meets the conditions for triggering automatic lane change (such as a slow vehicle ahead), or the system detects that the driver operates the turn signal lever. At this time, the system controls the turn signal on the target lane side of the lane change to be lit to inform surrounding vehicles of the vehicle's lane change behavior. At the same time, the system continuously judges whether the road surrounding environment meets the lane change activation conditions, such as whether the lane line type is a broken line and whether there is a collision risk with surrounding traffic participants;

[0051] The state of automatic lane change activation control - before crossing the action line means the process from when the autonomous driving system controls the vehicle to start performing a lane change action horizontally until the front wheel of the vehicle just presses the action line. In this state, if the system detects a collision risk between the vehicle and traffic participants in the target lane or the driver operates the right turn signal lever in this state, the system will control the right turn signal to be lit and control the vehicle to retreat to the original lane;

[0052] The state of automatic lane change activation control - after crossing the action line means the process from when the autonomous driving system controls the vehicle to just press the action line until before the automatic lane change is completed. In this state, to avoid the vehicle retreating to the original lane and causing a collision with rear - end traffic participants and large lateral swings, when the system detects that the driver operates the right turn signal lever, the system still controls the left turn signal to be lit and continues to control the vehicle to perform a lane change action towards the target lane (i.e., the left lane).

[0053] Thus, the embodiments of the present application can detect the actual type and state of the current automatic lane change working condition of the vehicle through corresponding sensor devices, thereby providing a reliable basis and guidance for formulating the control strategy of the turn signal when the vehicle performs an automatic lane change subsequently.

[0054] In step S102, identify the actual operation of the driver, and query the relationship table of operations, types, and states according to the actual type, actual state, and actual operation to determine the target control strategy of the turn signal when the vehicle performs an automatic lane change.

[0055] After detecting the actual type and actual state of the current automatic lane change condition of the vehicle, further, embodiments of the present application can identify the actual operations of the driver, that is, different operation types of the driver on the turn signal lever.

[0056] In embodiments of the present application, the turn signal lever is divided into a self - reset type turn signal lever and a non - self - reset type turn signal lever (i.e., a mechanical turn signal lever) according to whether it can automatically reset; in addition, the turn signal lever is divided into a short - pull and a long - pull according to the travel of the driver's operation of the lever. When short - pulling, generally control the turn signal to light for a fixed time (such as 3 seconds) and then go out; when long - pulling, control the turn signal to stay on until the driver operates the turn signal lever in the opposite direction again. Therefore, during the process of autonomous driving, whether the driver actively operates the turn signal lever should be distinguished for processing.

[0057] Specifically, for the self - reset type turn signal lever, when the system detects that the driver operates the lever upward (short - pull or long - pull), it is considered that the driver operates the right turn signal lever; when the system detects that the driver operates the lever downward (short - pull or long - pull), it is considered that the driver operates the left turn signal lever.

[0058] For the non - self - reset type turn signal lever, it is first necessary to determine whether the turn signal lever is in the middle position. If the turn signal lever is in the middle position, when the system detects that the driver operates the lever upward (short - pull or long - pull), it is considered that the driver operates the right turn signal lever; when the system detects that the driver operates the lever downward (short - pull or long - pull), it is considered that the driver operates the left turn signal lever. If the turn signal lever is not in the middle position, when the system detects that the driver operates the lever upward or downward (short - pull or long - pull), it is considered that the driver actively returns the turn signal lever to the normal position.

[0059] Thus, in different states and types of automatic lane change, according to the different operations of the driver on the turn signal lever and the actual movement direction and trend of the vehicle, construct and query the relationship table of operations, types and states, as shown in Table 1, where A represents that the autonomous driving system does not light / extinguish the turn signal; B represents that the autonomous driving system controls to light the left turn signal; C represents that the autonomous driving system controls to light the right turn signal, so as to determine the control strategy of the turn signal during automatic lane change, effectively improving the scientific nature and completeness of the turn signal control strategy during the automatic lane change process, and greatly improving the driving safety of the vehicle.

[0060] Table 1

[0061]

[0062]

[0063] Optionally, in an embodiment of the present application, the relationship table of operations, types, and statuses is queried according to the actual type, actual status, and actual operation to determine the target control strategy for the turn signal when the vehicle is changing lanes automatically, including: If the actual type is the left lane change activation type, and the actual status is the automatic lane change activation waiting state, the automatic lane change activation control - before the action line state, or the automatic lane change activation control - after the action line state, and the actual operation is a short pull of the left turn signal lever operation, then the target control strategy is that the autonomous driving system controls to turn on the left turn signal; If the actual type is the left lane change activation type, and the actual status is the automatic lane change activation waiting state, the automatic lane change activation control - before the action line state, or the automatic lane change activation control - after the action line state, and the actual operation is a long pull of the left turn signal lever operation, then the target control strategy is that the autonomous driving system controls to turn on the left turn signal; If the actual type is the left lane change activation type, and the actual status is the automatic lane change activation waiting state, the automatic lane change activation control - before the action line state, or the automatic lane change activation control - after the action line state, and the actual operation is a return of the turn signal lever operation, then the target control strategy is that the autonomous driving system controls to turn on the left turn signal; If the actual type is the left lane change activation type, and the actual status is the automatic lane change activation waiting state, and the actual operation is a short pull of the right turn signal lever operation or a long pull of the right turn signal lever operation, then the target control strategy is that the driving system does not turn on or turns off the turn signal; If the actual type is the left lane change activation type, and the actual status is the automatic lane change activation control - before the action line state, and the actual operation is a short pull of the right turn signal lever operation or a long pull of the right turn signal lever operation, then the target control strategy is that the autonomous driving system controls to turn on the right turn signal; If the actual type is the left lane change activation type, and the actual status is the automatic lane change activation control - after the action line state, and the actual operation is a short pull of the right turn signal lever operation or a long pull of the right turn signal lever operation, then the target control strategy is that the autonomous driving system controls to turn on the left turn signal.

[0064] It should be noted that in the embodiments of the present application, first, the left lane change activation type of the current automatic lane change of the vehicle can be analyzed.

[0065] Specifically, as shown in Table 1, when the actual type is the left lane change activation type, and the actual status is the automatic lane change activation waiting state, the automatic lane change activation control - before the action line state, or the automatic lane change activation control - after the action line state, when the driver performs a short pull of the left turn signal lever operation, a long pull of the left turn signal lever, or a return of the turn signal lever operation on the turn signal lever, the control strategy of the turn signal is set as the autonomous driving system controls to turn on the left turn signal;

[0066] When the actual type is the left lane change activation type and the actual state is the automatic lane change activation waiting state, if the actual operation of the driver on the turn signal is a short pull or a long pull of the right turn signal lever, the control strategy of the turn signal is that the driving system does not light or extinguishes the turn signal;

[0067] When the actual type is the left lane change activation type and the actual state is the automatic lane change activation control - before the action line state, if the actual operation is a short pull or a long pull of the right turn signal lever, the control strategy of the turn signal is that the autonomous driving system controls to light the right turn signal;

[0068] When the actual type is the left lane change activation type and the actual state is the automatic lane change activation control - after the action line state, if the actual operation is a short pull or a long pull of the right turn signal lever, the control strategy of the turn signal is that the autonomous driving system controls to light the left turn signal.

[0069] Thus, the embodiments of the present application, on the premise that the current vehicle condition type is the left lane change activation type, combine the actual state and actual operation of the vehicle, so as to formulate a reasonable and scientific control strategy for the turn signal, which effectively guarantees the safety and reliability of the vehicle's left lane change and improves the driving safety of the vehicle.

[0070] Optionally, in an embodiment of the present application, querying the relationship table of operations, types, and states according to the actual type, actual state, and actual operation to determine the target control strategy of the turn signal when the vehicle automatically changes lanes further includes: if the actual type is the right lane change activation type, and the actual state is the automatic lane change activation waiting state or the automatic lane change activation control - after the action line state, and the actual operation is a short pull or a long pull of the left turn signal lever, the target control strategy is that the autonomous driving system controls to light the right turn signal; if the actual type is the right lane change activation type, and the actual state is the automatic lane change activation control - before the action line state, and the actual operation is a short pull or a long pull of the left turn signal lever, the target control strategy is that the autonomous driving system controls to light the left turn signal; if the actual type is the right lane change activation type, and the actual state is the automatic lane change activation waiting state, and the actual operation is a short pull or a long pull of the right turn signal lever, the target control strategy is that the autonomous driving system does not light or extinguishes the turn signal; if the actual type is the right lane change activation type, and the actual state is the automatic lane change activation waiting state, the automatic lane change activation control - before the action line state, or the automatic lane change activation control - after the action line state, and the actual operation is a short pull, a long pull of the right turn signal lever, or a return of the turn signal lever to the neutral position, the target control strategy is that the autonomous driving system controls to light the right turn signal.

[0071] Furthermore, the embodiments of the present application further analyze the control of the turn signal in combination with the actual state and actual operation on the premise of the right lane change activation type.

[0072] Specifically, as shown in Table 1, when the actual type is the right lane change activation type, and the actual state is the automatic lane change activation waiting state or the automatic lane change activation control - past the action line state, if the actual operation is a short pull of the left turn signal lever operation or a long pull of the left turn signal lever operation, the control strategy of the turn signal is the automatic driving system controls to turn on the right turn signal strategy;

[0073] When the actual type is the right lane change activation type, and the actual state is the automatic lane change activation control - not past the action line state, if the actual operation is a short pull of the left turn signal lever operation or a long pull of the left turn signal lever operation, the control strategy of the turn signal is the automatic driving system controls to turn on the left turn signal strategy;

[0074] When the actual type is the right lane change activation type, and the actual state is the automatic lane change activation waiting state, if the actual operation is a short pull of the right turn signal lever operation or a long pull of the right turn signal lever operation, the control strategy of the turn signal is the automatic driving system does not turn on or turns off the turn signal strategy;

[0075] When the actual type is the right lane change activation type, and the actual state is the automatic lane change activation waiting state, the automatic lane change activation control - not past the action line state or the automatic lane change activation control - past the action line state, if the actual operation is a short pull of the right turn signal lever operation, a long pull of the right turn signal lever operation or a return of the turn signal lever operation, the control strategy of the turn signal is the automatic driving system controls to turn on the right turn signal strategy.

[0076] Therefore, the embodiments of the present application, on the premise of taking the right lane change activation type as the actual vehicle working condition type, combine the actual state and actual operation of the vehicle, so as to formulate a safe and reasonable turn signal control strategy, making the vehicle right lane change process safer.

[0077] Optionally, in an embodiment of the present application, according to the actual type, actual status, and actual operation, query the relationship table of operations, types, and statuses to determine the target control strategy for the turn signal when the vehicle is changing lanes automatically, further including: If the actual status is the automatic lane change not activated status and the actual operation is the no-operation status, the target control strategy is that the autonomous driving system does not light or extinguishes the turn signal; If the actual type is the left lane change activation type, and the actual status is the automatic lane change activation waiting status, the automatic lane change activation control - before crossing the action line status, or the automatic lane change activation control - after crossing the action line status, and the actual operation is the no-operation status, the target control strategy is that the autonomous driving system controls to light the left turn signal; If the actual type is the right lane change activation type, and the actual status is the automatic lane change activation waiting status, the automatic lane change activation control - before crossing the action line status, or the automatic lane change activation control - after crossing the action line status, and the actual operation is the no-operation status, the target control strategy is that the autonomous driving system controls to light the right turn signal.

[0078] It should be noted that when the driver is in a no-operation state with the vehicle's steering lever, the embodiments of the present application can combine the actual status and type to formulate the control strategy for the turn signal.

[0079] Specifically, as shown in Table 1, when the driver's actual operation is in the no-operation state, if the actual status is the automatic lane change not activated status, the control strategy for the turn signal is that the autonomous driving system does not light or extinguishes the turn signal;

[0080] When the driver's actual operation is in the no-operation state and the actual type is the left lane change activation type, if the actual status is the automatic lane change activation waiting status, the automatic lane change activation control - before crossing the action line status, or the automatic lane change activation control - after crossing the action line status, the control strategy for the turn signal is that the autonomous driving system controls to light the left turn signal;

[0081] When the driver's actual operation is in the no-operation state and the actual type is the right lane change activation type, if the actual status is the automatic lane change activation waiting status, the automatic lane change activation control - before crossing the action line status, or the automatic lane change activation control - after crossing the action line status, the control strategy for the turn signal is that the autonomous driving system controls to light the right turn signal.

[0082] Thus, the embodiments of the present application, on the premise that the driver does not operate the steering lever, further formulate the control strategy for the turn signal by combining the actual status and actual type of the vehicle, thereby making the control strategy more perfect and improving the safety and efficiency of the vehicle's automatic lane change.

[0083] Optionally, in an embodiment of the present application, by querying the relationship table of operations, types, and states according to the actual type, actual state, and actual operation, and determining the target control strategy for the turn signal during automatic lane change of the vehicle, it further includes: If the actual state is the state where automatic lane change is not activated, and the actual operation is a short pull or a long pull of the left turn signal lever, the target control strategy is that the autonomous driving system controls to turn on the left turn signal; If the actual state is the state where automatic lane change is not activated, and the actual operation is a short pull or a long pull of the right turn signal lever, the target control strategy is that the autonomous driving system controls to turn on the right turn signal; If the actual state is the state where automatic lane change is not activated, and the actual operation is to return the turn signal lever to the neutral position, the target control strategy is that the autonomous driving system does not turn on or turns off the turn signal.

[0084] It should be noted that the embodiments of the present application can also analyze the control strategy of the vehicle turn signal in the state where automatic lane change of the vehicle is not activated.

[0085] Specifically, as shown in Table 1, when the actual state is the state where automatic lane change is not activated, and the actual operation is a short pull or a long pull of the left turn signal lever, the control strategy of the turn signal is that the autonomous driving system controls to turn on the left turn signal;

[0086] When the actual state is the state where automatic lane change is not activated, and the actual operation is a short pull or a long pull of the right turn signal lever, the control strategy of the turn signal is that the autonomous driving system controls to turn on the right turn signal;

[0087] If the actual state is the state where automatic lane change is not activated, and the actual operation is to return the turn signal lever to the neutral position, the control strategy of the turn signal is that the autonomous driving system does not turn on or turns off the turn signal.

[0088] Thus, by analyzing the control strategy of the turn signal in the state where automatic lane change is not activated, the embodiments of the present application not only improve the control strategy of the turn signal in various situations, making the control strategy more reasonable, scientific, and complete, but also make the vehicle safer during lane change, avoiding the situation of incorrect indication of the turn signal during turning, and greatly improving the safety of the vehicle and the driving experience of users.

[0089] In step S103, according to the target control strategy, control the autonomous driving system not to turn on or to turn off the turn signal, turn on the left turn signal of the turn signal, or turn on the right turn signal of the turn signal.

[0090] It can be understood that after obtaining the turn signal control strategy, the embodiments of the present application can control the vehicle to execute operations such as not lighting or extinguishing the turn signal, lighting the left turn signal of the turn signal, or lighting the right turn signal of the turn signal according to the above strategy, so as to make unified decisions on turn signal levers with different reset methods, different lever strokes, and the operations of the driver on the turn signal lever at different stages of automatic lane change, and can accurately inform surrounding traffic participants of the movement behavior of the vehicle, greatly improving the safety and reliability of the vehicle.

[0091] The following will use specific embodiments and in combination with the drawings to detail the control method for turn signals during automatic lane change proposed by the present application.

[0092] Figure 2 It is a schematic diagram of the automatic lane change process. As Figure 2 shown, the automatic lane change process is divided into four states. In the figure, "1" represents the vehicle itself. Specifically, the following will take a left lane change as an example to illustrate the four states during the automatic lane change process:

[0093] 1. After enabling the automatic / assisted driving function, as Figure 2 shown in the "2" process, when the system detects that the surrounding environment (such as lane line type, road type, and collision relationship with surrounding traffic participants) does not meet the automatic lane change function enabling conditions and no driver operation on the turn signal lever is detected currently, the system controls the vehicle to cruise centered in the current lane, and at this time the automatic lane change function is in an inactive state;

[0094] 2. Referring to Figure 2 shown in the "3" process, when the system detects that the surrounding environment (such as lane line type, road type, and collision relationship with surrounding traffic participants) all meet the automatic lane change function enabling conditions, or detects that the driver operates the left turn signal lever, the system lights the left turn signal to send a warning message to surrounding traffic participants, and at the same time continues to control the vehicle to drive centered in the current lane, and further confirms whether there is a collision risk with traffic participants in the target lane (i.e., the left lane), and opportunely controls the lateral movement of the vehicle. At this time, the automatic lane change function is in a lane change activation waiting state;

[0095] 3. As Figure 2 shown in the "4" process, during this process, the automatic lane change function is in the lane change activation control - not crossing the action line state, which specifically refers to the process from when the system controls the vehicle to start lateral movement towards the target lane (i.e., the left lane) until the front wheels of the vehicle just press the left lane change action line. In this state, if the system monitors that there is a collision risk between the vehicle and traffic participants in the target lane or the driver operates the right turn signal lever in this state, the system will control to light the right turn signal and control the vehicle to retreat to the original lane;

[0096] 4. AsFigure 2 As shown in the "5" process, the automatic lane change function is in the lane change activation control - crossing the action line state during this process. Specifically, it refers to the process from when the system controls the vehicle's left front wheel to just press the left lane change action line until this lane change is completed. In this state, to avoid the vehicle reversing back to the original lane and colliding with the following traffic participants and large lateral swings, when the system detects that the driver operates the right turn signal lever, the system still controls the left turn signal to be lit and continues to control the vehicle to perform a lane change action towards the target lane (i.e., the left lane).

[0097] Figure 3 It is a schematic diagram of the turn signal control execution logic during the automatic lane change process. As Figure 3 shown, during the automatic lane change process, the control strategy of the turn signal is realized after comprehensive decision-making based on the driver's operation of the turn signal lever, the actual movement direction and trend of the vehicle itself. The process is described as follows:

[0098] The first step: Determine whether the driver operates the turn signal lever. If it is determined that the driver operates, go to the second step; otherwise, maintain the current state and then end;

[0099] The second step: Determine whether the driver's operation is to return the turn signal lever to the neutral position. If so, the system controls the turn signal to maintain the state of the previous cycle; otherwise, go to the third step;

[0100] The third step: Determine whether the driver turns on the left turn signal lever. If so, go to the fourth step; otherwise, go to the eighth step;

[0101] The fourth step: Determine whether the automatic lane change is in the lane change not activated state. If so, control the left turn signal to be lit and enter the waiting sub-state for activating the left lane change; otherwise, go to the fifth step;

[0102] The fifth step: Determine whether the automatic lane change is in the activated state of changing to the left lane. If so, control the left turn signal to be lit and maintain the current automatic lane change state; otherwise, go to the sixth step;

[0103] The sixth step: Determine whether the automatic lane change is in the waiting sub-state for activating the right lane change. If so, control the turn signal to be extinguished and end this automatic lane change; otherwise, go to the seventh step;

[0104] The seventh step: Determine whether the automatic lane change is in the sub-state of the right lane change activation control - not crossing the action line. If so, control the left turn signal to be lit and change the lane back to the original lane; otherwise, control the right turn signal to be lit and continue to change lanes to the right until the lane change is completed and enter the twelfth step;

[0105] The eighth step: Determine whether the automatic lane change is in the lane change not activated state. If so, control the right turn signal to be lit; otherwise, go to the ninth step;

[0106] Step 9: Determine whether the automatic lane change is in the activated state of changing lanes to the right. If so, control the right turn signal to light up and maintain the current automatic lane change state; otherwise, proceed to Step 10;

[0107] Step 10: Determine whether the automatic lane change is in the sub-state of waiting for activation of changing lanes to the left. If so, control the turn signal to turn off and end the current automatic lane change; otherwise, proceed to Step 11;

[0108] Step 11: Determine whether the automatic lane change is in the sub-state of activation control of changing lanes to the left - not passing the action line. If so, control the right turn signal to light up and change lanes back to the original lane; otherwise, control the left turn signal to light up and continue to change lanes to the left until the lane change is completed, and then proceed to Step 12;

[0109] Step 12: The current automatic lane change is completed. Control the turn signal to turn off and then end.

[0110] Figure 4 It is a flowchart for judging whether the driver operates the turn signal lever. As Figure 4 shown, for the turn signal levers of different reset modes, the judgment steps for whether the driver operates the turn signal lever are as follows:

[0111] Step 1: Determine whether the turn signal lever of the vehicle is a self - reset type lever. If so, proceed to Step 2; otherwise, proceed to Step 4;

[0112] Step 2: Determine whether the driver operates the turn signal lever upward (short - pull or long - pull). If so, it is considered that the driver pulls the right turn signal lever; otherwise, proceed to Step 3;

[0113] Step 3: Determine whether the driver operates the turn signal lever downward (short - pull or long - pull). If so, it is considered that the driver pulls the left turn signal lever; otherwise, it is considered that the driver does not operate the turn signal lever, and then end;

[0114] Step 4: Determine whether the turn signal lever is in the middle position. If so, proceed to Step 5; otherwise, proceed to Step 7;

[0115] Step 5: Determine whether the driver operates the turn signal lever upward (short - pull or long - pull). If so, it is considered that the driver pulls the right turn signal lever; otherwise, proceed to Step 6;

[0116] Step 6: Determine whether the driver operates the turn signal lever downward (short - pull or long - pull). If so, it is considered that the driver pulls the left turn signal lever; otherwise, it is considered that the driver does not operate the turn signal lever, and then end;

[0117] Step 7: Determine whether the driver operates the turn signal lever upward or downward (short - pull or long - pull). If so, it is considered that the driver returns the turn signal lever to the neutral position; otherwise, it is considered that the driver mis - operates the turn signal lever, and then end.

[0118] Figure 5 It is a schematic diagram of the lane-changing action line. As Figure 5 shown in the figure, in the figure, "6" represents the left lane-changing action line, which is the left lane line of this lane translated to the left by a threshold value (such as 0.3 m); "7" represents the right lane-changing action line, which is the right lane line of this lane translated to the right by a threshold value (such as 0.3 m). This action line can effectively prevent the vehicle from returning to the original lane again after entering the target lane, thus avoiding situations such as collisions with the vehicles behind in the original lane.

[0119] According to the control method for the turn signal during automatic lane change proposed in the embodiment of the present application, by detecting the actual type and actual state of the current automatic lane-changing condition of the vehicle; identifying the actual operation of the driver, and querying the relationship table of operations, types, and states according to the actual type, actual state, and actual operation, determining the target control strategy for the turn signal when the vehicle is automatically changing lanes; controlling the autonomous driving system not to turn on or turn off the turn signal, turn on the left turn signal of the turn signal, or turn on the right turn signal of the turn signal according to the target control strategy. During the automatic lane change process of the present application, according to different operations of the user on the turn signal, combined with the actual movement direction and trend of the vehicle itself, a comprehensive decision is made to realize the control of the turn signal, clearly informing the surrounding vehicles of the movement behavior of the vehicle itself, avoiding the situation of not turning on or mis-turning on the turn signal during the lane change process of the vehicle itself, thereby effectively improving the driving safety of the vehicle and enhancing the safety and reliability of the vehicle.

[0120] Next, refer to the drawings to describe the control device for the turn signal during automatic lane change proposed in the embodiment of the present application.

[0121] Figure 6 It is a block schematic diagram of the control device for the turn signal during automatic lane change according to the embodiment of the present application.

[0122] As Figure 6 shown, the control device 10 for the turn signal during automatic lane change includes: a detection module 100, an identification module 200, and a control module 300.

[0123] Among them, the detection module 100 is used to detect the actual type and actual state of the current automatic lane-changing condition of the vehicle.

[0124] The identification module 200 is used to identify the actual operation of the driver, and query the relationship table of operations, types, and states according to the actual type, actual state, and actual operation, and determine the target control strategy for the turn signal when the vehicle is automatically changing lanes.

[0125] The control module 300 is used to control the autonomous driving system not to turn on or turn off the turn signal, turn on the left turn signal of the turn signal, or turn on the right turn signal of the turn signal according to the target control strategy.

[0126] Optionally, in an embodiment of the present application, the recognition module 200 includes: a first left-turning strategy unit, a second left-turning strategy unit, a third left-turning strategy unit, a first light-off strategy unit, a first right-turning strategy unit, and a fourth left-turning strategy unit.

[0127] Among them, the first left-turning strategy unit is used to, if the actual type is the left-lane-changing activation type, and the actual state is the automatic lane-changing activation waiting state, the automatic lane-changing activation control - before the action line state, or the automatic lane-changing activation control - after the action line state, and the actual operation is a short pull of the left-turn signal lever operation, then the target control strategy is the automatic driving system to control the left-turn signal light to light up.

[0128] The second left-turning strategy unit is used to, if the actual type is the left-lane-changing activation type, and the actual state is the automatic lane-changing activation waiting state, the automatic lane-changing activation control - before the action line state, or the automatic lane-changing activation control - after the action line state, and the actual operation is a long pull of the left-turn signal lever operation, then the target control strategy is the automatic driving system to control the left-turn signal light to light up.

[0129] The third left-turning strategy unit is used to, if the actual type is the left-lane-changing activation type, and the actual state is the automatic lane-changing activation waiting state, the automatic lane-changing activation control - before the action line state, or the automatic lane-changing activation control - after the action line state, and the actual operation is to return the turn signal lever to the neutral position operation, then the target control strategy is the automatic driving system to control the left-turn signal light to light up.

[0130] The first light-off strategy unit is used to, if the actual type is the left-lane-changing activation type, and the actual state is the automatic lane-changing activation waiting state, and the actual operation is a short pull of the right-turn signal lever operation or a long pull of the right-turn signal lever operation, then the target control strategy is that the driving system does not light up or turns off the turn signal light.

[0131] The first right-turning strategy unit is used to, if the actual type is the left-lane-changing activation type, and the actual state is the automatic lane-changing activation control - before the action line state, and the actual operation is a short pull of the right-turn signal lever operation or a long pull of the right-turn signal lever operation, then the target control strategy is the automatic driving system to control the right-turn signal light to light up.

[0132] The fourth left-turning strategy unit is used to, if the actual type is the left-lane-changing activation type, and the actual state is the automatic lane-changing activation control - after the action line state, and the actual operation is a short pull of the right-turn signal lever operation or a long pull of the right-turn signal lever operation, then the target control strategy is the automatic driving system to control the left-turn signal light to light up.

[0133] Optionally, in an embodiment of the present application, the recognition module 200 further includes: a second right-turning strategy unit, a fifth left-turning strategy unit, a second light-off strategy unit, and a third right-turning strategy unit.

[0134] The second right-turning strategy unit is configured to, if the actual type is the right-lane change activation type, and the actual state is the automatic lane change activation waiting state or the automatic lane change activation control - passing the action line state, and the actual operation is a short pull of the left-turn signal lever operation or a long pull of the left-turn signal lever operation, then the target control strategy is the automatic driving system to control the right-turn signal lamp to light up.

[0135] The fifth left-turning strategy unit is configured to, if the actual type is the right-lane change activation type, and the actual state is the automatic lane change activation control - not passing the action line state, and the actual operation is a short pull of the left-turn signal lever operation or a long pull of the left-turn signal lever operation, then the target control strategy is the automatic driving system to control the left-turn signal lamp to light up.

[0136] The second light-off strategy unit is configured to, if the actual type is the right-lane change activation type, and the actual state is the automatic lane change activation waiting state, and the actual operation is a short pull of the right-turn signal lever operation or a long pull of the right-turn signal lever operation, then the target control strategy is the automatic driving system not to light up or to turn off the turn signal lamp.

[0137] The third right-turning strategy unit is configured to, if the actual type is the right-lane change activation type, and the actual state is the automatic lane change activation waiting state, the automatic lane change activation control - not passing the action line state, or the automatic lane change activation control - passing the action line state, and the actual operation is a short pull of the right-turn signal lever operation, a long pull of the right-turn signal lever operation, or a return of the turn signal lever to the normal position operation, then the target control strategy is the automatic driving system to control the right-turn signal lamp to light up.

[0138] Optionally, in an embodiment of the present application, the recognition module 200 further includes: a third light-off strategy unit, a sixth left-turning strategy unit, and a fourth right-turning strategy unit.

[0139] The third light-off strategy unit is configured to, if the actual state is the automatic lane change non-activation state, and the actual operation is the no-operation state, then the target control strategy is the automatic driving system not to light up or to turn off the turn signal lamp.

[0140] The sixth left-turning strategy unit is configured to, if the actual type is the left-lane change activation type, and the actual state is the automatic lane change activation waiting state, the automatic lane change activation control - not passing the action line state, or the automatic lane change activation control - passing the action line state, and the actual operation is the no-operation state, then the target control strategy is the automatic driving system to control the left-turn signal lamp to light up.

[0141] The fourth right turn strategy unit is used to, if the actual type is the right lane change activation type, and the actual state is the automatic lane change activation waiting state, the automatic lane change activation control - not passing the action line state, or the automatic lane change activation control - passing the action line state, and the actual operation is the no - operation state, then the target control strategy is the automatic driving system controls to turn on the right turn signal strategy.

[0142] Optionally, in an embodiment of the present application, the recognition module 200 further includes: a seventh left turn strategy unit, a fifth right turn strategy unit, and a fourth turn signal off strategy unit.

[0143] Among them, the seventh left turn strategy unit is used to, if the actual state is the automatic lane change not - activated state, and the actual operation is a short - pull left turn signal lever operation or a long - pull left turn signal lever operation, then the target control strategy is the automatic driving system controls to turn on the left turn signal strategy.

[0144] The fifth right turn strategy unit is used to, if the actual state is the automatic lane change not - activated state, and the actual operation is a short - pull right turn signal lever operation or a long - pull right turn signal lever operation, then the target control strategy is the automatic driving system controls to turn on the right turn signal strategy.

[0145] The fourth turn signal off strategy unit is used to, if the actual state is the automatic lane change not - activated state, and the actual operation is a return - to - normal turn signal lever operation, then the target control strategy is the automatic driving system does not turn on or turns off the turn signal strategy.

[0146] It should be noted that the foregoing explanation of the embodiment of the method for controlling the turn signal during automatic lane change also applies to the device for controlling the turn signal during automatic lane change in this embodiment, and will not be elaborated here.

[0147] The device for controlling the turn signal during automatic lane change according to the embodiment of the present application detects the actual type and actual state of the current automatic lane change working condition of the vehicle; recognizes the actual operation of the driver, and queries the relationship table of operations, types, and states according to the actual type, actual state, and actual operation to determine the target control strategy for the turn signal during automatic lane change of the vehicle; controls the automatic driving system not to turn on or turn off the turn signal, turn on the left turn signal of the turn signal, or turn on the right turn signal of the turn signal according to the target control strategy. In the process of automatic lane change in the present application, according to different operations of the user on the turn signal, combined with the actual movement direction and trend of the vehicle itself, a comprehensive decision is made to realize the control of the turn signal, clearly inform the surrounding vehicles of the movement behavior of the vehicle itself, and avoid the situation of not turning on or mis - turning on the turn signal during the lane - change process of the vehicle itself, thereby effectively improving the driving safety of the vehicle and enhancing the safety and reliability of the vehicle.

[0148] Figure 7 It is a schematic structural diagram of a vehicle provided by an embodiment of the present application. The vehicle may include:

[0149] A memory 701, a processor 702, and a computer program stored on the memory 701 and executable on the processor 702.

[0150] When the processor 702 executes the program, it implements the method for controlling the turn signal during automatic lane change provided in the above embodiments.

[0151] Furthermore, the vehicle further includes:

[0152] A communication interface 703 for communication between the memory 701 and the processor 702.

[0153] The memory 701 is used to store a computer program executable on the processor 702.

[0154] The memory 701 may include a high-speed RAM memory, and may also include non-volatile memory, such as at least one disk memory.

[0155] If the memory 701, the processor 702, and the communication interface 703 are implemented independently, the communication interface 703, the memory 701, and the processor 702 can be interconnected through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of representation, Figure 7 only a thick line is used to represent it in the figure, but it does not mean that there is only one bus or one type of bus.

[0156] Optionally, in a specific implementation, if the memory 701, the processor 702, and the communication interface 703 are integrated on a chip, the memory 701, the processor 702, and the communication interface 703 can communicate with each other through an internal interface.

[0157] The processor 702 may be a Central Processing Unit (CPU), or an Application Specific Integrated Circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0158] An embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, it implements the method for controlling the turn signal during automatic lane change as described above.

[0159] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or N embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0160] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present application, the meaning of "N" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0161] Any process or method description in the flowchart or described in other ways herein can be understood as representing a module, segment, or part of code including one or N executable instructions for implementing a customized logic function or process. And the scope of the preferred embodiments of the present application includes additional implementations, where the functions may be executed in a substantially simultaneous manner or in a reverse order according to the involved functions, rather than in the order shown or discussed, which should be understood by those skilled in the art of the embodiments of the present application.

[0162] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a definable sequence list of executable instructions for implementing logical functions, which can be specifically implemented in any computer-readable medium for use by an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other systems that can fetch and execute instructions from the instruction execution system, apparatus, or device), or used in conjunction with these instruction execution systems, apparatus, or devices. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection portion (electronic device) having one or N wirings, a portable computer diskette (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium can even be paper or other suitable media on which the program can be printed, because the program can be obtained electronically by optically scanning the paper or other media, followed by editing, interpretation, or otherwise processing as appropriate, and then stored in a computer memory.

[0163] It should be understood that various parts of the present application can be implemented using hardware, software, firmware, or combinations thereof. In the above-described embodiments, the N steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented using hardware, as in another embodiment, any one or a combination of the following techniques well known in the art can be used: discrete logic circuits having logic gate circuits for implementing logical functions on data signals, application-specific integrated circuits having appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0164] Those of ordinary skill in the art of this technology can understand that all or part of the steps carried by the method of implementing the above embodiments can be completed by instructing relevant hardware through a program, and the said program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiments.

[0165] In addition, each functional unit in various embodiments of the present application may be integrated into a processing module, may exist physically alone for each unit, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. When the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0166] The above-mentioned storage medium may be a read-only memory, a magnetic disk, an optical disc, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

Claims

1. A control method for the turn signal during automatic lane change, characterized in that, Including the following steps: Detect the actual type and actual state of the current automatic lane change condition of the vehicle; Identify the actual operation of the driver, and query the relationship table of operations, types, and states according to the actual type, the actual state, and the actual operation to determine the target control strategy of the vehicle for the turn signal during automatic lane change; And Control the autonomous driving system to not light or extinguish the turn signal, light the left turn signal of the turn signal, or light the right turn signal of the turn signal according to the target control strategy; The querying the relationship table of operations, types, and states according to the actual type, the actual state, and the actual operation to determine the target control strategy of the vehicle for the turn signal during automatic lane change includes: If the actual type is the left lane change activation type, and the actual state is the automatic lane change activation waiting state, and the actual operation is a short pull of the right turn signal lever operation or a long pull of the right turn signal lever operation, then the target control strategy is the driving system not lighting or extinguishing the turn signal strategy; If the actual type is the left lane change activation type, and the actual state is the automatic lane change activation control - before the action line state, and the actual operation is a short pull of the right turn signal lever operation or a long pull of the right turn signal lever operation, then the target control strategy is the autonomous driving system controlling to light the right turn signal strategy; If the actual type is the left lane change activation type, and the actual state is the automatic lane change activation control - after the action line state, and the actual operation is a short pull of the right turn signal lever operation or a long pull of the right turn signal lever operation, then the target control strategy is the autonomous driving system controlling to light the left turn signal strategy.

2. The method according to claim 1, characterized in that, The querying the relationship table of operations, types, and states according to the actual type, the actual state, and the actual operation to determine the target control strategy of the vehicle for the turn signal during automatic lane change further includes: If the actual type is the left lane change activation type, and the actual state is the automatic lane change activation waiting state, the automatic lane change activation control - before the action line state, or the automatic lane change activation control - after the action line state, and the actual operation is a short pull of the left turn signal lever operation, then the target control strategy is the autonomous driving system controlling to light the left turn signal strategy; If the actual type is the left lane change activation type, and the actual state is the automatic lane change activation waiting state, the automatic lane change activation control - before the action line state, or the automatic lane change activation control - after the action line state, and the actual operation is a long pull of the left turn signal lever operation, then the target control strategy is the autonomous driving system controlling to light the left turn signal strategy; If the actual type is the left lane change activation type, and the actual state is the automatic lane change activation waiting state, the automatic lane change activation control - before the action line state, or the automatic lane change activation control - after the action line state, and the actual operation is a return of the turn signal lever operation, then the target control strategy is the autonomous driving system controlling to light the left turn signal strategy.

3. The method according to claim 2, characterized in that, Querying the relationship table of operations, types, and states based on the actual type, the actual state, and the actual operation, and determining the target control strategy for the turn signal when the vehicle is automatically changing lanes, further includes: If the actual type is the right lane change activation type, and the actual state is the automatic lane change activation waiting state or the automatic lane change activation control - past the action line state, and the actual operation is the short pull of the left turn signal lever operation or the long pull of the left turn signal lever operation, then the target control strategy is the automatic driving system controls the strategy of turning on the right turn signal; If the actual type is the right lane change activation type, and the actual state is the automatic lane change activation control - not past the action line state, and the actual operation is the short pull of the left turn signal lever operation or the long pull of the left turn signal lever operation, then the target control strategy is the automatic driving system controls the strategy of turning on the left turn signal; If the actual type is the right lane change activation type, and the actual state is the automatic lane change activation waiting state, and the actual operation is the short pull of the right turn signal lever operation or the long pull of the right turn signal lever operation, then the target control strategy is the automatic driving system does not turn on or turns off the turn signal strategy; If the actual type is the right lane change activation type, and the actual state is the automatic lane change activation waiting state, the automatic lane change activation control - not past the action line state, or the automatic lane change activation control - past the action line state, and the actual operation is the short pull of the right turn signal lever operation, the long pull of the right turn signal lever operation, or the return of the turn signal lever operation, then the target control strategy is the automatic driving system controls the strategy of turning on the right turn signal; 4. The method according to claim 3, characterized in that, Querying the relationship table of operations, types, and states based on the actual type, the actual state, and the actual operation, and determining the target control strategy for the turn signal when the vehicle is automatically changing lanes, further includes: If the actual state is the automatic lane change not activated state, and the actual operation is the no operation state, then the target control strategy is the automatic driving system does not turn on or turns off the turn signal strategy; If the actual type is the left lane change activation type, and the actual state is the automatic lane change activation waiting state, the automatic lane change activation control - not past the action line state, or the automatic lane change activation control - past the action line state, and the actual operation is the no operation state, then the target control strategy is the automatic driving system controls the strategy of turning on the left turn signal; If the actual type is the right lane change activation type, and the actual state is the automatic lane change activation waiting state, the automatic lane change activation control - not past the action line state, or the automatic lane change activation control - past the action line state, and the actual operation is the no operation state, then the target control strategy is the automatic driving system controls the strategy of turning on the right turn signal; 5. The method according to claim 4, characterized in that, Querying the relationship table of operations, types, and states based on the actual type, the actual state, and the actual operation, and determining the target control strategy for the turn signal when the vehicle is automatically changing lanes, further includes: If the actual state is the automatic lane change deactivated state, and the actual operation is the short pull left turn signal lever operation or the long pull left turn signal lever operation, then the target control strategy is the automatic driving system controls the strategy of turning on the left turn signal; If the actual state is the automatic lane change deactivated state, and the actual operation is the short pull right turn signal lever operation or the long pull right turn signal lever operation, then the target control strategy is the automatic driving system controls the strategy of turning on the right turn signal; If the actual state is the automatic lane change deactivated state, and the actual operation is the return of the turn signal lever operation, then the target control strategy is the automatic driving system does not turn on or turns off the turn signal strategy.

6. A control device for the turn signal during automatic lane change, characterized in that, Including: A detection module, configured to detect the actual type and actual state of the current automatic lane change working condition of the vehicle; An identification module, configured to identify the actual operation of the driver, and query the relationship table of operations, types, and states according to the actual type, the actual state, and the actual operation, and determine the target control strategy of the turn signal when the vehicle is changing lanes automatically; And A control module, configured to control the automatic driving system not to turn on or turn off the turn signal, turn on the left turn signal of the turn signal, or turn on the right turn signal of the turn signal according to the target control strategy; The identification module includes: A first turn signal off strategy unit, configured to if the actual type is the left lane change activation type, and the actual state is the automatic lane change activation waiting state, and the actual operation is the short pull right turn signal lever operation or the long pull right turn signal lever operation, then the target control strategy is the driving system does not turn on or turns off the turn signal strategy; A first right turn signal strategy unit, configured to if the actual type is the left lane change activation type, and the actual state is the automatic lane change activation control - before the action line state, and the actual operation is the short pull right turn signal lever operation or the long pull right turn signal lever operation, then the target control strategy is the automatic driving system controls the strategy of turning on the right turn signal; A fourth left turn signal strategy unit, configured to if the actual type is the left lane change activation type, and the actual state is the automatic lane change activation control - after the action line state, and the actual operation is the short pull right turn signal lever operation or the long pull right turn signal lever operation, then the target control strategy is the automatic driving system controls the strategy of turning on the left turn signal.

7. The device according to claim 6, wherein, The identification module further includes: A first left turn signal strategy unit, configured to if the actual type is the left lane change activation type, and the actual state is the automatic lane change activation waiting state, the automatic lane change activation control - before the action line state, or the automatic lane change activation control - after the action line state, and the actual operation is the short pull left turn signal lever operation, then the target control strategy is the automatic driving system controls the strategy of turning on the left turn signal; A second left-turning strategy unit, configured to, if the actual type is the left-lane-changing activation type, and the actual state is the automatic lane-changing activation waiting state, the automatic lane-changing activation control - before the action line state, or the automatic lane-changing activation control - after the action line state, and the actual operation is a long pull of the left-turn signal lever operation, then the target control strategy is the automatic driving system controlling to turn on the left-turn signal strategy; A third left-turning strategy unit, configured to, if the actual type is the left-lane-changing activation type, and the actual state is the automatic lane-changing activation waiting state, the automatic lane-changing activation control - before the action line state, or the automatic lane-changing activation control - after the action line state, and the actual operation is a return of the turn signal lever operation, then the target control strategy is the automatic driving system controlling to turn on the left-turn signal strategy.

8. The device according to claim 7, wherein, The recognition module further includes: A second right-turning strategy unit, configured to, if the actual type is the right-lane-changing activation type, and the actual state is the automatic lane-changing activation waiting state or the automatic lane-changing activation control - after the action line state, and the actual operation is a short pull of the left-turn signal lever operation or a long pull of the left-turn signal lever operation, then the target control strategy is the automatic driving system controlling to turn on the right-turn signal strategy; A fifth left-turning strategy unit, configured to, if the actual type is the right-lane-changing activation type, and the actual state is the automatic lane-changing activation control - before the action line state, and the actual operation is a short pull of the left-turn signal lever operation or a long pull of the left-turn signal lever operation, then the target control strategy is the automatic driving system controlling to turn on the left-turn signal strategy; A second light-off strategy unit, configured to, if the actual type is the right-lane-changing activation type, and the actual state is the automatic lane-changing activation waiting state, and the actual operation is a short pull of the right-turn signal lever operation or a long pull of the right-turn signal lever operation, then the target control strategy is the automatic driving system not turning on or turning off the turn signal strategy; A third right-turning strategy unit, configured to, if the actual type is the right-lane-changing activation type, and the actual state is the automatic lane-changing activation waiting state, the automatic lane-changing activation control - before the action line state, or the automatic lane-changing activation control - after the action line state, and the actual operation is a short pull of the right-turn signal lever operation, a long pull of the right-turn signal lever operation, or a return of the turn signal lever operation, then the target control strategy is the automatic driving system controlling to turn on the right-turn signal strategy.

9. The device according to claim 8, wherein, The recognition module further includes: A third light-off strategy unit, configured to, if the actual state is the automatic lane-changing non-activation state, and the actual operation is the no-operation state, then the target control strategy is the automatic driving system not turning on or turning off the turn signal strategy; The sixth left-turning strategy unit is used to, if the actual type is the left-lane-changing activation type, and the actual state is the automatic lane-changing activation waiting state, the automatic lane-changing activation control - before passing the action line state, or the automatic lane-changing activation control - after passing the action line state, and the actual operation is the no-operation state, then the target control strategy is the strategy of the autonomous driving system controlling to turn on the left turn signal; The fourth right-turning strategy unit is used to, if the actual type is the right-lane-changing activation type, and the actual state is the automatic lane-changing activation waiting state, the automatic lane-changing activation control - before passing the action line state, or the automatic lane-changing activation control - after passing the action line state, and the actual operation is the no-operation state, then the target control strategy is the strategy of the autonomous driving system controlling to turn on the right turn signal.

10. The device according to claim 9, wherein, The recognition module further includes: The seventh left-turning strategy unit is used to, if the actual state is the automatic lane-changing deactivated state, and the actual operation is the short pull of the left turn signal lever operation or the long pull of the left turn signal lever operation, then the target control strategy is the strategy of the autonomous driving system controlling to turn on the left turn signal; The fifth right-turning strategy unit is used to, if the actual state is the automatic lane-changing deactivated state, and the actual operation is the short pull of the right turn signal lever operation or the long pull of the right turn signal lever operation, then the target control strategy is the strategy of the autonomous driving system controlling to turn on the right turn signal; The fourth light-off strategy unit is used to, if the actual state is the automatic lane-changing deactivated state, and the actual operation is the return of the turn signal lever operation, then the target control strategy is the strategy of the autonomous driving system not turning on or turning off the turn signal; 11. A vehicle, wherein, It includes: A memory, a processor, and a computer program stored on the memory and executable on the processor, and the processor executes the program to implement the method for controlling the turn signal during automatic lane-changing according to any one of claims 1-5.

12. A computer-readable storage medium having a computer program stored thereon, wherein, The program is executed by the processor to be used to implement the method for controlling the turn signal during automatic lane-changing according to any one of claims 1-5.

Images