A lane control method, device and electronic equipment

Abstract

This application relates to a lane control method, device, and electronic device. The method includes: acquiring lane information of the vehicle's current lane and the vehicle's turn signal status; determining whether there is a vehicle ahead in the current lane; if there is no vehicle ahead in the current lane, determining a target path based on the lane information and the vehicle's turn signal status, and controlling the vehicle to travel along the target path. Based on the above method, the problem of lateral deviation of the vehicle when changing from a few lanes to multiple lanes can be solved, preventing the vehicle from veering out of the lane, improving the safety of autonomous driving, and enhancing the user experience.

Description

Technical Field

[0001] This application relates to the field of intelligent driving technology, and in particular to a lane control method, device and electronic device. Background Technology

[0002] With the continuous development of intelligent driving technology, more and more vehicles on the market are equipped with Level 2 intelligent cruise assist systems. This system uses cameras, millimeter-wave radar, and other technologies to enable the vehicle to cruise and follow other vehicles within its lane.

[0003] However, in more complex urban road conditions, such as lane separation and lane merging, due to the complex misalignment of lane lines, a section of the lane line may be lost in the middle, such as... Figure 1 This can significantly interfere with vehicle path planning and control. When a vehicle is traveling in the leftmost lane, if the left lane line curves and the lane line curvature changes abruptly, some vehicles may suddenly veer to the left, posing a risk of hitting the curb. Summary of the Invention

[0004] The purpose of this application is to provide a lane control method, device, and electronic device to solve the problem of lateral vehicle deviation when changing from a few lanes to multiple lanes, prevent vehicles from veering out of the lane, and improve the user experience.

[0005] In a first aspect, this application provides a lane control method, the method comprising:

[0006] Obtain lane information of the current lane of the vehicle and the status of the vehicle's turn signals. The lane information includes the driving direction and N planned paths, where N is an integer greater than 1.

[0007] Determine if there are vehicles ahead in the lane where the vehicle is currently located;

[0008] If there are no vehicles ahead in the lane currently occupied by the vehicle, the target path is determined based on the lane information and the vehicle's turn signal status, and the vehicle is controlled to travel along the target path.

[0009] In one possible design, after determining whether there is a vehicle ahead in the lane currently occupied by the vehicle, the method further includes: if there is a vehicle ahead in the lane currently occupied by the vehicle, determining whether the travel path of the vehicle ahead is consistent with the target path; when the travel path of the vehicle ahead is consistent with the target path, determining whether the deviation between the travel path of the vehicle ahead and the target path is greater than a preset threshold; if so, correcting the target path; if not, controlling the vehicle to travel according to the travel path of the vehicle ahead.

[0010] In one possible design, determining the target path based on the lane information and the vehicle's turn signal status includes: if the driving direction of the lane the vehicle is currently in is left turn or straight, and the vehicle's turn signal is in a left turn state, then a first planned path is determined as the target path; or if the driving direction of the lane the vehicle is currently in is left turn or straight, and the vehicle's turn signal is in a closed state, then a second planned path is determined as the target path; or if the driving direction of the lane the vehicle is currently in is straight, and the vehicle's turn signal is in a closed state, then a third or fourth planned path is determined as the target path; or if the driving direction of the lane the vehicle is currently in is right turn or straight, and the vehicle's turn signal is in a closed state, then a fifth planned path is determined as the target path; or if the driving direction of the lane the vehicle is currently in is right turn or straight, and the vehicle's turn signal is in a right turn state, then a sixth planned path is determined as the target path.

[0011] In one possible design, after determining whether the preceding vehicle's travel path is consistent with the target path, the method further includes: if the preceding vehicle's travel path is inconsistent with the target path, then correcting the target path.

[0012] In one possible design, determining whether the driving path of the preceding vehicle is consistent with the target path includes: determining whether the driving direction and turn signal status of the preceding vehicle are consistent with the driving direction and turn signal status of the vehicle itself; if yes, the driving path of the preceding vehicle is consistent with the target path; if no, the driving path of the preceding vehicle is inconsistent with the target path.

[0013] The aforementioned method uses lane information, turn signal status, and information about vehicles ahead to control the vehicle to follow either the path of the vehicle in front or the guide path planned by the high-precision guide lines on the high-precision map. By comparing the deviation between the path of the vehicle in front and the guide path planned by the high-precision guide lines, the guide path is corrected when the deviation exceeds a preset threshold. This solves the problem of lateral deviation that can easily occur when the vehicle is in a section of road where there are fewer lanes than lanes, preventing the vehicle from veering out of its lane, improving the safety of autonomous driving, and enhancing the user experience.

[0014] Secondly, this application provides a lane control device, the device comprising:

[0015] The acquisition module acquires the lane information of the current lane of the vehicle and the status of the vehicle's turn signals. The lane information includes the driving direction and N planned paths, where N is an integer greater than 1.

[0016] The judgment module determines whether there is a vehicle ahead in the lane where the vehicle is currently located;

[0017] If the lane in which the vehicle is currently located does not contain the vehicle ahead, the determination module determines the target path based on the lane information and the vehicle's turn signal status, and controls the vehicle to travel along the target path.

[0018] In one possible design, the device is further configured to: if there is a vehicle ahead in the lane where the vehicle is currently located, determine whether the driving path of the vehicle ahead is consistent with the target path; when the driving path of the vehicle ahead is consistent with the target path, determine whether the deviation between the driving path of the vehicle ahead and the target path is greater than a preset threshold; if so, correct the target path; if not, control the vehicle to drive according to the driving path of the vehicle ahead.

[0019] In one possible design, the determining module is specifically used to: determine a first planned path as the target path if the driving direction of the lane currently occupied by the vehicle is left turn and straight, and the vehicle's turn signal is in a left turn state; or determine a second planned path as the target path if the driving direction of the lane currently occupied by the vehicle is left turn and straight, and the vehicle's turn signal is in a closed state; or determine a third or fourth planned path as the target path if the driving direction of the lane currently occupied by the vehicle is straight, and the vehicle's turn signal is in a closed state; or determine a fifth planned path as the target path if the driving direction of the lane currently occupied by the vehicle is right turn and straight, and the vehicle's turn signal is in a closed state; or determine a sixth planned path as the target path if the driving direction of the lane currently occupied by the vehicle is right turn and straight, and the vehicle's turn signal is in a right turn state.

[0020] In one possible design, the device is further configured to: correct the target path when the preceding vehicle's travel path is inconsistent with the target path.

[0021] In one possible design, the device is further configured to: determine whether the driving direction of the vehicle ahead and the turn signal status of the vehicle ahead are consistent with the driving direction of the vehicle itself and the turn signal status of the vehicle itself; if yes, the driving path of the vehicle ahead is consistent with the target path; if no, the driving path of the vehicle ahead is inconsistent with the target path.

[0022] Thirdly, this application provides an electronic device, the electronic device comprising:

[0023] Memory, used to store computer programs;

[0024] When the processor executes the computer program stored in the memory, it implements the steps of the lane control method described above.

[0025] Fourthly, this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the lane control method described above.

[0026] For the various aspects of the second to fourth aspects mentioned above, and the technical effects that each aspect may achieve, please refer to the above description of the technical effects that can be achieved for the first aspect or the various possible solutions in the first aspect, which will not be repeated here. Attached Figure Description

[0027] Figure 1 A schematic diagram illustrating one possible application scenario provided by this application;

[0028] Figure 2 A flowchart of a lane control method provided in this application;

[0029] Figure 3 A schematic diagram illustrating one possible application scenario provided by this application;

[0030] Figure 4 A schematic diagram illustrating one possible application scenario provided by this application;

[0031] Figure 5 A structural diagram of a lane control system provided in this application;

[0032] Figure 6 A schematic diagram of a lane control device provided in this application;

[0033] Figure 7 A schematic diagram of the structure of an electronic device provided in this application. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. The specific operating methods in the method embodiments can also be applied to the device embodiments or system embodiments.

[0035] In the description of this application, "multiple" is understood as "at least two". "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. A connected to B can represent: A and B directly connected, or A and B connected through C. Furthermore, in the description of this application, terms such as "first" and "second" are used only for descriptive purposes and should not be construed as indicating or implying relative importance or order.

[0036] Furthermore, the technical features included in the embodiments of this application can be used in any combination. Those skilled in the art should understand that, based on actual application situations, the technical solutions obtained by reasonably combining the technical features in the embodiments of this application can also solve the same technical problems or achieve the same technical effects.

[0037] The method provided in the embodiments of this application will be further described in detail below with reference to the accompanying drawings.

[0038] See Figure 2 As shown in the figure, this application provides a lane control method, the specific process of which is as follows:

[0039] Step 201: Obtain lane information of the current lane of the vehicle and the status of the vehicle's turn signals;

[0040] In this embodiment, lane information includes driving direction, such as the driving direction of a left-turn / straight lane being both left-turn and straight, the driving direction of a straight lane being both straight, and the driving direction of a right-turn / straight lane being both right-turn and straight. Lane information also includes N planned paths, where N is an integer greater than 1. These N planned paths are vehicle trajectories planned by high-precision guidance lines provided by a high-precision map, such as... Figure 3 Trajectories ①-⑥ in the text.

[0041] It should be noted that, Figure 3 The application scenario shown is just an example of a road segment that can be converted from a few lanes to multiple lanes; in reality, it can also be used for... Figure 4 The application scenarios shown are not specifically limited to the application scenarios of road sections where fewer lanes become more frequent in this application embodiment. Of course, the methods provided in this application embodiment are not limited to... Figure 3 The application scenarios shown can also be used in other possible application scenarios, and the embodiments of this application do not impose any limitations.

[0042] Specifically, when the vehicle enters a section of road where there are few lanes but many lanes, the ICC (Intelligent Cruise Control) function is activated. It uses a forward-facing camera to obtain lane information of the vehicle's current lane, the exterior lighting system to obtain the turn signal status, and high-precision maps to obtain high-precision lane line information, virtual lane line information for laneless sections, and vehicle trajectory information planned by high-precision guide lines. It also obtains the planned route information from the navigation system. If the driver has activated navigation and set a destination, the vehicle can drive according to the planned route; if the driver has not activated navigation and cannot clearly obtain a route, the driver's driving intention at the intersection is determined based on the turn signal status. Simultaneously, the front camera obtains information about the environment ahead of the vehicle, and based on this information, proceeds to step 202 below.

[0043] Step 202: Determine if there are vehicles ahead in the lane where the vehicle is currently located;

[0044] In this embodiment of the application, the vehicle determines whether there is a vehicle in front of it in its current lane by using the environmental conditions in front of the vehicle obtained by the front camera.

[0045] In one possible implementation, if there is a vehicle ahead in the lane where the vehicle is currently located, it is determined whether the travel path of the vehicle ahead is consistent with the target path determined based on the current lane information and the vehicle's turn signal status.

[0046] Specifically, it determines whether the direction of travel and turn signal status of the vehicle ahead are consistent with those of its own vehicle. For example, if the vehicle is currently in a left-turn / straight-ahead lane, and its direction of travel is left-turn / straight, and its turn signal is left-turn, then it determines whether the vehicle ahead is also traveling in a left-turn / straight-ahead direction, and whether its turn signal is also left-turn.

[0047] If the vehicle in front is traveling in the same direction as your vehicle, and the turn signal status of the vehicle in front is the same as your vehicle's turn signal status, for example, if your vehicle is currently in a left-turn and straight-ahead lane, and your vehicle's turn signal is on, and the vehicle in front is also traveling in a left-turn and straight-ahead lane, and its turn signal is also on, then the vehicle in front's travel path is the same as your vehicle's target path.

[0048] If the vehicle in front is traveling in the same direction as your vehicle, but the turn signal status of the vehicle in front is different from that of your vehicle, for example, if your vehicle is currently in a left-turn and straight-ahead lane, and your turn signal is on, and the vehicle in front is also traveling in a left-turn and straight-ahead lane, but its turn signal is off, then the path of the vehicle in front is different from your vehicle's target path.

[0049] Alternatively, if the turn signal status of the vehicle in front is the same as that of your own vehicle, but the direction of travel of the vehicle in front is different from that of your own vehicle, for example, if your own vehicle is currently in a left-turn and straight-ahead lane, and the direction of travel is left-turn and straight-ahead, and your own turn signal is off, and the turn signal of the vehicle in front is also off, but the direction of travel of the vehicle in front is straight-ahead, then the travel path of the vehicle in front is different from the target path of your own vehicle.

[0050] When the path of the vehicle in front matches the target path of the vehicle itself, it is determined whether the deviation between the path of the vehicle in front and the target path exceeds a preset threshold. Specifically, the path of the vehicle in front is obtained through the visual perception module of the front camera and compared with the target path corresponding to the lane information of the vehicle itself planned by the high-precision guide line and the status of the vehicle's turn signal.

[0051] If the deviation between the preceding vehicle's path and the target path exceeds a preset threshold, such as a deviation of x, the target path is corrected by combining environmental information such as lane lines and / or curbs to ensure that the vehicle passes through the road section smoothly and avoids being pulled off course by the preceding vehicle.

[0052] If the deviation between the path of the preceding vehicle and the target path is less than a preset threshold, for example, if the deviation between the path of the preceding vehicle and the target path is less than x, then the vehicle can be controlled to follow the path of the preceding vehicle.

[0053] In one possible implementation, if there are no vehicles ahead in the lane where the vehicle is currently located, then the following step 203 is performed.

[0054] Step 203: If there are no vehicles ahead in the lane where the vehicle is currently located, determine the target path based on the lane information and the vehicle's turn signal status, and control the vehicle to drive along the target path.

[0055] In this embodiment of the application, when there are no vehicles ahead in the lane where the vehicle is located, the target path is determined based on the lane information of the lane where the vehicle is located and the status of the vehicle's turn signal, and the vehicle is controlled to drive along the target path.

[0056] Specifically, there are five scenarios in which the target path is determined based on the lane information of the vehicle's current lane and the status of the vehicle's turn signal.

[0057] Scenario 1: If the current lane in which the vehicle is located is for left turns and straight travel, for example, if the vehicle is in lane 1... Figure 3 Lane 1: Left-turn and straight-ahead lane. The driving directions in this lane are left turn and straight ahead. And if the vehicle's current turn signal is set to left turn, then the first planned path is determined as the target path. Figure 3 The first guide path in the map is the vehicle control path planned by the high-precision guide line provided by the high-precision map.

[0058] Scenario 2: If the vehicle is currently in a lane where the direction of travel is either left turn or straight ahead, such as... Figure 3 If the vehicle is in lane number one and its turn signal is currently off, then the second planned path is determined as the target path. Figure 3 Guide path number ② in the map is the vehicle control path planned by the high-precision guide line provided by the high-precision map.

[0059] Scenario 3: If the direction of travel in the lane the vehicle is currently in is straight, for example, if the lane the vehicle is in is... Figure 3 Lane 2: A straight-ahead lane; the direction of travel in this lane is straight. And if the vehicle's turn signal is currently off, then either the third or fourth planned path will be selected as the target path. Figure 3 Guide path ③ or guide path ④ in the map are vehicle control paths planned using high-precision guide lines provided by the high-precision map.

[0060] Scenario 4: If the current lane in which the vehicle is located is for right turns or straight travel, for example, if the vehicle is located in lane 4... Figure 3 Lane 3: Right-turn and straight-ahead lane. The direction of travel in this lane is both right turn and straight-ahead. And if the vehicle's turn signal is currently off, then the fifth planned path is determined as the target path. Figure 3 Guide path number ⑤ in the map is the vehicle control path planned by the high-precision guide line provided by the high-precision map.

[0061] Scenario 5: If the vehicle is currently in a lane where the direction of travel is either right turn or straight ahead, such as... Figure 3 If the vehicle is in lane three and its current turn signal is set to turn right, then the sixth planned path is determined as the target path. This path is the vehicle control path planned by the high-precision guide line provided by the high-precision map.

[0062] In summary, this lane control method uses lane information of the vehicle's current lane, turn signal status, and information about vehicles ahead to control the vehicle to follow either the path of the vehicle in front or the guide path planned by high-precision guide lines on a high-precision map. Furthermore, by comparing the deviation between the path of the vehicle in front and the guide path planned by the high-precision guide lines, the guide path is corrected when the deviation exceeds a preset threshold. This addresses the problem of lateral drift that can easily occur when the vehicle is on a road section where there are fewer lanes than lanes, preventing the vehicle from veering out of its lane, improving the safety of autonomous driving, and enhancing the user experience.

[0063] Based on the above method, this application also provides a possible lane control system based on converting a few lanes to multiple lanes. The structure of this lane control system is as follows: Figure 5 As shown, the lane control system includes the following components: navigation system, front camera, high-precision map, exterior lighting system, main controller, and steering system.

[0064] In this lane control system, the navigation system provides navigation or cruise control functions, offering global route planning information. The forward-facing camera provides environmental information such as lane lines and road signs, and if a vehicle is ahead, it provides its trajectory and turn signal information. High-precision maps provide high-precision lane line information, virtual lane line information for laneless sections, and high-precision guide lines. (See reference...) Figure 3As shown. The exterior lighting system provides the vehicle's turn signal status, including left turn, off, and right turn. The main controller receives information from the navigation system, forward-facing camera, high-precision map, and other systems, and determines the lateral control strategy based on this information. The steering system, based on the lateral control strategy and execution request information provided by the main controller, adjusts the lateral control mode, lateral angle, and torque.

[0065] The above system can solve the problem of lateral drift when the vehicle is in a section of road where there are fewer lanes than other vehicles, thus preventing the vehicle from veering out of its lane, improving the safety of autonomous driving, and enhancing the user experience.

[0066] Based on the same inventive concept, this application also provides a lane control device to prevent the vehicle from veering out of its lane when it is on a road section where there are fewer lanes than lanes, thereby improving the safety of autonomous driving. See [link to relevant documentation]. Figure 6 The device includes:

[0067] The acquisition module 601 acquires the lane information of the current lane of the vehicle and the turn signal status of the vehicle. The lane information includes the driving direction and N planned paths, where N is an integer greater than 1.

[0068] Module 602 determines whether there is a vehicle ahead in the lane currently occupied by the vehicle;

[0069] If the lane in which the vehicle is currently located does not contain the vehicle ahead, the determination module 603 determines the target path based on the lane information and the vehicle's turn signal status, and controls the vehicle to travel along the target path.

[0070] In one possible design, the device is further configured to: if there is a vehicle ahead in the lane where the vehicle is currently located, determine whether the driving path of the vehicle ahead is consistent with the target path; when the driving path of the vehicle ahead is consistent with the target path, determine whether the deviation between the driving path of the vehicle ahead and the target path is greater than a preset threshold; if so, correct the target path; if not, control the vehicle to drive according to the driving path of the vehicle ahead.

[0071] In one possible design, the determining module 603 is specifically used to: determine a first planned path as the target path if the driving direction of the lane currently occupied by the vehicle is left turn and straight, and the vehicle's turn signal is in a left turn state; or determine a second planned path as the target path if the driving direction of the lane currently occupied by the vehicle is left turn and straight, and the vehicle's turn signal is in a closed state; or determine a third or fourth planned path as the target path if the driving direction of the lane currently occupied by the vehicle is straight, and the vehicle's turn signal is in a closed state; or determine a fifth planned path as the target path if the driving direction of the lane currently occupied by the vehicle is right turn and straight, and the vehicle's turn signal is in a closed state; or determine a sixth planned path as the target path if the driving direction of the lane currently occupied by the vehicle is right turn and straight, and the vehicle's turn signal is in a right turn state.

[0072] In one possible design, the device is further configured to: correct the target path when the preceding vehicle's travel path is inconsistent with the target path.

[0073] In one possible design, the device is further configured to: determine whether the driving direction of the vehicle ahead and the turn signal status of the vehicle ahead are consistent with the driving direction of the vehicle itself and the turn signal status of the vehicle itself; if yes, the driving path of the vehicle ahead is consistent with the target path; if no, the driving path of the vehicle ahead is inconsistent with the target path.

[0074] Based on the above system, by acquiring lane information of the current lane of the autonomous vehicle, the status of the vehicle's turn signals, and information about vehicles ahead, the system controls the autonomous vehicle to either follow the driving path of the vehicle in front or follow the guidance path planned by the high-precision guide lines on the high-precision map. Furthermore, by comparing the deviation between the driving path of the vehicle in front and the guidance path planned by the high-precision guide lines, the guidance path is corrected when the deviation exceeds a preset threshold. This solves the problem of the vehicle easily veering laterally when it is in a section of road where there are fewer lanes than vehicles, preventing the vehicle from veering out of its lane, improving the safety of autonomous driving, and enhancing the user experience.

[0075] Based on the same inventive concept, this application also provides an electronic device that can realize the function of the aforementioned lane control device. (Refer to...) Figure 7 The electronic device includes:

[0076] At least one processor 701 and a memory 702 connected to at least one processor 701. In this embodiment, the specific connection medium between the processor 701 and the memory 702 is not limited. Figure 7 The example shown is the connection between processor 701 and memory 702 via bus 700. Bus 700 is... Figure 7 The connections between other components are indicated by thick lines and are for illustrative purposes only, not as limiting information. The 700 bus can be divided into address bus, data bus, control bus, etc., for ease of representation. Figure 7 The term is represented by a single thick line, but this does not imply that there is only one bus or one type of bus. Alternatively, the processor 701 can also be called a controller; there is no restriction on the name.

[0077] In this embodiment, memory 702 stores instructions executable by at least one processor 701. By executing the instructions stored in memory 702, at least one processor 701 can perform the lane control method described above. Processor 701 can implement... Figure 7 The functions of each module in the device shown.

[0078] The processor 701 is the control center of the device. It can connect to various parts of the control device through various interfaces and lines. By running or executing instructions stored in memory 702 and calling data stored in memory 702, the processor can perform various functions and process data, thereby monitoring the device as a whole.

[0079] In one possible design, processor 701 may include one or more processing units. Processor 701 may integrate an application processor and a modem processor, wherein the application processor mainly handles the operating system, user interface, and applications, and the modem processor mainly handles wireless communication. It is understood that the modem processor may also not be integrated into processor 701. In some embodiments, processor 701 and memory 702 may be implemented on the same chip; in some embodiments, they may also be implemented on separate chips.

[0080] The processor 701 can be a general-purpose processor, such as a central processing unit (CPU), digital signal processor, application-specific integrated circuit, field-programmable gate array or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component, capable of implementing or executing the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the lane control method disclosed in the embodiments of this application can be directly manifested as being executed by a hardware processor, or executed by a combination of hardware and software modules within the processor.

[0081] Memory 702, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. Memory 702 may include at least one type of storage medium, such as flash memory, hard disk, multimedia card, card-type memory, random access memory (RAM), static random access memory (SRAM), programmable read-only memory (PROM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), magnetic storage, magnetic disk, optical disk, etc. Memory 702 can be any other medium capable of carrying or storing desired program code in the form of instructions or data structures that can be accessed by a computer, but is not limited thereto. Memory 702 in the embodiments of this application may also be a circuit or any other device capable of implementing storage functions for storing program instructions and / or data.

[0082] By designing and programming the processor 701, the code corresponding to the lane control method described in the foregoing embodiments can be embedded into the chip, enabling the chip to execute the code during runtime. Figure 2 The steps of the lane control method in the illustrated embodiment are described below. How to design and program the processor 701 is a technique well-known to those skilled in the art and will not be elaborated upon here.

[0083] Based on the same inventive concept, embodiments of this application also provide a storage medium storing computer instructions that, when executed on a computer, cause the computer to perform the lane control method described above.

[0084] In some possible implementations, various aspects of the lane control method provided in this application may also be implemented in the form of a program product, which includes program code that, when the program product is run on a device, causes the control device to perform the steps in the lane control method according to the various exemplary embodiments of this application described above.

[0085] Those skilled in the art will understand that embodiments of this application can be provided as methods, apparatus, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0086] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0087] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0088] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0089] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A lane control method characterized by, The method is applied to a few-lane-to-many-lane control system, and the method comprises: acquiring lane information of a lane currently occupied by a vehicle and a turn signal state of the vehicle, wherein the lane information comprises a driving direction and N planned paths, and N is an integer greater than 1; judging whether a front vehicle exists in the lane currently occupied by the vehicle; if the front vehicle does not exist in the lane currently occupied by the vehicle, determining a target path according to the lane information and the turn signal state of the vehicle, and controlling the vehicle to travel along the target path; if the front vehicle exists in the lane currently occupied by the vehicle, judging whether a front-vehicle travel path is consistent with the target path; when the front-vehicle travel path is consistent with the target path, judging whether a deviation between the front-vehicle travel path and the target path is greater than a preset threshold; if yes, modifying the target path; if no, controlling the vehicle to travel along the front-vehicle travel path; when the front-vehicle travel path is not consistent with the target path, modifying the target path.

2. The method of claim 1, wherein, The determination of the target path according to the lane information and the turn signal state of the vehicle comprises: if the driving direction of the lane currently occupied by the vehicle is left turn and straight travel, and the turn signal state of the vehicle is left turn, determining a first planned path as the target path; or if the driving direction of the lane currently occupied by the vehicle is left turn and straight travel, and the turn signal state of the vehicle is off, determining a second planned path as the target path; or if the driving direction of the lane currently occupied by the vehicle is straight travel, and the turn signal state of the vehicle is off, determining a third planned path or a fourth planned path as the target path; or if the driving direction of the lane currently occupied by the vehicle is right turn and straight travel, and the turn signal state of the vehicle is off, determining a fifth planned path as the target path; or if the driving direction of the lane currently occupied by the vehicle is right turn and straight travel, and the turn signal state of the vehicle is right turn, determining a sixth planned path as the target path.

3. The method of claim 1, wherein, The judgment of whether the front-vehicle travel path is consistent with the target path comprises: judging whether a driving direction of the front vehicle and a turn signal state of the front vehicle are consistent with a driving direction of the vehicle and a turn signal state of the vehicle; if yes, the front-vehicle travel path is consistent with the target path; if no, the front-vehicle travel path is not consistent with the target path.

4. An apparatus for lane control, characterized by The device comprises: an acquisition module, which acquires lane information of a lane currently occupied by a vehicle and a turn signal state of the vehicle, wherein the lane information comprises a driving direction and N planned paths, and N is an integer greater than 1; a judgment module, which judges whether a front vehicle exists in the lane currently occupied by the vehicle; a determination module, which, if the front vehicle does not exist in the lane currently occupied by the vehicle, determines a target path according to the lane information and the turn signal state of the vehicle, and controls the vehicle to travel along the target path; if the front vehicle exists in the lane currently occupied by the vehicle, judges whether a front-vehicle travel path is consistent with the target path; determining whether the deviation between the front vehicle driving path and the target path is greater than a preset threshold when the front vehicle driving path is consistent with the target path; if yes, correcting the target path; if no, controlling the ego vehicle to drive according to the front vehicle driving path; correcting the target path when the front vehicle driving path is inconsistent with the target path.

5. The apparatus of claim 4, wherein, The determining module is specifically configured to: if the driving direction of the lane in which the ego vehicle is currently located is left turn and straight driving, and the turn signal of the ego vehicle is in a left turn state, determining a first planning path as the target path; or if the driving direction of the lane in which the ego vehicle is currently located is left turn and straight driving, and the turn signal of the ego vehicle is in an off state, determining a second planning path as the target path; or if the driving direction of the lane in which the ego vehicle is currently located is straight driving, and the turn signal of the ego vehicle is in an off state, determining a third planning path or a fourth planning path as the target path; or if the driving direction of the lane in which the ego vehicle is currently located is right turn and straight driving, and the turn signal of the ego vehicle is in an off state, determining a fifth planning path as the target path; or if the driving direction of the lane in which the ego vehicle is currently located is right turn and straight driving, and the turn signal of the ego vehicle is in a right turn state, determining a sixth planning path as the target path.

6. An electronic device, comprising: comprising: a memory for storing a computer program; a processor for executing the computer program stored on the memory to implement the method steps of any one of claims 1-3.

7. A computer readable storage medium characterized by The computer program is stored in the computer readable storage medium, and the computer program is executed by the processor to implement the method steps of any one of claims 1-3.

Images