Vehicle lane changing methods, devices, electronic equipment and storage media

Abstract

This application provides a vehicle lane merging method, apparatus, electronic device, and storage medium. The vehicle lane merging method includes: determining the position information and speed information of effective vehicles based on surrounding environment perception information, and determining the position information of vehicles ahead in the current lane based on surrounding environment perception information. Effective vehicles are vehicles in the target lane, including vehicles located within a preset detection range and vehicles located on the boundary of the preset range; determining the area between two effective vehicles as a candidate lane-changing interval; determining the optimal lane-changing interval from a set of first candidate lane-changing intervals; and controlling the vehicle to merge from the current lane to the optimal lane-changing interval based on the information of the optimal lane-changing interval. This application can complete vehicle lane merging under high-speed congestion conditions and reduce the probability of missing lane-changing opportunities. Simultaneously, this application can also select the optimal lane-merging position, thereby improving lane-merging safety.

Description

Technical Field

[0001] This application relates to the field of intelligent driving, and more specifically, to a vehicle lane-changing method, apparatus, electronic device, and storage medium. Background Technology

[0002] Currently, existing highway lane-changing schemes can determine whether to merge by judging whether the target lane meets safety conditions. However, this method has the following drawbacks: First, it often misses the opportunity to change lanes in congested conditions; second, it cannot select the optimal lane-changing location, increasing the safety risks of lane changes. Summary of the Invention

[0003] The purpose of this application is to provide a vehicle lane-changing method, apparatus, electronic device, and storage medium for completing vehicle lane changes under high-speed and congested conditions and reducing the probability of missing lane-changing opportunities. Furthermore, this application also enables the selection of the optimal lane-changing location, thereby improving lane-changing safety.

[0004] In a first aspect, the present invention provides a vehicle lane merging method, the method comprising:

[0005] The effective vehicle's position information and speed information are determined based on the surrounding environment perception information, and the position information of the vehicle ahead in the current lane is determined based on the surrounding environment perception information. The effective vehicle is a vehicle in the target lane, and the effective vehicle includes vehicles located within a preset detection range and vehicles located on the boundary of the preset range.

[0006] The area between two vehicles among the valid vehicles is determined as a candidate lane change interval, wherein multiple candidate lane change intervals form a first candidate lane change interval set;

[0007] Based on the position information of the effective vehicles, the speed information of the effective vehicles, and the position information of the vehicles ahead in the current lane, the optimal lane change interval is determined from the first candidate lane change interval set.

[0008] Based on the information of the optimal lane change interval, the vehicle is controlled to merge from the current lane into the optimal lane change interval.

[0009] In a first aspect, this application is capable of determining the position information and speed information of effective vehicles based on surrounding environment perception information, and is capable of determining the position information of vehicles ahead in the current lane based on the surrounding environment perception information. The effective vehicles are vehicles in the target lane, including vehicles located within a preset detection range and vehicles located on the boundary of the preset range. Furthermore, the area between two of the effective vehicles is determined as a candidate lane-changing interval. Multiple candidate lane-changing intervals form a first candidate lane-changing interval set. Then, based on the position information, speed information, and position information of the effective vehicles and vehicles ahead in the current lane, the optimal lane-changing interval is determined from the first candidate lane-changing interval set. Finally, based on the information of the optimal lane-changing interval, the vehicle is controlled to merge from the current lane into the optimal lane-changing interval.

[0010] Compared to existing technologies, this application can determine multiple candidate lane-changing intervals within a preset range based on surrounding environmental perception information. This provides vehicles with more lane-changing options, reducing the probability of missing lane-changing opportunities and improving the success rate of lane-changing in congested conditions. Existing technologies require manual judgment of lane-changing intervals, which is limited by factors such as line-of-sight and cannot determine multiple candidate lane-changing intervals in advance, thus easily leading to missed lane-changing opportunities. Furthermore, this application can complete lane-changing based on the optimal lane-changing interval, thereby improving lane-changing safety.

[0011] In an optional implementation, the preset detection range is a range consisting of 100m before and after the vehicle as a reference point.

[0012] This optional implementation can use the vehicle as a reference point and take the range of 100m before and after the reference point as a preset detection range, thereby determining the variable interval within the range of 100m before and after the vehicle.

[0013] In an optional implementation, determining the optimal lane-change interval from the first candidate lane-change interval set based on the position information of the effective vehicles, the speed information of the effective vehicles, and the position information of the vehicles ahead in the current lane includes:

[0014] Based on the location information of the valid vehicles, calculate the longitudinal spacing between the vehicles;

[0015] Based on the speed information of the valid vehicles, calculate the longitudinal relative speed of the vehicles;

[0016] Calculate the longitudinal distance from the midpoint of the candidate lane change interval to the vehicle.

[0017] Based on the longitudinal spacing between vehicles, the longitudinal relative speed of vehicles, the longitudinal distance between the midpoint of the candidate lane change interval and the vehicle, and the position information of the vehicle ahead in the current lane, the optimal lane change interval is determined from the first set of candidate lane change intervals.

[0018] This optional implementation can calculate the longitudinal spacing between vehicles based on the position information of the effective vehicles, and then calculate the longitudinal relative speed of the vehicles based on the speed information of the effective vehicles. It can then calculate the longitudinal distance from the midpoint of the candidate lane change interval to the vehicle itself, and then determine the optimal lane change interval from the first set of candidate lane change intervals based on the longitudinal spacing between vehicles, the longitudinal relative speed of vehicles, the longitudinal distance from the midpoint of the candidate lane change interval to the vehicle itself, and the position information of the vehicles ahead in the current lane.

[0019] In an optional implementation, determining the optimal lane change interval from the first set of candidate lane change intervals based on the vehicle longitudinal spacing, the vehicle longitudinal relative speed, the longitudinal distance from the midpoint of the candidate lane change interval to the vehicle, and the position information of the vehicle ahead in the current lane includes:

[0020] The interval cost of the candidate lane change interval is calculated based on the longitudinal spacing between the vehicles, the longitudinal relative speed of the vehicles, and the longitudinal distance from the midpoint of the candidate lane change interval to the vehicle.

[0021] Based on the interval cost of the candidate lane change intervals, sort the multiple candidate lane change intervals in the first candidate lane change interval set to obtain the optimal interval sequence;

[0022] The optimal lane-changing interval is determined based on the optimal interval sequence and the position information of the vehicle ahead in the current lane.

[0023] This optional implementation can calculate the interval cost of the candidate lane change interval based on the longitudinal spacing between vehicles, the longitudinal relative speed of the vehicles, and the longitudinal distance from the midpoint of the candidate lane change interval to the vehicle. Then, it can sort multiple candidate lane change intervals in the first candidate lane change interval set based on the interval cost of the candidate lane change intervals to obtain an optimal interval sequence. Finally, it can determine the optimal lane change interval based on the optimal interval sequence and the position information of the vehicle ahead in the current lane.

[0024] In an optional implementation, determining the optimal lane-changing interval based on the optimal interval sequence and the position information of the vehicle ahead in the current lane includes:

[0025] The first element of the optimal interval sequence is taken as the optimal lane change interval;

[0026] Determine whether the longitudinal spacing of the optimal lane change interval meets the preset conditions;

[0027] When the longitudinal spacing of the optimal lane change interval meets the preset condition, it is determined whether the optimal lane change interval overlaps with the position of the vehicle in front in the current lane based on the position information of the vehicle in front in the current lane. If so, the optimal lane change interval is excluded, and the next element of the first element is taken as the optimal lane change interval, until the optimal lane change interval that meets the preset condition and does not overlap with the position of the vehicle in front in the current lane is found.

[0028] This optional implementation can use the first element of the optimal interval sequence as the optimal lane change interval and can determine whether the longitudinal spacing of the optimal lane change interval meets a preset condition. Then, when the longitudinal spacing of the optimal lane change interval meets the preset condition, it can determine whether the optimal lane change interval overlaps with the position of the vehicle in front in the current lane based on the position information of the vehicle in front in the current lane. If so, the optimal lane change interval is excluded, and the next element after the first element is used as the optimal lane change interval, until the optimal lane change interval that meets the preset condition and does not overlap with the position of the vehicle in front in the current lane is found.

[0029] In an optional implementation, the preset condition is L>15-μ*V, where L represents the longitudinal spacing of the optimal lane change interval, V represents the longitudinal relative speed of the optimal lane change interval, and μ represents the time coefficient.

[0030] This optional implementation can determine whether the longitudinal spacing of the optimal lane change interval meets the preset conditions by using the longitudinal relative speed of the optimal lane change interval and the longitudinal spacing of the optimal lane change interval.

[0031] In an optional implementation, controlling the vehicle to merge from the current lane to the optimal lane-changing interval based on the information of the optimal lane-changing interval includes:

[0032] The longitudinal position of the midpoint of the optimal lane change interval is taken as the target longitudinal position, and the average speed of the two vehicles constituting the optimal lane change interval is taken as the target longitudinal speed.

[0033] The vehicle is controlled to reach the target longitudinal position based on the target longitudinal speed;

[0034] The midpoint of the optimal lane change interval is taken as the target lateral position, and zero is taken as the target lateral velocity.

[0035] The vehicle is controlled to change lanes to the optimal lane change zone based on the target lateral speed and the target lateral position.

[0036] This optional implementation can use the longitudinal position of the midpoint of the optimal lane change interval as the target longitudinal position and the average speed of the two vehicles constituting the optimal lane change interval as the target longitudinal speed. Then, it can control the vehicle to reach the target longitudinal position based on the target longitudinal speed. Furthermore, it can use the lateral position of the midpoint of the optimal lane change interval as the target lateral position and zero as the target lateral speed. Thus, it can control the vehicle to change to the optimal lane change interval based on the target lateral speed and the target lateral position.

[0037] In a second aspect, the present invention provides a vehicle lane-changing device, the device comprising:

[0038] The information extraction module is used to determine the position information and speed information of the effective vehicles based on the surrounding environment perception information, and to determine the position information of the vehicles ahead in the current lane based on the surrounding environment perception information. The effective vehicles are vehicles in the target lane, and the effective vehicles include vehicles located within a preset detection range and vehicles located on the boundary of the preset range.

[0039] The determination module is used to determine the area between two vehicles among the valid vehicles as a candidate lane change interval, wherein multiple candidate lane change intervals form a first candidate lane change interval set;

[0040] The interval decision module is used to determine the optimal lane change interval from the first candidate lane change interval set based on the position information of the effective vehicle, the speed information of the effective vehicle, and the position information of the vehicle ahead in the current lane.

[0041] The lane change control module is used to control the vehicle to merge from the current lane to the optimal lane change interval based on the information of the optimal lane change interval.

[0042] The apparatus of the second aspect of this application, by executing a vehicle lane-changing method, is able to determine the position information and speed information of an effective vehicle based on surrounding environment perception information, and is able to determine the position information of a vehicle ahead in the current lane based on the surrounding environment perception information. The effective vehicle is a vehicle in a target lane, including vehicles located within a preset detection range and vehicles located on the boundary of the preset range. The apparatus is able to determine the area between two of the effective vehicles as a candidate lane-changing interval, wherein multiple candidate lane-changing intervals form a first candidate lane-changing interval set. Based on the position information, speed information, and position information of the effective vehicle, the apparatus is able to determine the optimal lane-changing interval from the first candidate lane-changing interval set. Based on the information of the optimal lane-changing interval, the apparatus is able to control the vehicle to merge from the current lane into the optimal lane-changing interval.

[0043] Compared to existing technologies, this application can determine multiple candidate lane-changing intervals within a preset range based on surrounding environmental perception information. This provides vehicles with more lane-changing options, reducing the probability of missing lane-changing opportunities and improving the success rate of lane-changing in congested conditions. Existing technologies require manual judgment of lane-changing intervals, which is limited by factors such as line-of-sight and cannot determine multiple candidate lane-changing intervals in advance, thus easily leading to missed lane-changing opportunities. Furthermore, this application can complete lane-changing based on the optimal lane-changing interval, thereby improving lane-changing safety.

[0044] Thirdly, the present invention provides an electronic device, comprising:

[0045] Processor; and

[0046] The memory is configured to store machine-readable instructions that, when executed by the processor, perform the vehicle lane-changing method as described in any of the foregoing embodiments.

[0047] The electronic device of the third aspect of this application, by executing a vehicle lane-changing method, is able to determine the position information and speed information of an effective vehicle based on surrounding environment perception information, and is able to determine the position information of a vehicle ahead in the current lane based on the surrounding environment perception information. The effective vehicle is a vehicle in the target lane, including vehicles located within a preset detection range and vehicles located on the boundary of the preset range. The device is able to determine the area between two of the effective vehicles as a candidate lane-changing interval, wherein multiple candidate lane-changing intervals form a first candidate lane-changing interval set. Based on the position information, speed information, and position information of the effective vehicle, the device is able to determine the optimal lane-changing interval from the first candidate lane-changing interval set. Based on the information of the optimal lane-changing interval, the device can control the vehicle to merge from the current lane to the optimal lane-changing interval.

[0048] Compared to existing technologies, this application can determine multiple candidate lane-changing intervals within a preset range based on surrounding environmental perception information. This provides vehicles with more lane-changing options, reducing the probability of missing lane-changing opportunities and improving the success rate of lane-changing in congested conditions. Existing technologies require manual judgment of lane-changing intervals, which is limited by factors such as line-of-sight and cannot determine multiple candidate lane-changing intervals in advance, thus easily leading to missed lane-changing opportunities. Furthermore, this application can complete lane-changing based on the optimal lane-changing interval, thereby improving lane-changing safety.

[0049] Fourthly, the present invention provides a storage medium storing a computer program, the computer program being executed by a processor as described in any of the foregoing embodiments of the vehicle lane merging method.

[0050] The storage medium of the fourth aspect of this application, by executing a vehicle lane-changing method, is able to determine the position information and speed information of an effective vehicle based on surrounding environment perception information, and is able to determine the position information of a vehicle ahead in the current lane based on the surrounding environment perception information. The effective vehicle is a vehicle in the target lane, including vehicles located within a preset detection range and vehicles located on the boundary of the preset range. The region between two of the effective vehicles is then defined as a candidate lane-changing interval. Multiple candidate lane-changing intervals form a first candidate lane-changing interval set. Based on the position information, speed information, and position information of the effective vehicle, the optimal lane-changing interval is determined from the first candidate lane-changing interval set. Based on the information of the optimal lane-changing interval, the vehicle is controlled to merge from the current lane into the optimal lane-changing interval.

[0051] Compared to existing technologies, this application can determine multiple candidate lane-changing intervals within a preset range based on surrounding environmental perception information. This provides vehicles with more lane-changing options, reducing the probability of missing lane-changing opportunities and improving the success rate of lane-changing in congested conditions. Existing technologies require manual judgment of lane-changing intervals, which is limited by factors such as line-of-sight and cannot determine multiple candidate lane-changing intervals in advance, thus easily leading to missed lane-changing opportunities. Furthermore, this application can complete lane-changing based on the optimal lane-changing interval, thereby improving lane-changing safety. Attached Figure Description

[0052] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0053] Figure 1 This is a schematic flowchart of a vehicle lane merging method disclosed in an embodiment of this application;

[0054] Figure 2 This is a schematic diagram of a scenario where a vehicle merges into another lane, as disclosed in an embodiment of this application.

[0055] Figure 3 This is a schematic diagram of another scenario of a vehicle merging into another lane, as disclosed in an embodiment of this application.

[0056] Figure 4 This is a schematic diagram of another scenario of a vehicle merging into another lane, as disclosed in an embodiment of this application.

[0057] Figure 5 This is a schematic diagram of another scenario of a vehicle merging into another lane, as disclosed in an embodiment of this application.

[0058] Figure 6 This is a schematic diagram of the structure of a vehicle lane-changing device disclosed in an embodiment of this application;

[0059] Figure 7 This is a schematic diagram of the structure of an electronic device disclosed in an embodiment of this application. Detailed Implementation

[0060] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0061] Example 1

[0062] Please see Figure 1 , Figure 1 This is a schematic flowchart of a vehicle lane merging method disclosed in an embodiment of this application, as shown below. Figure 1 As shown, the method in this application embodiment includes the following steps:

[0063] 101. Determine the position information and speed information of valid vehicles based on the surrounding environment perception information, and determine the position information of the vehicles ahead in the current lane based on the surrounding environment perception information. Valid vehicles are vehicles in the target lane, including vehicles located within the preset detection range and vehicles located on the boundary of the preset range.

[0064] 102. The area between two vehicles among the valid vehicles is determined as the candidate lane change interval, wherein multiple candidate lane change intervals form the first candidate lane change interval set;

[0065] 103. Based on the position information of valid vehicles, the speed information of valid vehicles, and the position information of vehicles ahead in the current lane, determine the optimal lane change interval from the first candidate lane change interval set;

[0066] 104. Based on the information of the optimal lane change interval, control the vehicle to merge from the current lane to the optimal lane change interval.

[0067] This application embodiment can determine the position information and speed information of effective vehicles based on surrounding environment perception information, and can determine the position information of vehicles ahead in the current lane based on surrounding environment perception information. The effective vehicles are vehicles in the target lane, including vehicles located within a preset detection range and vehicles located on the boundary of the preset range. The area between two vehicles among the effective vehicles can be determined as a candidate lane change interval. Multiple candidate lane change intervals form a first candidate lane change interval set. Based on the position information, speed information, and position information of vehicles ahead in the current lane, the optimal lane change interval is determined from the first candidate lane change interval set. Based on the information of the optimal lane change interval, the vehicle can be controlled to merge from the current lane to the optimal lane change interval.

[0068] Compared to existing technologies, this application can determine multiple candidate lane-changing intervals within a preset range based on surrounding environmental perception information. This provides vehicles with more lane-changing options, reducing the probability of missing lane-changing opportunities and improving the success rate of lane-changing in congested conditions. Existing technologies require manual judgment of lane-changing intervals, which is limited by factors such as line-of-sight and cannot determine multiple candidate lane-changing intervals in advance, thus easily leading to missed lane-changing opportunities. Furthermore, this application can complete lane-changing based on the optimal lane-changing interval, thereby improving lane-changing safety.

[0069] In this embodiment of the application, as an example, suppose the vehicle is traveling in the fast lane. If the vehicle needs to merge from the fast lane into the slow lane, this embodiment of the application can determine multiple candidate lane change zones in the slow lane, for example, three lane change zones can be found. In contrast, relying on manual sight distance to determine the lane change zone in the slow lane usually only has one. Compared to this, this embodiment of the application improves the success rate of lane changes based on more lane change zones and can select a safer lane change zone to complete the lane change into the slow lane. For example, when there are candidate lane change zones with a length of 20 meters and candidate lane change zones with a length of 50 meters, the lane change can be completed based on the candidate lane change zone with a length of 50 meters. The candidate lane change zone with a length of 50 meters provides more distance for the vehicle, thereby reducing the probability of the vehicle colliding with vehicles in the slow lane during the lane change process.

[0070] In this embodiment of the application, for step 101, the surrounding environment perception information can be perceived by the vehicle's sensors, such as the vehicle's lidar sensor, image sensor, GPS module, and inertial detection sensor.

[0071] In this embodiment of the application, for step 102, the first candidate lane change interval set includes two or more candidate lane change intervals, thereby enabling the determination of the optimal lane change interval from the two or more candidate lane change intervals. It should be noted that, in special scenarios, the first candidate lane change interval set may also include only one candidate lane change interval, thus the unique candidate lane change interval can be used as the optimal lane change interval.

[0072] In an optional implementation, the preset detection range is a range consisting of 100m before and after the vehicle as a reference point.

[0073] This optional implementation can use the vehicle as a reference point and take the range of 100m before and after the reference point as a preset detection range, thereby determining the variable interval within the range of 100m before and after the vehicle.

[0074] In the above optional implementation, the preset detection range can also be a range of 150m before and after the vehicle as a reference point, or a range of 80m before and after the vehicle as a reference point. Using a range of 100m before and after the reference point as the preset detection range is only a preferred method.

[0075] For example, regarding the above optional implementation methods, please refer to [link / reference]. Figure 2 , Figure 2 This is a schematic diagram of a scenario where a vehicle merges into another lane, as disclosed in an embodiment of this application. Figure 2As shown, the vehicle is used as a reference point, and a 100m range before and after the reference point is defined as the preset detection range. This preset detection range includes vehicles 4, 5, and 6. Further, vehicles 7 and 3 are added to the boundaries of the preset detection range, thus the effective vehicles include vehicles 3, 4, 5, 6, and 7. Vehicles 3, 4, 5, 6, and 7 constitute intervals 1, 2, 3, and 4, which are all candidate lane-change intervals. It should be noted that... Figure 2 In the context, vehicle 3 and vehicle 7 are vehicles located on the boundaries of a preset range.

[0076] In an optional implementation, the step of determining the optimal lane-changing interval from the first candidate lane-changing interval set based on the effective vehicle's position information, the effective vehicle's speed information, and the position information of the vehicle ahead in the current lane includes the following sub-steps:

[0077] Calculate the longitudinal spacing between vehicles based on the location information of valid vehicles;

[0078] Calculate the longitudinal relative speed of the vehicles based on the effective vehicle speed information;

[0079] Calculate the longitudinal distance from the midpoint of the candidate lane change interval to the vehicle.

[0080] Based on the longitudinal spacing between vehicles, the longitudinal relative speed of vehicles, the longitudinal distance between the midpoint of the candidate lane change interval and the vehicle, and the position information of the vehicle in front in the current lane, the optimal lane change interval is determined from the first set of candidate lane change intervals.

[0081] This optional implementation can calculate the longitudinal spacing between vehicles based on the position information of effective vehicles, and then calculate the longitudinal relative speed of vehicles based on the speed information of effective vehicles. It can then calculate the longitudinal distance from the midpoint of the candidate lane change interval to the vehicle itself, and then determine the optimal lane change interval from the first candidate lane change interval set based on the longitudinal spacing between vehicles, the longitudinal relative speed of vehicles, the longitudinal distance from the midpoint of the candidate lane change interval to the vehicle itself, and the position information of the vehicle ahead in the current lane.

[0082] In the above optional implementation, specifically, one specific way to calculate the longitudinal distance between vehicles based on the effective vehicle position information is to calculate the longitudinal distance between vehicles based on the longitudinal positions of the preceding vehicle and the following vehicle. For example, for... Figure 2 Vehicles 5 and 6 are included, and the longitudinal distance between them is calculated based on their longitudinal positions. Further, as... Figure 2 As shown, the longitudinal spacing between vehicles corresponds to the length of a candidate lane change interval. For example, the longitudinal spacing between vehicles 5 and 6 corresponds to the spacing length of interval 3.

[0083] In the above optional embodiments, more specifically, the effective vehicle position information includes the vehicle's coordinates in three-dimensional space coordinates, wherein the vehicle's longitudinal coordinates in three-dimensional space coordinates can be used as the vehicle's longitudinal position, and the vehicle's lateral coordinates in three-dimensional space coordinates can be used as the vehicle's lateral position.

[0084] In the above optional embodiments, more specifically, the longitudinal relative speed of the vehicles refers to the difference in longitudinal speed between the preceding and following vehicles, for example, as... Figure 2 As shown, for vehicles 5 and 6, their longitudinal relative speed is the longitudinal speed of vehicle 5 minus the longitudinal speed of vehicle 6.

[0085] In an optional implementation, the step of determining the optimal lane change interval from the first set of candidate lane change intervals based on the vehicle's longitudinal spacing, vehicle longitudinal relative speed, longitudinal distance from the midpoint of the candidate lane change interval to the vehicle, and the position information of the vehicle ahead in the current lane includes the following sub-steps:

[0086] The interval cost of the candidate lane change interval is calculated based on the longitudinal spacing between vehicles, the longitudinal relative speed between vehicles, and the longitudinal distance from the midpoint of the candidate lane change interval to the vehicle.

[0087] Based on the interval cost of the candidate lane change intervals, sort the multiple candidate lane change intervals in the first candidate lane change interval set to obtain the optimal interval sequence.

[0088] The optimal lane-changing interval is determined based on the optimal interval sequence and the position information of the vehicle ahead in the current lane.

[0089] This optional implementation can calculate the interval cost of a candidate lane change interval based on the longitudinal spacing between vehicles, the longitudinal relative speed of vehicles, and the longitudinal distance between the midpoint of the candidate lane change interval and the vehicle. Then, it can sort multiple candidate lane change intervals in the first candidate lane change interval set based on the interval cost of the candidate lane change intervals to obtain the optimal interval sequence. Finally, it can determine the optimal lane change interval based on the optimal interval sequence and the position information of the vehicle in front in the current lane.

[0090] In the above optional implementation, specifically, the interval cost of the candidate lane change interval is calculated using the following formula:

[0091] cost=weight_S*S^2-weight_L*L-weight_V*V;

[0092] Where cost represents the interval cost of the candidate lane change interval, S represents the longitudinal distance from the midpoint of the candidate lane change interval to the vehicle, L represents the longitudinal spacing between vehicles, V represents the longitudinal relative speed of vehicles, and weight_S represents the weight coefficient corresponding to the longitudinal distance from the midpoint of the candidate lane change interval to the vehicle, weight_L represents the weight coefficient corresponding to the longitudinal spacing between vehicles, and weight_V represents the weight coefficient of the longitudinal relative speed of vehicles.

[0093] In an optional implementation, the step of determining the optimal lane-changing interval based on the optimal interval sequence and the position information of the vehicle ahead in the current lane includes the following sub-steps:

[0094] The first element of the optimal interval sequence is taken as the optimal lane change interval;

[0095] Determine whether the longitudinal spacing of the optimal lane change interval meets the preset conditions;

[0096] When the longitudinal spacing of the optimal lane change interval meets the preset conditions, it is determined whether the optimal lane change interval overlaps with the position of the vehicle in front in the current lane based on the position information of the vehicle in front in the current lane. If so, the optimal lane change interval is excluded, and the next element after the first element is taken as the optimal lane change interval, until an optimal lane change interval that meets the preset conditions and does not overlap with the position of the vehicle in front in the current lane is found.

[0097] This optional implementation can take the first element of the optimal interval sequence as the optimal lane change interval and determine whether the longitudinal spacing of the optimal lane change interval meets the preset conditions. Then, when the longitudinal spacing of the optimal lane change interval meets the preset conditions, it can determine whether the optimal lane change interval overlaps with the position of the vehicle in front in the current lane based on the position information of the vehicle in front in the current lane. If so, the optimal lane change interval is excluded, and the next element after the first element is taken as the optimal lane change interval, until an optimal lane change interval that meets the preset conditions and does not overlap with the position of the vehicle in front in the current lane is found.

[0098] In the above optional implementations, as an example, please refer to Figure 3 , Figure 3 This is a schematic diagram of another scenario of a vehicle merging into lanes, as disclosed in an embodiment of this application. Figure 3 As shown, assuming that interval 1 is the first element of the optimal interval sequence, that is, interval 1 is the optimal lane change interval, however, since interval 1 overlaps with the position of the vehicle in front of the vehicle, it is necessary to exclude interval 1 and re-determine the optimal candidate interval. This can prevent the vehicle from rear-ending the vehicle in front, thereby improving the safety of lane changing.

[0099] In the above optional implementation, the preset condition is L>15-μ*V, where L represents the longitudinal spacing of the optimal lane change section, V represents the longitudinal relative speed of the optimal lane change section, and μ represents the time coefficient. It should be noted that the longitudinal spacing of the optimal lane change section refers to the longitudinal spacing between vehicles corresponding to the optimal lane change section, while the longitudinal relative speed of the optimal lane change section refers to the longitudinal relative speed of vehicles corresponding to the optimal lane change section.

[0100] This optional implementation can determine whether the longitudinal spacing of the optimal lane change section meets the preset conditions by using the longitudinal relative speed of the optimal lane change section and the longitudinal spacing of the optimal lane change section.

[0101] In an optional implementation, the step of controlling the vehicle to merge from the current lane to the optimal lane-changing interval based on the information of the optimal lane-changing interval includes the following sub-steps:

[0102] The longitudinal position of the midpoint of the optimal lane change interval is taken as the target longitudinal position, and the average speed of the two vehicles constituting the optimal lane change interval is taken as the target longitudinal speed.

[0103] The vehicle is controlled to reach the target longitudinal position based on the target longitudinal velocity.

[0104] The midpoint of the optimal lane change interval is taken as the target lateral position, and zero is taken as the target lateral velocity;

[0105] The vehicle is controlled to change lanes to the optimal lane change zone based on the target lateral speed and target lateral position.

[0106] This optional implementation can take the longitudinal position of the midpoint of the optimal lane change interval as the target longitudinal position and the average speed of the two vehicles constituting the optimal lane change interval as the target longitudinal speed. Then, it can control the vehicle to reach the target longitudinal position based on the target longitudinal speed. Furthermore, it can take the lateral position of the midpoint of the optimal lane change interval as the target lateral position and take zero as the target lateral speed. Thus, it can control the vehicle to change to the optimal lane change interval based on the target lateral speed and the target lateral position.

[0107] In the above optional implementations, as an example, please refer to Figure 4 and Figure 5 , Figure 4 This is a schematic diagram of another scenario of a vehicle merging into another lane, as disclosed in an embodiment of this application. Figure 5 This is another schematic diagram of a vehicle merging into lanes as disclosed in the embodiments of this application. Figure 4 As shown, the vehicle is first controlled to travel to the target longitudinal position based on the target longitudinal speed, however, as... Figure 5 As shown, the vehicle is controlled to change lanes to the optimal lane change zone based on the target lateral speed and target lateral position, that is, the vehicle is controlled to change lanes to zone 1 based on the target lateral speed and target lateral position.

[0108] Example 2

[0109] Please see Figure 6 , Figure 6 This is a schematic diagram of the structure of a vehicle lane-changing device disclosed in an embodiment of this application, as shown below. Figure 6 As shown, the apparatus in this embodiment includes the following functional modules:

[0110] The information extraction module 201 is used to determine the position information and speed information of valid vehicles based on the surrounding environment perception information, and to determine the position information of the vehicles ahead in the current lane based on the surrounding environment perception information. Valid vehicles are vehicles in the target lane, and valid vehicles include vehicles located within a preset detection range and vehicles located on the boundary of the preset range.

[0111] The determination module 202 is used to determine the area between two vehicles among the valid vehicles as a candidate lane change interval, wherein multiple candidate lane change intervals form a first candidate lane change interval set;

[0112] The interval decision module 203 is used to determine the optimal lane change interval from the first candidate lane change interval set based on the position information of the effective vehicles, the speed information of the effective vehicles, and the position information of the vehicles ahead in the current lane.

[0113] The lane change control module 204 is used to control the vehicle to merge from the current lane to the optimal lane change interval based on the information of the optimal lane change interval.

[0114] The apparatus of this application embodiment executes a vehicle lane-changing method, thereby determining the position information and speed information of effective vehicles based on surrounding environment perception information, and determining the position information of the vehicle ahead in the current lane based on surrounding environment perception information. The effective vehicles are vehicles in the target lane, including vehicles located within a preset detection range and vehicles located on the boundary of the preset range. The area between two vehicles among the effective vehicles is determined as a candidate lane-changing interval. Multiple candidate lane-changing intervals form a first candidate lane-changing interval set. Based on the position information, speed information, and position information of the effective vehicles and the vehicle ahead in the current lane, the optimal lane-changing interval is determined from the first candidate lane-changing interval set. Based on the information of the optimal lane-changing interval, the vehicle is controlled to merge from the current lane to the optimal lane-changing interval.

[0115] Compared with existing technologies, the embodiments of this application can determine multiple candidate lane-changing intervals corresponding to a preset range based on surrounding environment perception information. This provides more lane-changing options for vehicles merging, thereby reducing the probability of missing lane-changing opportunities and improving the success rate of lane-changing in congested conditions. Existing technologies require manual judgment of lane-changing intervals, which is limited by factors such as human line-of-sight and cannot determine multiple candidate lane-changing intervals in advance, thus easily leading to missed lane-changing opportunities. Furthermore, this application can complete lane-changing based on the optimal lane-changing interval, thereby improving lane-changing safety.

[0116] It should be noted that for other detailed descriptions of the apparatus in the embodiments of this application, please refer to the relevant description in Embodiment 1 of this application, which will not be repeated in the embodiments of this application.

[0117] Example 3

[0118] Please see Figure 7 , Figure 7 This is a schematic diagram of the structure of an electronic device disclosed in an embodiment of this application, such as... Figure 7 As shown, the electronic device in this application embodiment includes:

[0119] Processor 301; and

[0120] The memory 302 is configured to store machine-readable instructions that, when executed by the processor 301, perform a vehicle lane-changing method as described in any of the foregoing embodiments.

[0121] The electronic device in this application embodiment executes a vehicle lane-changing method, thereby determining the position information and speed information of effective vehicles based on surrounding environment perception information, and determining the position information of the vehicle ahead in the current lane based on surrounding environment perception information. The effective vehicles are vehicles in the target lane, including vehicles located within a preset detection range and vehicles located on the boundary of the preset range. The area between two vehicles among the effective vehicles can be determined as a candidate lane-changing interval. Multiple candidate lane-changing intervals form a first candidate lane-changing interval set. Based on the position information, speed information, and position information of the effective vehicles and the vehicle ahead in the current lane, the optimal lane-changing interval is determined from the first candidate lane-changing interval set. Based on the information of the optimal lane-changing interval, the device can control the vehicle to merge from the current lane to the optimal lane-changing interval.

[0122] Compared with existing technologies, the embodiments of this application can determine multiple candidate lane-changing intervals corresponding to a preset range based on surrounding environment perception information. This provides more lane-changing options for vehicles merging, thereby reducing the probability of missing lane-changing opportunities and improving the success rate of lane-changing in congested conditions. Existing technologies require manual judgment of lane-changing intervals, which is limited by factors such as human line-of-sight and cannot determine multiple candidate lane-changing intervals in advance, thus easily leading to missed lane-changing opportunities. Furthermore, this application can complete lane-changing based on the optimal lane-changing interval, thereby improving lane-changing safety.

[0123] Example 4

[0124] This application provides a storage medium storing a computer program, which is executed by a processor as a vehicle lane merging method as described in any of the foregoing embodiments.

[0125] The storage medium in this application embodiment executes a vehicle lane-changing method, thereby determining the position information and speed information of effective vehicles based on surrounding environment perception information, and determining the position information of the vehicle ahead in the current lane based on surrounding environment perception information. Effective vehicles are vehicles in the target lane, including vehicles located within a preset detection range and vehicles located on the boundary of the preset range. The area between two effective vehicles is then determined as a candidate lane-changing interval. Multiple candidate lane-changing intervals form a first candidate lane-changing interval set. Based on the position information, speed information, and position information of the effective vehicles and the vehicle ahead in the current lane, an optimal lane-changing interval is determined from the first candidate lane-changing interval set. Based on the information of the optimal lane-changing interval, the vehicle is controlled to merge from the current lane to the optimal lane-changing interval.

[0126] Compared with existing technologies, the embodiments of this application can determine multiple candidate lane-changing intervals corresponding to a preset range based on surrounding environment perception information. This provides more lane-changing options for vehicles merging, thereby reducing the probability of missing lane-changing opportunities and improving the success rate of lane-changing in congested conditions. Existing technologies require manual judgment of lane-changing intervals, which is limited by factors such as human line-of-sight and cannot determine multiple candidate lane-changing intervals in advance, thus easily leading to missed lane-changing opportunities. Furthermore, this application can complete lane-changing based on the optimal lane-changing interval, thereby improving lane-changing safety.

[0127] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and there may be other division methods in actual implementation. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the coupling or direct coupling or communication connection shown or discussed may be through some communication interface; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0128] Furthermore, the units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0129] Furthermore, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0130] It should be noted that if a function is implemented as a software module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0131] In this document, relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, without necessarily requiring or implying any such actual relationship or order between these entities or operations.

[0132] The above are merely embodiments of this application and are not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A method for vehicles to merge into lanes, characterized in that, The method includes: The effective vehicle's position information and speed information are determined based on the surrounding environment perception information, and the position information of the vehicle ahead in the current lane is determined based on the surrounding environment perception information. The effective vehicle is a vehicle in the target lane, and the effective vehicle includes vehicles located within a preset detection range and vehicles located on the boundary of the preset detection range. The area between two vehicles among the valid vehicles is determined as a candidate lane change interval, wherein multiple candidate lane change intervals constitute a first candidate lane change interval set; Based on the position information of the valid vehicles, the speed information of the valid vehicles, and the position information of the vehicles ahead in the current lane, the optimal lane change interval is determined from the first candidate lane change interval set. Based on the information of the optimal lane change interval, the vehicle is controlled to merge from the current lane into the optimal lane change interval; And, determining the optimal lane-change interval from the first candidate lane-change interval set based on the position information of the effective vehicle, the speed information of the effective vehicle, and the position information of the vehicle ahead in the current lane includes: Based on the location information of the valid vehicles, calculate the longitudinal spacing between the vehicles; Based on the speed information of the valid vehicles, calculate the longitudinal relative speed of the vehicles; Calculate the longitudinal distance from the midpoint of the candidate lane change interval to the vehicle. Based on the longitudinal spacing between vehicles, the longitudinal relative speed of vehicles, the longitudinal distance from the midpoint of the candidate lane change interval to the vehicle, and the position information of the vehicle ahead in the current lane, the optimal lane change interval is determined from the first set of candidate lane change intervals. And, determining the optimal lane change interval from the first set of candidate lane change intervals based on the vehicle longitudinal spacing, the vehicle longitudinal relative speed, the longitudinal distance from the midpoint of the candidate lane change interval to the vehicle itself, and the position information of the vehicle ahead in the current lane includes: The interval cost of the candidate lane change interval is calculated based on the longitudinal spacing between the vehicles, the longitudinal relative speed of the vehicles, and the longitudinal distance from the midpoint of the candidate lane change interval to the vehicle. Based on the interval cost of the candidate lane change intervals, sort the multiple candidate lane change intervals in the first candidate lane change interval set to obtain the optimal interval sequence; The optimal lane-changing interval is determined based on the optimal interval sequence and the position information of the vehicle ahead in the current lane.

2. The method as described in claim 1, characterized in that, The preset detection range is the range defined by taking the vehicle as a reference point and extending 100m before and after the reference point.

3. The method as described in claim 1, characterized in that, Determining the optimal lane-changing interval based on the optimal interval sequence and the position information of the vehicle ahead in the current lane includes: The first element of the optimal interval sequence is taken as the optimal lane change interval; Determine whether the longitudinal spacing of the optimal lane change interval meets the preset conditions; When the longitudinal spacing of the optimal lane change interval meets the preset condition, it is determined whether the optimal lane change interval overlaps with the position of the vehicle in front in the current lane based on the position information of the vehicle in front in the current lane. If so, the optimal lane change interval is excluded, and the next element of the first element is taken as the optimal lane change interval, until the optimal lane change interval that meets the preset condition and does not overlap with the position of the vehicle in front in the current lane is found.

4. The method as described in claim 3, characterized in that, The preset condition is L>15-μ*V, where L represents the longitudinal spacing of the optimal lane change interval, V represents the longitudinal relative speed of the optimal lane change interval, and μ represents the time coefficient.

5. The method as described in claim 1, characterized in that, The step of controlling the vehicle to merge from the current lane to the optimal lane-changing interval based on the information of the optimal lane-changing interval includes: The longitudinal position of the midpoint of the optimal lane change interval is taken as the target longitudinal position, and the average speed of the two vehicles constituting the optimal lane change interval is taken as the target longitudinal speed. The vehicle is controlled to reach the target longitudinal position based on the target longitudinal speed; The midpoint of the optimal lane change interval is taken as the target lateral position, and zero is taken as the target lateral velocity. The vehicle is controlled to change lanes to the optimal lane change zone based on the target lateral speed and the target lateral position.

6. A vehicle lane-changing device, characterized in that, The device includes: The information extraction module is used to determine the position information and speed information of the effective vehicles based on the surrounding environment perception information, and to determine the position information of the vehicles ahead in the current lane based on the surrounding environment perception information. The effective vehicles are vehicles in the target lane, and the effective vehicles include vehicles located within a preset detection range and vehicles located on the boundary of the preset detection range. The determination module is used to determine the area between two vehicles among the valid vehicles as a candidate lane change interval, wherein multiple candidate lane change intervals constitute a first candidate lane change interval set; The interval decision module is used to determine the optimal lane change interval from the first candidate lane change interval set based on the position information of the effective vehicle, the speed information of the effective vehicle, and the position information of the vehicle ahead in the current lane. The lane change control module is used to control the vehicle to merge from the current lane to the optimal lane change interval based on the information of the optimal lane change interval; And, determining the optimal lane-change interval from the first candidate lane-change interval set based on the position information of the effective vehicle, the speed information of the effective vehicle, and the position information of the vehicle ahead in the current lane includes: Based on the location information of the valid vehicles, calculate the longitudinal spacing between the vehicles; Based on the speed information of the valid vehicles, calculate the longitudinal relative speed of the vehicles; Calculate the longitudinal distance from the midpoint of the candidate lane change interval to the vehicle. Based on the longitudinal spacing between vehicles, the longitudinal relative speed of vehicles, the longitudinal distance from the midpoint of the candidate lane change interval to the vehicle, and the position information of the vehicle ahead in the current lane, the optimal lane change interval is determined from the first set of candidate lane change intervals. And, determining the optimal lane change interval from the first set of candidate lane change intervals based on the vehicle longitudinal spacing, the vehicle longitudinal relative speed, the longitudinal distance from the midpoint of the candidate lane change interval to the vehicle itself, and the position information of the vehicle ahead in the current lane includes: The interval cost of the candidate lane change interval is calculated based on the longitudinal spacing between the vehicles, the longitudinal relative speed of the vehicles, and the longitudinal distance from the midpoint of the candidate lane change interval to the vehicle. Based on the interval cost of the candidate lane change intervals, sort the multiple candidate lane change intervals in the first candidate lane change interval set to obtain the optimal interval sequence; The optimal lane-changing interval is determined based on the optimal interval sequence and the position information of the vehicle ahead in the current lane.

7. An electronic device, characterized in that, include: processor; as well as The memory is configured to store machine-readable instructions that, when executed by the processor, perform the vehicle lane-changing method as described in any one of claims 1-5.

8. A storage medium, characterized in that, The storage medium stores a computer program, which is executed by a processor as the vehicle lane merging method as described in any one of claims 1-5.

Images