Vehicle lane-changing control method, device, electronic device, and storage medium

Abstract

The present invention discloses a vehicle lane change control method, device, electronic device and storage medium. The method includes: when the current vehicle triggers a lane change, obtaining an initial vehicle position point, a target lane change position point and a preset steering wheel angle threshold; dynamically planning the lane change trajectory of the current vehicle based on the initial vehicle position point, the target lane change position point and the preset steering wheel angle threshold to obtain at least one candidate lane change trajectory; the candidate lane change trajectory points on the candidate lane change trajectory correspond to a speed change degree and a curvature change degree; based on the speed change degree and curvature change degree corresponding to each candidate lane change trajectory point, each candidate lane change trajectory is screened to obtain a target lane change trajectory; and controlling the current vehicle to change lanes along the target lane change trajectory. The technical solution of the embodiment of the present invention improves the safety of the lane change process of the autonomous driving vehicle and the stability of the vehicle.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving technology, and in particular to a vehicle lane change control method, device, electronic device, and storage medium. Background Art

[0002] With the development of autonomous driving technology, the application of lane changing of vehicles through autonomous driving is becoming more and more widespread.

[0003] Existing technologies mainly rely on the vehicle's lateral obstacle information to achieve automatic driving during the vehicle's lane changing process, and ensure the safety of the vehicle's lane changing process and the stability of the vehicle.

[0004] However, for vehicles that do not have lateral sensing devices or when the lateral sensing devices of the vehicles are busy, it is difficult to ensure the safety of the lane changing process of the autonomous driving vehicle and the stability of the vehicle. Summary of the Invention

[0005] The present invention provides a vehicle lane-changing control method, device, electronic device, and storage medium, which improve the safety of the lane-changing process of an autonomous driving vehicle and the stability of the vehicle.

[0006] According to one aspect of the present invention, a vehicle lane change control method is provided, comprising:

[0007] When the current vehicle triggers a lane change, the initial vehicle position point, the target lane change position point, and the preset steering wheel angle threshold are obtained;

[0008] Dynamically planning a lane-changing trajectory of the current vehicle based on the initial vehicle position, the target lane-changing position, and the preset steering wheel angle threshold to obtain at least one candidate lane-changing trajectory; wherein candidate lane-changing trajectory points on the candidate lane-changing trajectory correspond to speed change degrees and curvature change degrees;

[0009] screening the candidate lane-changing trajectories according to the speed change degree and the curvature change degree corresponding to each candidate lane-changing trajectory point to obtain a target lane-changing trajectory;

[0010] Control the current vehicle to change lanes along the target lane-changing trajectory.

[0011] According to another aspect of the present invention, a vehicle lane change control device is provided, comprising:

[0012] A lane change data acquisition module is used to obtain the initial vehicle position point, the target lane change position point and the preset steering wheel angle threshold when the current vehicle triggers a lane change;

[0013] a lane-changing trajectory planning module, configured to dynamically plan a lane-changing trajectory of the current vehicle based on the initial vehicle position, the target lane-changing position, and the preset steering wheel angle threshold, to obtain at least one candidate lane-changing trajectory; wherein candidate lane-changing trajectory points on the candidate lane-changing trajectory correspond to a degree of speed change and a degree of curvature change;

[0014] a target lane-changing trajectory determination module, configured to screen each candidate lane-changing trajectory based on a speed change degree and a curvature change degree corresponding to each candidate lane-changing trajectory point to obtain a target lane-changing trajectory;

[0015] The vehicle lane-changing module is used to control the current vehicle to change lanes along the target lane-changing trajectory.

[0016] According to another aspect of the present invention, an electronic device is provided, comprising:

[0017] at least one processor; and

[0018] a memory communicatively connected to the at least one processor; wherein,

[0019] The memory stores a computer program that can be executed by the at least one processor. The computer program is executed by the at least one processor so that the at least one processor can execute the vehicle lane change control method described in any embodiment of the present invention.

[0020] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the vehicle lane change control method according to any embodiment of the present invention when executed.

[0021] The technical solution of the embodiment of the present invention obtains the initial vehicle position point, the target lane change position point and the preset steering wheel angle threshold when the current vehicle triggers a lane change, and dynamically plans the lane change trajectory of the current vehicle according to the initial vehicle position point, the target lane change position point and the preset steering wheel angle threshold to obtain at least one candidate lane change trajectory, wherein the candidate lane change trajectory points on the candidate lane change trajectory correspond to a speed change degree and a curvature change degree, and the candidate lane change trajectories are screened according to the speed change degree and curvature change degree corresponding to each candidate lane change trajectory point to obtain a target lane change trajectory, and the current vehicle is controlled to change lanes along the target lane change trajectory, thereby solving the problem that it is difficult to ensure the safety of the lane change process of the autonomous driving vehicle and the stability of the vehicle when the vehicle does not have a lateral sensing device or the lateral sensing device of the vehicle is busy, thereby improving the safety of the lane change process of the autonomous driving vehicle and the stability of the vehicle.

[0022] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0024] Figure 1 This is a flow chart of a vehicle lane-changing control method provided according to a first embodiment of the present invention;

[0025] Figure 2 This is a flow chart of a vehicle lane-changing control method provided according to a second embodiment of the present invention;

[0026] Figure 3 2 is a schematic structural diagram of a vehicle lane-changing control device provided according to a third embodiment of the present invention;

[0027] Figure 4 2 is a schematic diagram of the structure of an electronic device for implementing the vehicle lane-changing control method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0028] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0029] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0030] Example 1

[0031] Figure 1 This is a flow chart of a vehicle lane change control method provided in Example 1 of the present invention. This embodiment of the present invention is applicable to vehicle lane change control. The method can be executed by a vehicle lane change control device, which can be implemented in hardware and / or software and can be configured in an electronic device that carries the vehicle lane change control function.

[0032] See also Figure 1 The vehicle lane change control method shown includes:

[0033] S110. When the current vehicle triggers a lane change, an initial vehicle position point, a target lane change position point, and a preset steering wheel angle threshold are obtained.

[0034] The current vehicle triggering a lane change can be understood as the current vehicle responding to a lane change command. The initial vehicle position may be the current vehicle's position when the lane change is triggered in the current lane. The target lane change position may be the current vehicle's position after the lane change. Optionally, the target lane change position may include a lane-parallel distance and a lane-perpendicular distance between the target lane change position and the initial vehicle position. The lane-parallel distance may be the relative distance between the target lane change position and the initial vehicle position in a direction parallel to the lane. Optionally, there is a correspondence between the lane-parallel distance and the current vehicle speed. The correspondence between the lane-parallel distance and the current vehicle speed can be set and adjusted by technicians based on experience. The correspondence between the lane-parallel distance and the current vehicle speed can be pre-stored in a database. The lane-perpendicular distance may be the relative distance between the target lane change position and the initial vehicle position in a direction perpendicular to the lane. The lane-perpendicular distance may be the lane width, for example, 3.75 meters. The preset steering wheel angle threshold may be a preset maximum steering wheel angle of the current vehicle during the lane change process. For example, the preset steering wheel angle threshold can be 70° or 80°. By setting the preset steering wheel angle threshold, excessive steering wheel angles during lane changes can be avoided, ensuring that steering wheel control is accessible.

[0035] Specifically, when the current vehicle responds to a lane change command, the initial vehicle position and corresponding current speed can be directly obtained. Based on the current speed, the parallel lane distance can be directly queried in the database. The perpendicular lane distance can also be directly obtained. The target lane change position is determined based on the initial vehicle position, the parallel lane distance, and the perpendicular lane distance. The preset steering wheel angle threshold can also be directly obtained.

[0036] S120. Dynamically plan the lane change trajectory of the current vehicle based on the initial vehicle position, the target lane change position, and the preset steering wheel angle threshold to obtain at least one candidate lane change trajectory; candidate lane change trajectory points on the candidate lane change trajectory correspond to speed change degrees and curvature change degrees.

[0037] The speed variation degree may be a predetermined speed variation degree corresponding to when the current vehicle travels to a candidate lane change trajectory point. The speed variation degree may be used to characterize whether the current vehicle has a sudden acceleration or deceleration. Exemplarily, the speed variation degree may include acceleration and jerk. The curvature variation degree may be a predetermined curvature variation degree of the candidate lane change trajectory of the current vehicle at the candidate lane change trajectory point. The curvature variation degree may be used to characterize whether the current vehicle has a sharp turn. Exemplarily, the curvature variation degree may be a curvature change rate of the candidate lane change trajectory point on the candidate lane change trajectory. The speed variation degree and the curvature variation degree are both evaluation parameters for vehicle stability.

[0038] Specifically, a dynamic programming algorithm can be used to dynamically plan the lane change trajectory of the current vehicle based on the initial vehicle position point, the target lane change position point and the preset steering wheel angle threshold to obtain multiple candidate lane change trajectory points. The initial vehicle position point, each candidate lane change trajectory point and the target lane change position point are connected and polynomially fitted to obtain at least one candidate lane change trajectory.

[0039] S130 , screening the candidate lane-changing trajectories according to the speed change degree and the curvature change degree corresponding to each candidate lane-changing trajectory point to obtain a target lane-changing trajectory.

[0040] Specifically, the speed change degree and curvature change degree corresponding to each candidate lane change trajectory point can be summed up for the absolute value of the speed change degree and the absolute value of the curvature change degree corresponding to each candidate lane change trajectory point of the same candidate lane change trajectory, and the candidate lane change trajectory with the smallest summed result is determined as the target lane change trajectory.

[0041] S140: Control the current vehicle to change lanes along the target lane-changing trajectory.

[0042] Specifically, the current vehicle speed and the current steering wheel angle of the current vehicle may be controlled to control the current vehicle to change lanes along the target lane-changing trajectory.

[0043] Existing technologies primarily rely on lateral obstacle information to plan the vehicle's lane-changing trajectory, thereby enabling autonomous driving during lane changes. However, for vehicles without lateral sensing devices, autonomous lane changes using existing technologies are unavailable, making autonomous lane changes difficult to achieve and ensuring safety during lane changes. Therefore, there is an urgent need for an autonomous vehicle driving control method that does not consider the vehicle's lateral obstacle information. Furthermore, vehicles equipped with lateral sensing devices may experience a situation where the lateral sensing device is busy or malfunctioning, making it difficult to ensure safety and stability during lane changes. Similarly, there is an urgent need for an autonomous vehicle lane-changing control method that does not consider lateral obstacle information. This method provides an option for vehicles equipped with lateral sensing devices, reduces the occupancy of the vehicle's lateral sensing devices, improves the efficiency and accuracy of the lateral sensing device's detection of lateral obstacle information, and thereby improves safety and stability during lane changes for autonomous vehicles.

[0044] The technical solution of the embodiment of the present invention obtains an initial vehicle position point, a target lane change position point, and a preset steering wheel angle threshold when the current vehicle triggers a lane change. Based on the initial vehicle position point, the target lane change position point, and the preset steering wheel angle threshold, the lane change trajectory of the current vehicle is dynamically planned to obtain at least one candidate lane change trajectory. The candidate lane change trajectory points on the candidate lane change trajectory correspond to a speed change degree and a curvature change degree. The candidate lane change trajectories are screened based on the speed change degree and curvature change degree corresponding to each candidate lane change trajectory point to obtain a target lane change trajectory. The current vehicle is controlled to change lanes along the target lane change trajectory. The lane change trajectory is planned for the current vehicle based on the initial vehicle position point, the target vehicle position point, and the preset steering wheel angle threshold. The maximum value of the steering wheel angle during the lane change process is taken into account, ensuring that the steering wheel can be controlled, thereby improving the safety of the autonomous vehicle during the lane change process. At the same time, the target lane change trajectory is determined based on the speed change degree and curvature change degree corresponding to the candidate lane change trajectory points, thereby improving the vehicle stability of the autonomous vehicle during the lane change process.

[0045] In an optional embodiment of the present invention, while controlling the current vehicle to change lanes along the target lane-changing trajectory, the method further includes: periodically acquiring a current steering wheel angle of the current vehicle and a current vehicle-to-vehicle distance change between the current vehicle and the nearest preceding vehicle; performing a safety status detection on the current steering wheel angle and the current vehicle-to-vehicle distance change; and sending an alarm message when the current steering wheel angle is greater than a preset steering wheel angle threshold and / or the current vehicle-to-vehicle distance change decreases, so as to prompt the driver to control the vehicle.

[0046] The current steering wheel angle may be the steering wheel angle of the current vehicle at the current vehicle's location. The current steering wheel angle can be used to control lane changes for the current vehicle. The current steering wheel angle can be used to indicate whether there is a collision risk between the current vehicle and an adjacent vehicle. For example, if the current steering wheel angle is greater than a preset steering wheel angle threshold, there is a collision risk between the current vehicle and the adjacent vehicle; if the current steering wheel angle is less than or equal to the preset steering wheel angle threshold, there is no collision risk between the current vehicle and the adjacent vehicle. The current vehicle-to-vehicle distance change can be used to indicate whether there is a collision risk between the current vehicle and the nearest preceding vehicle. Optionally, the current vehicle-to-vehicle distance change may be the preceding vehicle in the current lane or the preceding vehicle in the target lane. For example, if the current vehicle-to-vehicle distance change decreases, there is a collision risk between the current vehicle and the nearest preceding vehicle; if the current vehicle-to-vehicle distance change remains unchanged or increases, there is no collision risk between the current vehicle and the nearest preceding vehicle. Warning information can be used to prompt the driver to control the vehicle. For example, the warning information may include voice prompts, text prompts, graphical prompts, and audible and visual alarms. The voice prompt information may include the following: "The current vehicle is at risk of collision!" The text prompt information may include the following: "The current vehicle is at risk of collision!" displayed on the vehicle computer. The graphic prompt information may include a warning icon displayed on the vehicle instrument panel. The audible and visual alarm information may include the sound and warning light displayed by the audible and visual alarm.

[0047] Specifically, the current steering wheel angle of the current vehicle, as captured by the steering wheel sensor, can be obtained. The current distance between the current vehicle and the nearest preceding vehicle, as captured by the forward-facing camera or forward-facing lidar, can be obtained, and the change in the current distance can be determined based on the previous distance captured at the previous moment. A safety status check can be performed on the current steering wheel angle to determine whether it is greater than a preset steering wheel angle threshold. A safety status check can also be performed on the change in the current distance to determine whether the change is decreasing.

[0048] Optionally, if it is detected that the current steering wheel angle is greater than a preset steering wheel angle threshold, or the current vehicle distance change decreases, an alarm message is sent to prompt the driver to control the vehicle.

[0049] Optionally, if it is detected that the current steering wheel angle is greater than a preset steering wheel angle threshold and the current vehicle distance change decreases, an alarm message is sent to prompt the driver to control the vehicle.

[0050] Optionally, if it is detected that the current steering wheel angle is less than or equal to a preset steering wheel angle threshold, and the current vehicle distance change remains unchanged or increases, the current vehicle is considered to be in a safe state, and no warning information is sent to prompt the driver to control the vehicle.

[0051] Optionally, when the current steering wheel angle is less than or equal to a preset steering wheel angle threshold and the current vehicle distance change decreases, the current vehicle distance change can be further detected to determine whether the current vehicle distance change is less than or equal to the preset vehicle distance change threshold. If the current vehicle distance change is less than or equal to the preset vehicle distance change threshold, the current vehicle is considered to be in a risky state, and only an alarm message is sent to prompt the driver to control the vehicle; if the current vehicle distance change is greater than the preset vehicle distance change threshold, the current vehicle is considered to be in a dangerous state, and not only an alarm message is sent to prompt the driver to control the vehicle, but also whether the driver controls the vehicle within a preset safety detection time. If the driver controls the vehicle, the current vehicle is switched to manual control; if the driver does not control the vehicle, the vehicle is controlled to slow down to avoid the risk of collision.

[0052] This solution periodically obtains the current steering wheel angle of the current vehicle and the current vehicle distance change between the current vehicle and the nearest preceding vehicle while controlling the current vehicle to change lanes along the target lane-changing trajectory, performs safety status detection on the current steering wheel angle and the current vehicle distance change, and sends an alarm message when the current steering wheel angle is greater than a preset steering wheel angle threshold and / or the current vehicle distance change decreases, prompting the driver to control the vehicle. This achieves collision risk detection of obstacles in front of and on the sides of the current vehicle, ensures the current vehicle's safe driving along the target lane-changing trajectory, and further improves the safety of autonomous driving control of vehicle lane changes.

[0053] In an optional embodiment of the present invention, controlling the current vehicle to change lanes along the target lane-changing trajectory includes: obtaining a current vehicle position point and a preview distance; determining a preview point corresponding to the current vehicle position point on the target lane-changing trajectory based on the current vehicle position point and the preview distance, and obtaining a preview position and a preview heading angle of the preview point; obtaining a current vehicle speed and a current steering wheel angle; calculating a current steering wheel angle control amount based on the preview position, the preview heading angle, the preview distance, the current vehicle speed, and the current steering wheel angle; and adjusting the current steering wheel angle based on the current steering wheel angle control amount to control the current vehicle to change lanes along the target lane-changing trajectory.

[0054] The preview distance can be set and adjusted by technicians based on experience. There is a corresponding relationship between the preview distance and the current vehicle speed. Optionally, the corresponding relationship between the preview distance and the current vehicle speed can be pre-stored in a database. The preview position can be the position of the preview point on the target lane change trajectory. The preview heading angle can be the heading angle of the preview point on the target lane change trajectory. The current steering wheel angle control amount can be the amount of adjustment of the current steering wheel angle when driving from the current vehicle position to the preview point.

[0055] Specifically, the current vehicle position and current vehicle speed can be obtained, and the corresponding preview distance can be obtained based on the correspondence between the current vehicle speed and the preview distance. Taking the current vehicle position as the starting point, a preview point with a straight-line distance from the current vehicle position as the preview distance is determined on the target lane change trajectory, and the preview point is sampled from the target lane change trajectory to determine the preview position and preview heading angle of the preview point. Based on the preview position, preview heading angle, preview distance, current vehicle speed and current steering wheel angle, the optimal preview control solution for the current steering wheel angle control amount can be performed to obtain the current steering wheel angle control amount. Based on the current steering wheel angle control amount, the current steering wheel angle can be adjusted to control the current vehicle to change lanes along the target lane change trajectory.

[0056] For example, the process of solving the optimal preview control for the current steering wheel angle control variable is as follows:

[0057] The following formula can be used to calculate the difference between the reference point and the preview point in the vertical direction of the lane:

[0058] lat' error =(y'-y' tar )cosθ' tar -(x'-x' tar )sinθ' tar ;

[0059] Where lat' error is the difference between the reference point and the preview point in the vertical direction of the lane; y' is the distance between the reference point and the current vehicle position in the parallel direction of the lane; y' tar is the distance between the preview point and the current vehicle position in the direction parallel to the lane; θ' tar is the preview heading angle; x' is the distance between the reference point and the current vehicle position in the vertical direction of the lane; x' tar is the distance between the preview point and the current vehicle position in the vertical direction of the lane; among them, the reference point is the point obtained after the current vehicle travels the preview distance with the current steering wheel angle and the current steering wheel angle control amount.

[0060] The difference between the preview heading angle and the heading angle of the reference point can be calculated using the following formula:

[0061] θ' error =θ'-θ' tar ;

[0062] Where θ' error is the difference between the preview heading angle and the heading angle of the reference point; θ' is the heading angle of the reference point; θ' tar is the preview heading angle.

[0063] The weight of the difference between the preview point and the reference point can be calculated using the following formula:

[0064] minJ2=k1lat' error 2 +k2θ' error 2 ;

[0065] Where minJ2 is the weight of the difference between the preview point and the reference point; k1 is the weight of the difference between the reference point and the preview point in the vertical direction of the lane; lat' error is the difference between the reference point and the preview point in the vertical direction of the lane; k2 is the weight of the difference between the preview heading angle and the reference point heading angle; θ' error It is the difference between the preview heading angle and the heading angle of the reference point.

[0066] The steering wheel angle corresponding to the minimum value of the weight of the difference between the preview point and the reference point is determined as the optimal value of the sum of the current steering wheel angle and the current steering wheel angle control amount.

[0067] The following formula can be used to verify the optimal value of the sum of the current steering wheel angle and the current steering wheel angle control amount:

[0068] SWA' min ≤SWA'≤SWA' max ;

[0069] Where, SWA' min is the minimum value of the sum of the current steering wheel angle and the current steering wheel angle control amount; SWA' is the sum of the current steering wheel angle and the current steering wheel angle control amount; SWA' max It is the maximum value of the sum of the current steering wheel angle and the current steering wheel angle control amount.

[0070] When the optimal value of the sum of the current steering wheel angle and the current steering wheel angle control amount satisfies the above optimal value verification formula, the current steering wheel angle control amount is determined according to the current steering angle.

[0071] This solution obtains the current vehicle position point and the preview distance, determines the preview point corresponding to the current vehicle position point on the target lane changing trajectory based on the current vehicle position point and the preview distance, obtains the preview position and preview heading angle of the preview point, obtains the current vehicle speed and the current steering wheel angle, calculates the current steering wheel angle control amount based on the preview position, the preview heading angle, the preview distance, the current vehicle speed and the current steering wheel angle, adjusts the current steering wheel angle according to the current steering wheel angle control amount, and controls the current vehicle to change lanes along the target lane changing trajectory, thereby improving the convenience and accuracy of lane changing control of the autonomous driving vehicle.

[0072] In an optional embodiment of the present invention, before adjusting the current steering wheel angle according to the current steering wheel angle control amount, the method further includes: obtaining an inherent steering wheel angle error of the current vehicle; and correcting the current steering wheel angle control amount according to the inherent steering wheel angle error.

[0073] The inherent steering wheel angle error may be the inherent steering wheel angle error of the current vehicle. For example, the current steering wheel angle is 20°, but since the inherent steering wheel angle error of the current vehicle is +2°, the actual steering wheel angle is 18°.

[0074] Specifically, the inherent steering wheel angle error of the current vehicle may be obtained, the inherent steering wheel angle error and the current steering wheel angle control value may be summed, and the current steering wheel angle control value may be updated.

[0075] This solution obtains the inherent steering wheel angle error of the current vehicle before adjusting the current steering wheel angle based on the current steering wheel angle control amount, and corrects the current steering wheel angle control amount based on the inherent steering wheel angle error, thereby further improving the accuracy of the current steering wheel angle control amount and further ensuring the accuracy of the vehicle lane change control.

[0076] In an optional embodiment of the present invention, the current vehicle triggers a lane change, including: in response to a lane change operation instruction, obtaining a driving state detection result and a forward collision risk detection result of the current vehicle; when the driving state detection result is that the driving state of the current vehicle is a preset lane change driving state and the forward collision risk detection result is that there is no collision risk with a front obstacle, the current vehicle triggers a lane change.

[0077] The lane change command may include a left lane change command and a right lane change command. The lane change command may be triggered by the driver. For example, it may be triggered by a hardware button on the vehicle, a button on the vehicle-machine interaction software, or a voice command from the driver.

[0078] The driving state detection results may include driving data detection results, road condition data detection results, and safety system feedback data detection results. The driving data may be real-time data collected during the vehicle's driving process. The driving data may include vehicle speed, lateral angular velocity, steering wheel angle, software and hardware status, and lane deviation. The lane deviation may be the deviation between the vehicle's centerline and the centerline of the current lane. The lane deviation may be used to indicate whether the vehicle is centered in the current lane. The road condition data may include the vehicle's driving conditions. These may include sharp turns and non-sharp turns. The safety system feedback data may be feedback from the vehicle's safety system. The safety system feedback data indicates whether the vehicle has a collision risk warning. If safety system feedback data is received, the vehicle is in collision risk. The safety system feedback data may include feedback from AEB (Autonomous Emergency Braking) and LDW (Lane Departure Warning). The preset lane change driving state may be a pre-set driving state that responds to lane change commands. Exemplarily, the preset lane-changing driving state may include: (1) the vehicle speed is less than or equal to the preset lane-changing vehicle speed threshold; (2) the lateral turning angular velocity is less than or equal to the preset lateral turning angular velocity threshold; (3) the steering wheel angle is less than or equal to the preset steering wheel angle threshold; (4) the software and hardware status is a non-fault state; (5) the driving route deviation value is less than or equal to the preset deviation value threshold; (6) the road condition data is a non-sharp turn road condition; (7) no safety system feedback data is received. The driving state detection result may be a detection result of whether the current vehicle's driving state is the preset lane-changing driving state. The forward collision risk detection result may be a detection result of whether there is a collision risk with the obstacle ahead. It can be understood that if the current vehicle receives feedback data from the FCW (Forward Collision Warning System), the current vehicle is in danger of a forward collision.

[0079] This solution obtains the driving state detection result and forward collision risk detection result of the current vehicle in response to the lane change operation instruction. When the driving state detection result shows that the driving state of the current vehicle is a preset lane change driving state and the forward collision risk detection result shows that there is no collision risk with the obstacle ahead, the current vehicle triggers a lane change, thereby realizing the pre-detection of the lane change conditions of the autonomous driving vehicle and further ensuring the safety of the lane change process of the autonomous driving vehicle.

[0080] In an optional embodiment of the present invention, the lane changing trajectory of the current vehicle is dynamically planned based on the initial vehicle position point, the target lane changing position point and the preset steering wheel angle threshold to obtain at least one candidate lane changing trajectory, including: mapping the target lane changing position point to a straight line parallel to the lane where the initial vehicle position point is located to obtain a target parallel position point corresponding to the target lane changing position point; dividing the lane parallel line formed with the initial vehicle position point as the starting point and the target parallel position point as the end point to obtain at least one first parallel point; dividing the angle range determined by the preset steering wheel angle threshold to obtain at least one lane changing steering wheel angle; dividing the lane changing trajectory according to the sequence from the initial vehicle position point to the target parallel position point In this embodiment, a second parallel point is selected from the initial vehicle position point and each parallel direction position point; the second parallel point is not adjacent to the target parallel position point; for the second parallel point, the next vertical direction point corresponding to each lane change steering wheel angle is calculated; the next second parallel point and the next vertical direction point are combined into a candidate trajectory point; the execution is returned to the sequence from the initial vehicle position point to the target parallel position point, and the target parallel point is selected from each parallel direction position point until all the second parallel points are selected; starting from the initial vehicle position point, the initial vehicle position point, each candidate trajectory point and the target lane change position point are sequentially connected according to the generation relationship between the candidate trajectory points to obtain at least one candidate lane change trajectory.

[0081] The target parallel position point may be a mapping point of the target lane change position point on a straight line parallel to the lane. The first parallel point may be a discrete point obtained after dividing the lane parallel lines. The first parallel point may include a point between the initial vehicle position point and the target parallel position point. The lane change steering wheel angle may be used for dynamic trajectory planning. Exemplarily, the preset steering wheel angle threshold may be 80°, and the lane change steering wheel angle may be 20°, 40°, 60°, and 80°. The second parallel point may be a reference point for dynamic planning of the lane change trajectory. In comparison, both the first parallel point and the second parallel point are points on the lane parallel lines, but the first parallel point includes the point between the initial vehicle position point and the target parallel position point, but does not include the initial vehicle position point and the target parallel position point, while the second parallel point includes the initial vehicle position point and other first parallel points except the first parallel point adjacent to the target parallel position point.

[0082] Specifically, the target lane-changing position point can be mapped onto a straight line parallel to the lane where the initial vehicle position point is located, thereby obtaining a target parallel position point corresponding to the target lane-changing position point. A lane-parallel line formed with the initial vehicle position point as the starting point and the target parallel position point as the end point can be evenly divided to obtain at least one first parallel point. A steering angle range determined by a preset steering wheel angle threshold can be evenly divided to obtain at least one lane-changing steering wheel angle. A second parallel point can be selected from the initial vehicle position point and each parallel position point in the order from the initial vehicle position point to the target parallel position point. For each second parallel point, the next perpendicular point corresponding to each lane-changing steering wheel angle can be calculated based on the vehicle dynamics model. The next second parallel point and the next perpendicular point can be combined into candidate trajectory points. Execution can then be returned to selecting a target parallel point from each parallel position point in the order from the initial vehicle position point to the target parallel position point until all second parallel points have been selected. Starting from the initial vehicle position point, the initial vehicle position point, each candidate trajectory point, and the target lane-changing position point can be sequentially connected according to the generative relationship between the candidate trajectory points to obtain at least one candidate lane-changing trajectory.

[0083] For example, the calculation formula of the vehicle dynamics model is as follows:

[0084]

[0085] Where, is the next vertical point; is the next second parallel point; is the orientation angle of the candidate trajectory point corresponding to the next second parallel point; θ is the orientation angle of the candidate trajectory point corresponding to the second parallel point; δ f is the front wheel turning angle of the candidate trajectory point corresponding to the second parallel point; l is the wheelbase; v is the vehicle speed of the candidate trajectory point corresponding to the second parallel point.

[0086] The following formula can be used to determine the front wheel angle corresponding to the second parallel point based on the steering wheel angle corresponding to the second parallel point:

[0087] SWA=ηδ f ;

[0088] Where SWA is the steering wheel angle of the candidate trajectory point corresponding to the second parallel point; η is the steering gear ratio; δ f is the front wheel turning angle of the candidate trajectory point corresponding to the second parallel point.

[0089] This solution maps the target lane-changing position point to a straight line parallel to the lane where the initial vehicle position point is located, obtains a target parallel position point corresponding to the target lane-changing position point, divides the lane parallel line formed with the initial vehicle position point as the starting point and the target parallel position point as the end point, obtains at least one first parallel point, divides the angle range determined by the preset steering wheel angle threshold, obtains at least one lane-changing steering wheel angle, selects a second parallel point from the initial vehicle position point and each parallel direction position point in the order from the initial vehicle position point to the target parallel position point, and the second parallel point is not adjacent to the target parallel position point; for the second parallel point, calculates the next vertical direction point corresponding to each lane-changing steering wheel angle, The next second parallel point and the next perpendicular direction point are combined into candidate trajectory points, and the process returns to executing the process of selecting target parallel points from each parallel direction position point in the order from the initial vehicle position point to the target parallel position point until all second parallel points are selected. Starting from the initial vehicle position point, the initial vehicle position point, each candidate trajectory point and the target lane change position point are sequentially connected according to the generation relationship between each candidate trajectory point to obtain at least one candidate lane change trajectory. The lane change steering wheel angle is determined by a preset steering wheel angle threshold to avoid excessive steering wheel angle during the lane change process, thereby ensuring that the steering wheel angle on the candidate lane change trajectory is controllable, improving the accuracy of the candidate lane change trajectory, and thereby improving the accuracy and safety of the vehicle lane change control.

[0090] Example 2

[0091] Figure 2 A flow chart of a vehicle lane-changing control method provided in the second embodiment of the present invention. Based on the above embodiments, the embodiment of the present invention concretizes "screening each candidate lane-changing trajectory according to the degree of speed change and the degree of curvature change corresponding to each candidate lane-changing trajectory point to obtain a target lane-changing trajectory" as "for the candidate lane-changing trajectory, taking a weighted sum of the degree of speed change and the degree of curvature change corresponding to each candidate lane-changing trajectory point on the candidate lane-changing trajectory to obtain the weight of the candidate lane-changing trajectory; comparing the weights of each candidate lane-changing trajectory, and determining the candidate lane-changing trajectory with the smallest weight as the target lane-changing trajectory", further improving the safety of the lane-changing process of the autonomous driving vehicle and the stability of the vehicle. It should be noted that for the parts not described in detail in the embodiment of the present invention, please refer to the description of other embodiments.

[0092] See also Figure 2 The vehicle lane change control method shown includes:

[0093] S210: When the current vehicle triggers a lane change, an initial vehicle position point, a target lane change position point, and a preset steering wheel angle threshold are obtained.

[0094] S220. Dynamically plan the lane change trajectory of the current vehicle based on the initial vehicle position, the target lane change position, and the preset steering wheel angle threshold to obtain at least one candidate lane change trajectory; candidate lane change trajectory points on the candidate lane change trajectory correspond to speed change degrees and curvature change degrees.

[0095] S230 . For the candidate lane-changing trajectory, perform a weighted summation of the speed change degree and the curvature change degree corresponding to each candidate lane-changing trajectory point on the candidate lane-changing trajectory to obtain a weight of the candidate lane-changing trajectory.

[0096] Specifically, for a candidate lane changing trajectory, a weighted sum of the square of the speed change degree and the square of the curvature change degree corresponding to each candidate lane changing trajectory point on the candidate lane changing trajectory may be performed to obtain the weight of the candidate lane changing trajectory.

[0097] For example, the weight of the candidate lane change trajectory can be obtained using the following formula:

[0098]

[0099] Where minJ is the weight of the candidate lane-changing trajectory; i is the number of the candidate lane-changing trajectory point on the candidate lane-changing trajectory; n is the number of candidate lane-changing trajectory points on the candidate lane-changing trajectory; μ is the weight of the acceleration in the vertical direction of the lane corresponding to the candidate lane-changing trajectory point; a y () is the acceleration in the vertical direction of the lane corresponding to the candidate lane-changing trajectory point; γ is the weight of the jerk in the vertical direction of the lane corresponding to the candidate lane-changing trajectory point; jerk y () is the vertical acceleration of the lane corresponding to the candidate lane changing trajectory point; δ is the weight of the curvature change rate of the candidate lane changing trajectory point on the candidate lane changing trajectory; Δρ() is the curvature change rate of the candidate lane changing trajectory point on the candidate lane changing trajectory.

[0100] Optionally, for a candidate lane changing trajectory, a weighted sum of the absolute value of the speed change degree and the absolute value of the curvature change degree corresponding to each candidate lane changing trajectory point on the candidate lane changing trajectory may be performed to obtain the weight of the candidate lane changing trajectory.

[0101] S240 : Compare the weights of the candidate lane-changing trajectories, and determine the candidate lane-changing trajectory with the smallest weight as the target lane-changing trajectory.

[0102] Among them, the candidate lane changing trajectory with the smallest weight can be understood as having the smallest comprehensive speed change and curvature change of the candidate lane changing trajectory points compared to other candidate lane changing trajectories. When changing lanes based on this candidate lane changing trajectory, the possibility of the current vehicle suddenly accelerating or decelerating, or making a sharp turn is minimized, and the vehicle's safety and stability are maximized.

[0103] Specifically, the weights of the candidate lane-changing trajectories may be compared, and the candidate lane-changing trajectory with the smallest weight may be determined as the target lane-changing trajectory.

[0104] S250: Control the current vehicle to change lanes along the target lane-changing trajectory.

[0105] The technical solution of the embodiment of the present invention obtains the initial vehicle position point, the target lane change position point and the preset steering wheel angle threshold when the current vehicle triggers a lane change, and dynamically plans the lane change trajectory of the current vehicle according to the initial vehicle position point, the target lane change position point and the preset steering wheel angle threshold to obtain at least one candidate lane change trajectory, wherein the candidate lane change trajectory points on the candidate lane change trajectory correspond to a speed change degree and a curvature change degree, and for the candidate lane change trajectory, the speed change degree and the curvature change degree corresponding to each candidate lane change trajectory point on the candidate lane change trajectory are weightedly summed to obtain the weight of the candidate lane change trajectory, the weights of each candidate lane change trajectory are compared, and the candidate lane change trajectory with the smallest weight is determined as the target lane change trajectory, and the current vehicle is controlled to change lanes along the target lane change trajectory, thereby further improving the safety of the lane change process of the autonomous driving vehicle and the stability of the vehicle.

[0106] Example 3

[0107] Figure 3 This is a schematic diagram of the structure of a vehicle lane change control device provided in Example 3 of the present invention. This embodiment of the present invention is applicable to vehicle lane change control. The device can execute a vehicle lane change control method. The device can be implemented in hardware and / or software and can be configured in an electronic device that carries the vehicle lane change control function.

[0108] See also Figure 3The vehicle lane change control device shown includes: a lane change data acquisition module 310, a lane change trajectory planning module 320, a target lane change trajectory determination module 330, and a vehicle lane change control module 340. The lane change data acquisition module 310 is used to obtain an initial vehicle position point, a target lane change position point, and a preset steering wheel angle threshold when the current vehicle triggers a lane change; the lane change trajectory planning module 320 is used to dynamically plan the lane change trajectory of the current vehicle based on the initial vehicle position, the target lane change position, and the preset steering wheel angle threshold to obtain at least one candidate lane change trajectory; the candidate lane change trajectory points on the candidate lane change trajectory correspond to a speed change degree and a curvature change degree; the target lane change trajectory determination module 330 is used to screen each candidate lane change trajectory based on the speed change degree and curvature change degree corresponding to each candidate lane change trajectory point to obtain a target lane change trajectory; and the vehicle lane change control module 340 is used to control the current vehicle to change lanes along the target lane change trajectory.

[0109] The technical solution of the embodiment of the present invention obtains an initial vehicle position point, a target lane change position point, and a preset steering wheel angle threshold when the current vehicle triggers a lane change. Based on the initial vehicle position point, the target lane change position point, and the preset steering wheel angle threshold, the lane change trajectory of the current vehicle is dynamically planned to obtain at least one candidate lane change trajectory. The candidate lane change trajectory points on the candidate lane change trajectory correspond to a speed change degree and a curvature change degree. The candidate lane change trajectories are screened based on the speed change degree and curvature change degree corresponding to each candidate lane change trajectory point to obtain a target lane change trajectory. The current vehicle is controlled to change lanes along the target lane change trajectory. The lane change trajectory is planned for the current vehicle based on the initial vehicle position point, the target vehicle position point, and the preset steering wheel angle threshold. The maximum value of the steering wheel angle during the lane change process is taken into account, ensuring that the steering wheel can be controlled, thereby improving the safety of the autonomous vehicle during the lane change process. At the same time, the target lane change trajectory is determined based on the speed change degree and curvature change degree corresponding to the candidate lane change trajectory points, thereby improving the vehicle stability of the autonomous vehicle during the lane change process.

[0110] In an optional embodiment of the present invention, the target lane change trajectory determination module 330 includes: a candidate lane change trajectory weight calculation unit, configured to perform a weighted summation of the speed change degree and the curvature change degree corresponding to each candidate lane change trajectory point on the candidate lane change trajectory to obtain the weight of the candidate lane change trajectory; and a target lane change trajectory determination unit, configured to compare the weights of the candidate lane change trajectories and determine the candidate lane change trajectory with the smallest weight as the target lane change trajectory.

[0111] In an optional embodiment of the present invention, while controlling the current vehicle to change lanes along the target lane-changing trajectory, the device further includes: a periodic data acquisition module for periodically acquiring a current steering wheel angle of the current vehicle and a current vehicle-to-vehicle distance change between the current vehicle and the nearest preceding vehicle; a safety status detection module for performing safety status detection on the current steering wheel angle and the current vehicle-to-vehicle distance change; and an alarm information sending module for sending an alarm message when the current steering wheel angle is greater than a preset steering wheel angle threshold and / or the current vehicle-to-vehicle distance change decreases, so as to prompt the driver to control the vehicle.

[0112] In an optional embodiment of the present invention, the vehicle lane change control module 340 includes: a preview distance acquisition unit for acquiring a current vehicle position point and a preview distance; a preview point determination unit for determining a preview point corresponding to the current vehicle position point on the target lane change trajectory based on the current vehicle position point and the preview distance, and acquiring the preview position and preview heading angle of the preview point; a current steering wheel angle acquisition unit for acquiring the current vehicle speed and the current steering wheel angle; a current steering wheel angle control amount determination module for calculating the current steering wheel angle control amount based on the preview position, the preview heading angle, the preview distance, the current vehicle speed and the current steering wheel angle; and a vehicle lane change control unit for adjusting the current steering wheel angle according to the current steering wheel angle control amount to control the current vehicle to change lanes along the target lane change trajectory.

[0113] In an optional embodiment of the present invention, before the vehicle lane change control unit adjusts the current steering wheel angle according to the current steering wheel angle control amount, it also includes: a vehicle lane change control unit acquisition unit, used to obtain the vehicle lane change control unit of the current vehicle; and a current steering wheel angle control amount correction unit, used to correct the current steering wheel angle control amount according to the inherent steering wheel angle error.

[0114] In an optional embodiment of the present invention, the lane change data acquisition module 310 includes: a detection result acquisition unit, which is used to obtain the driving state detection result and the forward collision risk detection result of the current vehicle in response to the lane change operation instruction; and a vehicle lane change triggering unit, which is used to trigger the lane change of the current vehicle when the driving state detection result is that the driving state of the current vehicle is a preset lane change driving state and the forward collision risk detection result is that there is no collision risk with the obstacle ahead.

[0115] In an optional embodiment of the present invention, the vehicle lane change control module 340 includes: a target parallel position determination unit, which is used to map the target lane change position point to the straight line in the parallel direction of the lane where the initial vehicle position point is located, and obtain a target parallel position point corresponding to the target lane change position point; a first parallel point determination unit, which is used to divide the lane parallel line formed with the initial vehicle position point as the starting point and the target parallel position point as the end point, and obtain at least one first parallel point; a lane change steering wheel angle determination unit, which is used to divide the angle range determined by the preset steering wheel angle threshold, and obtain at least one lane change steering wheel angle; a second parallel point selection unit, which is used to select the first parallel point from the initial vehicle position point and each parallel direction position point in the order from the initial vehicle position point to the target parallel position point. two parallel points; the second parallel point is not adjacent to the target parallel position point; a next vertical direction point calculation unit, used to calculate the next vertical direction point corresponding to each lane change steering wheel angle for the second parallel point; a candidate trajectory point determination unit, used to combine the next second parallel point and the next vertical direction point into a candidate trajectory point; a return execution unit, used to return to execute the selection of the target parallel point from each parallel direction position point in the order from the initial vehicle position point to the target parallel position point until all the second parallel points are selected; a candidate lane change trajectory generation unit, used to start from the initial vehicle position point, and connect the initial vehicle position point, each candidate trajectory point and the target lane change position point in sequence according to the generation relationship between the candidate trajectory points to obtain at least one candidate lane change trajectory.

[0116] The vehicle lane-changing control device provided in the embodiment of the present invention can execute the vehicle lane-changing control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0117] In the technical solution of the embodiment of the present invention, the acquisition, storage and application of the initial vehicle position point, target lane change position point, preset steering wheel angle threshold, current steering wheel angle, current vehicle position point, preview distance, current vehicle speed, inherent steering wheel angle error, driving status detection results and forward collision risk detection results, etc., all comply with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0118] Example 4

[0119] Figure 4A schematic diagram of the structure of an electronic device 400 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0120] like Figure 4 As shown, the electronic device 400 includes at least one processor 401, and a memory connected to the at least one processor 401 in communication, such as a read-only memory (ROM) 402, a random access memory (RAM) 403, etc., wherein the memory stores a computer program that can be executed by the at least one processor, and the processor 401 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 402 or the computer program loaded from the storage unit 408 into the random access memory (RAM) 403. In the RAM 403, various programs and data required for the operation of the electronic device 400 can also be stored. The processor 401, ROM 402 and RAM 403 are connected to each other via a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.

[0121] Multiple components in the electronic device 400 are connected to the I / O interface 405, including an input unit 406, such as a keyboard, a mouse, etc.; an output unit 407, such as various types of displays, speakers, etc.; a storage unit 408, such as a magnetic disk, an optical disk, etc.; and a communication unit 409, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 409 allows the electronic device 400 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0122] Processor 401 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of processor 401 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 401 executes the various methods and processes described above, such as the vehicle lane change control method.

[0123] In some embodiments, the vehicle lane change control method can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as storage unit 408. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 400 via ROM 402 and / or communication unit 409. When the computer program is loaded into RAM 403 and executed by processor 401, one or more steps of the vehicle lane change control method described above can be performed. Alternatively, in other embodiments, processor 401 can be configured to execute the vehicle lane change control method in any other appropriate manner (e.g., by means of firmware).

[0124] Various embodiments of the systems and techniques described above can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0125] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0126] In the context of the present invention, computer-readable storage media can be tangible media that can contain or store a computer program for use with an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. Computer-readable storage media can include but are not limited to electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, computer-readable storage media can be machine-readable signal media. More specific examples of machine-readable storage media can include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0127] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0128] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0129] A computing system may include clients and servers. The clients and servers are generally remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within a cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS (Virtual Private Server) services.

[0130] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0131] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A vehicle lane-changing control method, characterized in that: The method comprises: When the current vehicle triggers a lane change, the initial vehicle position point, the target lane change position point, and the preset steering wheel angle threshold are obtained; Mapping the target lane-changing position point to a straight line parallel to the lane where the initial vehicle position point is located to obtain a target parallel position point corresponding to the target lane-changing position point; Dividing a lane parallel line formed by taking the initial vehicle position point as a starting point and the target parallel position point as an end point to obtain at least one first parallel point; Dividing the steering wheel angle range determined by the preset steering wheel angle threshold to obtain at least one lane-changing steering wheel angle; Selecting a second parallel point from the initial vehicle position point and each parallel direction position point in the order from the initial vehicle position point to the target parallel position point; the second parallel point is not adjacent to the target parallel position point; For the second parallel point, calculating the next vertical point corresponding to each lane-changing steering wheel angle; The next second parallel point and the next vertical point are combined to form a candidate trajectory point; Returning to the step of selecting a second parallel point from the initial vehicle position point and each parallel direction position point in the order from the initial vehicle position point to the target parallel position point, until all the second parallel points are selected; Starting from the initial vehicle position point, according to the generative relationship between the candidate trajectory points, the initial vehicle position point, each candidate trajectory point and the target lane change position point are sequentially connected to obtain at least one candidate lane change trajectory; the candidate lane change trajectory points on the candidate lane change trajectory correspond to a speed change degree and a curvature change degree; For the candidate lane-changing trajectory, performing a weighted summation of the speed change degree and the curvature change degree corresponding to each candidate lane-changing trajectory point on the candidate lane-changing trajectory to obtain a weight of the candidate lane-changing trajectory; comparing the weights of the candidate lane-changing trajectories and determining the candidate lane-changing trajectory with the smallest weight as the target lane-changing trajectory; Get the current vehicle position and preview distance; Determining a preview point corresponding to the current vehicle position on the target lane change trajectory according to the current vehicle position and the preview distance, and obtaining a preview position and a preview heading angle of the preview point; Get the current vehicle speed and current steering wheel angle; Calculating the current steering wheel angle control amount based on the preview position, the preview heading angle, the preview distance, the current vehicle speed, and the current steering wheel angle; The current steering wheel angle is adjusted according to the current steering wheel angle control amount, and the current vehicle is controlled to change lanes along the target lane-changing trajectory.

2. The method according to claim 1, characterized in that While controlling the current vehicle to change lanes along the target lane-changing trajectory, the method further includes: Periodically obtaining a current steering wheel angle of the current vehicle and a current vehicle distance change between the current vehicle and the nearest preceding vehicle; Performing safety status detection on the current steering wheel angle and the current vehicle distance change; When the current steering wheel angle is greater than a preset steering wheel angle threshold and / or the current vehicle distance change decreases, an alarm message is sent to prompt the driver to control the vehicle.

3. The method according to claim 1, characterized in that Before adjusting the current steering wheel angle according to the current steering wheel angle control amount, the method further includes: Obtaining an inherent steering wheel angle error of the current vehicle; The current steering wheel angle control amount is corrected according to the inherent steering wheel angle error.

4. The method according to claim 1, wherein The current vehicle triggering a lane change includes: In response to the lane change operation instruction, obtaining a current vehicle driving state detection result and a forward collision risk detection result; When the driving state detection result shows that the driving state of the current vehicle is a preset lane-changing driving state and the forward collision risk detection result shows that there is no collision risk with a front obstacle, the current vehicle triggers a lane change.

5. A vehicle lane-changing control device, characterized in that: The device comprises: A lane change data acquisition module is used to obtain the initial vehicle position point, the target lane change position point and the preset steering wheel angle threshold when the current vehicle triggers a lane change; a target parallel position determination unit, configured to map a target lane-changing position point to a straight line parallel to the lane where the initial vehicle position point is located, to obtain a target parallel position point corresponding to the target lane-changing position point; A first parallel point determination unit is configured to divide a lane parallel line formed by taking the initial vehicle position point as a starting point and the target parallel position point as an end point, to obtain at least one first parallel point; a lane-changing steering wheel angle determination unit, configured to divide the angle range determined by the preset steering wheel angle threshold to obtain at least one lane-changing steering wheel angle; a second parallel point selection unit, configured to select a second parallel point from the initial vehicle position point and each parallel direction position point in the order from the initial vehicle position point to the target parallel position point; the second parallel point is not adjacent to the target parallel position point; a next vertical direction point calculation unit, configured to calculate, for each lane-changing steering wheel angle, a next vertical direction point corresponding to the second parallel point; a candidate trajectory point determination unit, configured to combine the next second parallel point and the next vertical direction point into a candidate trajectory point; a return execution unit, configured to return to executing the step of selecting a second parallel point from the initial vehicle position point and each parallel direction position point in the order from the initial vehicle position point to the target parallel position point, until all the second parallel points are selected; a candidate lane-changing trajectory generating unit, configured to, starting from the initial vehicle position point, sequentially connect the initial vehicle position point, each candidate trajectory point, and the target lane-changing position point according to a generation relationship between each candidate trajectory point, to obtain at least one candidate lane-changing trajectory; wherein the candidate lane-changing trajectory points on the candidate lane-changing trajectory correspond to a speed change degree and a curvature change degree; a candidate lane-changing trajectory weight calculation unit, configured to perform a weighted summation of a speed change degree and a curvature change degree corresponding to each candidate lane-changing trajectory point on the candidate lane-changing trajectory to obtain a weight of the candidate lane-changing trajectory; a target lane-changing trajectory determining unit, configured to compare the weights of the candidate lane-changing trajectories and determine the candidate lane-changing trajectory with the smallest weight as the target lane-changing trajectory; A preview distance acquisition unit is used to obtain the current vehicle position point and preview distance; a preview point determination unit, configured to determine, based on the current vehicle position and the preview distance, a preview point corresponding to the current vehicle position on the target lane change trajectory, and obtain a preview position and a preview heading angle of the preview point; A current steering wheel angle acquisition unit is used to obtain the current vehicle speed and the current steering wheel angle; a current steering wheel angle control amount determination module, configured to calculate the current steering wheel angle control amount based on the preview position, the preview heading angle, the preview distance, the current vehicle speed, and the current steering wheel angle; a vehicle lane-changing control unit, configured to adjust the current steering wheel angle according to the current steering wheel angle control amount, and control the current vehicle to change lanes along the target lane-changing trajectory; Wherein, the device is used to execute the vehicle lane changing control method according to any one of claims 1-4.

6. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor. The computer program is executed by the at least one processor to enable the at least one processor to execute the vehicle lane change control method according to any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the vehicle lane change control method according to any one of claims 1 to 4 when executed.

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