A vehicle lane changing method and device, vehicle and medium

Abstract

The application discloses a vehicle lane changing method and device, a vehicle and a medium. The method comprises the following steps: acquiring sound wave frequency information, first speed information and second speed information of a rear vehicle of a self vehicle in a current frame; determining positioning identification information of a special vehicle in the rear vehicle according to the sound wave frequency information, the first speed information and the second speed information; determining a lane changing instruction of the self vehicle according to the acquired rear image information and the positioning identification information, and controlling the self vehicle based on the lane changing instruction. The original sound information of each rear vehicle in the driving process is restored through the speed information of the self vehicle and the rear vehicle, and then the identification of the special vehicle and the subsequent generation of the lane changing instruction are carried out based on the restored original sound information. The accuracy of the identification of the special vehicle is improved, the automatic generation of the lane changing instruction is realized, and the lane changing is made in advance, so that the fast passing of the special vehicle performing emergency work is ensured, and strong support is provided for rescue.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, and in particular to a vehicle lane-changing method, device, vehicle, and medium. Background Technology

[0002] With the development of intelligent driving technology, the scenarios and working conditions that intelligent driving can handle are gradually increasing. Currently, lane changing function is considered by the industry to be a basic function of intelligent driving.

[0003] Normally, vehicles use onboard sensors to identify surrounding obstacles and lane markings. When the speed of the vehicle in front is lower than that of the vehicle itself, and the vehicle maintains a safe distance from surrounding vehicles, the vehicle will activate the lane-changing function.

[0004] Currently, the general understanding of lane-changing functionality is that it initiates a lane-changing command based on the situation of vehicles and obstacles ahead, determining whether to initiate the lane-changing action by observing surrounding vehicles and obstacles, thus completing the entire lane-changing function. However, special vehicles approaching from behind, including but not limited to ambulances, fire trucks, and police cars, are not considered within the scope of lane-changing functionality, and may obstruct these special vehicles during the lane-changing process. Summary of the Invention

[0005] This invention provides a vehicle lane-changing method, device, vehicle, and medium to achieve the identification of special vehicles and lane-changing of one's own vehicle.

[0006] According to a first aspect of the present invention, a vehicle lane-changing method is provided, comprising:

[0007] Obtain the sound wave frequency information, first speed information, and second speed information of the vehicles behind the vehicle in the current frame;

[0008] Based on the sound wave frequency information, the first speed information, and the second speed information, the positioning and identification information of the special vehicle among the vehicles behind is determined;

[0009] Based on the acquired rear image information and the positioning and recognition information, the vehicle's lane-changing command is determined, and the vehicle is controlled based on the lane-changing command.

[0010] According to a second aspect of the present invention, a vehicle lane-changing device is provided, comprising:

[0011] The information acquisition module is used to acquire the sound wave frequency information, first speed information, and second speed information of the vehicles behind the vehicle in the current frame.

[0012] The first determining module is used to determine the positioning and identification information of the special vehicle among the vehicles behind based on the sound wave frequency information, the first speed information and the second speed information;

[0013] The second determining module is used to determine the lane-changing command of its own vehicle based on the acquired rear image information and the positioning and recognition information, and to control its own vehicle based on the lane-changing command.

[0014] According to a third aspect of the present invention, a vehicle is provided, the vehicle comprising:

[0015] At least one controller; and

[0016] A memory communicatively connected to the at least one controller; wherein,

[0017] The memory stores a computer program that can be executed by the at least one controller, which enables the at least one controller to perform the vehicle lane-changing method according to any embodiment of the present invention.

[0018] According to a fourth aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a controller to execute and implement the vehicle lane-changing method according to any embodiment of the present invention.

[0019] The technical solution of this invention acquires the sound wave frequency information, first speed information, and second speed information of vehicles behind the vehicle in the current frame; determines the location and identification information of special vehicles among the following vehicles based on the sound wave frequency information, first speed information, and second speed information; determines the lane-changing command of the vehicle based on the acquired rear image information and location and identification information, and controls the vehicle based on the lane-changing command. It reconstructs the original sound information of each vehicle behind during the journey by using the speed information of the vehicle and the following vehicles, and then identifies special vehicles and generates subsequent lane-changing commands based on the reconstructed original sound information. This improves the accuracy of special vehicle identification, realizes the automatic generation of lane-changing commands, and allows for advance lane-changing to give way, thereby ensuring the rapid passage of special vehicles performing emergency work and providing strong support for rescue operations.

[0020] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a flowchart of a vehicle lane-changing method according to Embodiment 1 of the present invention;

[0023] Figure 2 This is a flowchart of a vehicle lane-changing method according to Embodiment 2 of the present invention;

[0024] Figure 3 This is a schematic diagram of a vehicle lane-changing device according to Embodiment 3 of the present invention;

[0025] Figure 4 This is a structural schematic diagram of a vehicle that implements an embodiment of the present invention. Detailed Implementation

[0026] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0027] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0028] Example 1

[0029] Figure 1This is a flowchart of a vehicle lane-changing method provided in Embodiment 1 of the present invention. This embodiment is applicable to the identification of special vehicles and lane-changing yielding situations. The method can be executed by a vehicle lane-changing device, which can be implemented in hardware and / or software and can be configured in a vehicle. Figure 1 As shown, the method includes:

[0030] S110: Obtain the sound wave frequency information, first speed information, and second speed information of the vehicles behind the vehicle in the current frame.

[0031] In this embodiment, "behind the vehicle" can be understood as the sound detection range behind the vehicle, such as directly behind, to the left of, and to the right of the vehicle. Sound frequency information can be understood as information reflecting the sound conditions of vehicles behind the vehicle through sound wave frequencies, which may include the sound wave frequency corresponding to horns and sounds played by specific vehicles. First speed information can be understood as the vehicle's speed in the current frame. "Vehicles behind" can be understood as all vehicles within the vehicle's detection range, such as directly behind, to the left of, and to the right of the vehicle. Second speed information can be understood as the respective speeds of all vehicles included behind the vehicle.

[0032] Specifically, the vehicle is equipped with devices such as sound sensors. These sensors can detect sounds from behind the vehicle to generate sound frequency information. The chassis can generate the vehicle's speed as a first speed information, and radar and other devices can detect the speed of vehicles behind to generate second speed information. These devices can transmit information to the controller via a bus or other means. The controller can then obtain the sound frequency information from behind the vehicle in the current frame, the vehicle's current first speed information, and the second speed information of the vehicles behind.

[0033] S120. Based on the sound wave frequency information, the first speed information, and the second speed information, determine the positioning and identification information of the special vehicle among the vehicles behind.

[0034] In this embodiment, special vehicles may include ambulances, fire trucks, and police cars, which require yielding to them. Location identification information can be understood as information indicating the presence of special vehicles and their location.

[0035] It's important to understand that simply collecting the audio of the special vehicle is insufficient for special vehicle identification. During travel, differences in speed and distance between the vehicle and the special vehicle cause audio fluctuations due to the Doppler effect, and these fluctuations can vary in frequency, resulting in low accuracy in special vehicle sound identification. When the distance between the special vehicle and the vehicle decreases (i.e., the vehicle's speed is less than the special vehicle's speed), the received frequency is higher than the original sound wave frequency; conversely, when the distance increases (i.e., the vehicle's speed is greater than the special vehicle's speed), the received frequency is lower than the original sound wave frequency. In noisy road environments, considering noise interference, it's necessary to optimize and restore the sound wave frequency to find the true sound wave of the special vehicle.

[0036] Specifically, the controller can determine the sound wave frequency of the vehicle behind it based on the sound wave frequency information, the first speed information, and the second speed information. Since both the vehicle and the vehicle behind it are moving at different speeds, the measured frequency will fluctuate within a certain threshold according to the Doppler effect. The controller then optimizes and restores the sound wave frequency information by comparing the speed change rate of the vehicle and the vehicle behind it. The restored sound wave frequency information is then compared with the sound wave frequency of a special vehicle that was recorded in advance to determine whether there is a special vehicle behind it. The controller also determines the relative position of the vehicle behind it with respect to the vehicle itself by using the sound wave frequency information, and uses this as positioning and identification information.

[0037] S130. Based on the acquired rear image information and positioning recognition information, determine the lane-changing command for the vehicle and control the vehicle based on the lane-changing command.

[0038] In this embodiment, the rear image information can be understood as an image captured behind the vehicle itself. The lane-changing command can be understood as a command used to control the vehicle to change lanes to give way or remain in its original position.

[0039] Specifically, vehicles typically have a rear-view camera that captures images of the area behind them and transmits them to a controller via a bus or other communication method. The controller performs image recognition on the acquired images to determine if there are any special vehicles behind and to identify the lane in which they are located. If the location information indicates the presence of a special vehicle, a lane-changing instruction is determined based on the lane information identified from the rear image. When there are many vehicles, blind spots may occur for special vehicles (such as glare or insufficient light). In other words, a special vehicle may not be detected by the rear image, but it can be identified by sound. If the rear image does not identify a special vehicle, but the location information determined by sound wave frequency indicates its presence, a lane-changing instruction can be determined based on the relative position information in the location information, and the vehicle can be controlled accordingly.

[0040] The technical solution of this invention acquires the sound wave frequency information, first speed information, and second speed information of vehicles behind the vehicle in the current frame; determines the location and identification information of special vehicles among the following vehicles based on the sound wave frequency information, first speed information, and second speed information; determines the lane-changing command of the vehicle based on the acquired rear image information and location and identification information, and controls the vehicle based on the lane-changing command. It reconstructs the original sound information of each vehicle behind during the journey by using the speed information of the vehicle and the following vehicles, and then identifies special vehicles and generates subsequent lane-changing commands based on the reconstructed original sound information. This improves the accuracy of special vehicle identification, realizes the automatic generation of lane-changing commands, and allows for advance lane-changing to give way, thereby ensuring the rapid passage of special vehicles performing emergency work and providing strong support for rescue operations.

[0041] Example 2

[0042] Figure 2 This is a flowchart of a vehicle lane-changing method provided in Embodiment 2 of the present invention. This embodiment is a further refinement based on the above embodiments. Figure 2 As shown, the method includes:

[0043] S210: Obtain the sound wave frequency information, first speed information, and second speed information of the vehicles behind the vehicle in the current frame.

[0044] S220: Obtain preset special vehicle optimization information and acoustic wave estimation information determined in the previous frame.

[0045] In this embodiment, the special vehicle optimization information can be understood as preset information used for acoustic wave optimization, such as external influence values, observation matrix, and state transition matrix. The acoustic wave estimation information can be understood as the optimal estimation information of the original sound after optimization and restoration in the previous frame.

[0046] Specifically, the controller can retrieve the preset special vehicle optimization information and the acoustic wave estimation information determined in the previous period frame from the corresponding storage medium.

[0047] S230. Based on the special vehicle optimization information, sound wave estimation information, and sound wave frequency information, determine the original sound optimal estimation information for the current frame.

[0048] In this embodiment, the original optimal estimation information can be understood as the optimized and restored sound wave frequency.

[0049] Specifically, the controller can determine the current acoustic estimation information in the current frame based on the acoustic estimation information determined in the previous frame, determine the current prediction error in the current frame based on the prediction error in the previous frame, and then determine the optimal original acoustic estimation information in the current frame through the current acoustic estimation information, acoustic frequency information and current prediction error.

[0050] For example, the optimal estimation information of the original sound can be determined by the following formula:

[0051] The current frame acoustic wave estimation value is:

[0052]

[0053] The prediction error covariance is:

[0054] P′ t =AP t-1 A T +Q

[0055] Determine the optimal original sound estimate based on the current frame's sound wave estimate and the prediction error covariance:

[0056] K t =P′ t H T (HP′ t H T +R) -1

[0057]

[0058] P t =(IK t H)P′ t

[0059] Where f′ is the actual measured value of the sound wave frequency in the current frame (i.e., sound wave frequency information); This is the estimated sound wave value for the current frame; This is the optimal estimate of the original sound in the previous frame (i.e., the sound wave estimation information); P′ is the optimal original sound estimate for the current frame. t H T The error of the optimal estimate; u t-1 The external influence value at the previous frame time; P′ t P represents the prediction error at the current frame time. t-1 K represents the time error value of the previous period frame; t P′ is the Kalman gain at the current frame time. t Let H be the error covariance; the observation matrix H, the state transition matrix A, the input control matrix B, the prediction noise covariance matrix Q, and the observation noise covariance matrix R are constant matrices.

[0060] S240. Based on the original optimal estimation information, the first speed information, the second speed information, and the preset special vehicle sound wave information, identify and locate the special vehicle among the vehicles behind, and obtain the special vehicle's location and identification information.

[0061] In this embodiment, the special vehicle sound wave information can be understood as a summary of the sound wave frequencies of each special vehicle that have been pre-recorded.

[0062] Specifically, the controller can reconstruct the sound waves of the following vehicles based on the original optimal estimation information, the first speed information, and the second speed information to obtain the original sound wave information. Then, it compares the original sound wave information with the preset special vehicle sound wave information to determine the identification result of the special vehicle among the following vehicles. It also determines the location through the original sound wave information to obtain the relative position of the following vehicle relative to its own vehicle. The relative position and the identification result determine the positioning and identification information of the special vehicle.

[0063] Furthermore, based on the above embodiments, the step of identifying and locating a special vehicle among the following vehicles based on the original optimal estimation information, the first speed information, the second speed information, and the preset special vehicle sound wave information, to obtain the location and identification information of the special vehicle, can be optimized as follows:

[0064] a1. Based on the original optimal estimation information, the first speed information and the second speed information, the sound wave frequency information is restored to obtain the original sound wave information corresponding to the vehicle behind.

[0065] In this embodiment, the original acoustic information can be understood as the accurate acoustic information after eliminating the Doppler effect.

[0066] Specifically, the controller can calculate the original sound wave information corresponding to the vehicle behind by combining the magnitude of the first speed information and the second speed information with the original sound optimal estimation information according to different determination methods.

[0067] For example, based on the above embodiments, the original acoustic wave information can be determined using the following formula:

[0068] When the vehicle's speed is less than the speed of the vehicles i = 1, 2, 3... that can be detected behind it:

[0069]

[0070] When the vehicle's speed is greater than or equal to the speed of the vehicles i = 1, 2, 3... that can be detected behind:

[0071]

[0072] Where f(i) represents the original acoustic wave information of vehicle i behind, where i = 1, 2, 3, ..., Δt is the observation time of the sample band, and a i Let v1 be the acceleration of vehicle i that can be detected behind the vehicle, u be the speed of sound, v1 be the current speed of the vehicle (i.e., the first speed information), and v iThe speed of the vehicle behind the car after the sound wave returns (i.e., the second speed information).

[0073] b1. Based on the original acoustic wave information and the acoustic wave information of special vehicles, determine whether the vehicle behind is a special vehicle and obtain vehicle identification information.

[0074] In this embodiment, vehicle identification information can be understood as identification information used to indicate whether the vehicle behind is a special vehicle.

[0075] Specifically, the controller can compare the original acoustic wave information with the acoustic wave information of the special vehicle to determine whether the vehicle behind is a special vehicle. If it is, the existence of a special vehicle will be used as vehicle identification information; otherwise, the absence of a special vehicle will be used as vehicle identification information.

[0076] For example, the controller can compare the original sound wave information f with the pre-recorded sound information frequency F. When the original sound wave frequency f is within the interval [F-σ, F+σ], σ is the maximum deviation obtained by filtering, that is, it is determined that there is a special vehicle behind the vehicle. If it is not within the interval, then there is no special vehicle.

[0077] c1. Locate the original acoustic wave information to determine the relative position of the vehicle behind it.

[0078] In this embodiment, relative position information can be understood as the angle between the vehicle behind and the vehicle itself, the distance, and other information.

[0079] Specifically, the controller can use a sound source localization algorithm to locate the sound source of the original sound wave information and determine the relative position information of the following vehicles relative to its own vehicle. However, there is no limitation on the sound source localization algorithm.

[0080] d1. Use vehicle identification information and relative position information as positioning and identification information.

[0081] Specifically, the controller can use vehicle identification information and relative position information as positioning identification information.

[0082] S250. Perform special vehicle identification on the acquired rear image information to determine whether there are special vehicles in the rear image information.

[0083] Specifically, the controller can acquire rear image information and use image recognition algorithms to identify special vehicles in the rear image information to determine whether there are special vehicles in the rear image information.

[0084] S260. If so, determine the lane position of the special vehicle in the rear image information and use the lane position as image recognition information.

[0085] In this embodiment, lane position can be understood as the lane where a special vehicle is located.

[0086] Specifically, if there is a special vehicle in the rear image information, the lane position of the special vehicle is determined in the rear image information, and the lane position is used as image recognition information.

[0087] S270. If not, the unidentified special vehicle will be treated as image recognition information.

[0088] Specifically, if no special vehicle is found in the rear image information, the controller can use the unidentified special vehicle as image recognition information.

[0089] S280: Determine the lane-changing instruction for its own vehicle based on the positioning and image recognition information.

[0090] Specifically, the controller can determine the lane-changing command for its own vehicle based on positioning and image recognition information.

[0091] a2. Obtain information about your vehicle's current lane and driving environment.

[0092] In this embodiment, the vehicle's own lane information can be understood as the information about the lane in which the vehicle is located. The driving environment information can be understood as the vehicle situation around the vehicle, used to determine whether a lane change is possible.

[0093] Specifically, the vehicle is equipped with sensors that can identify road information, lane line information, surrounding vehicle information, obstacle information, etc. in real time, and transmit them to the controller through the corresponding communication transmission method. The controller can obtain the vehicle's own lane information and driving environment information at the current moment.

[0094] b2. If the location recognition information indicates the presence of a special vehicle, and the image recognition information includes the lane position, then the vehicle determines its lane change instruction based on its own lane information, lane position, and driving environment information.

[0095] Specifically, the controller can read and identify the contents included in the positioning and identification information. When the positioning and identification information indicates the presence of a special vehicle and the image recognition information includes the lane position, the controller determines the lane change command for its own vehicle based on its own lane information, lane position, and driving environment information.

[0096] b21. Based on your own lane information and lane position, determine whether your vehicle and special vehicles are in the same lane.

[0097] Specifically, the controller can compare the lane position of its own vehicle with that of the special vehicle in its own lane information to determine whether the vehicle and the special vehicle are in the same lane.

[0098] b22. If so, when the driving environment information meets the safe lane-changing conditions, the lane-changing instruction will be changed to the safe lane determined based on the driving environment information.

[0099] In this embodiment, the safe lane-changing condition can be understood as the condition used to determine whether there is a risk of lane changing. The safe lane can be understood as a lane without lane-changing risk.

[0100] Specifically, when a vehicle is in the same lane as a special vehicle, the controller can compare the driving environment information with the safe lane-changing conditions. If the driving environment information meets the safe lane-changing conditions, the controller can send a lane-changing command to the safe lane determined based on the driving environment information.

[0101] b23. If not, the current lane will be maintained as the lane change instruction.

[0102] Specifically, when the vehicle and the special vehicle are not in the same lane, the vehicle will not affect the special vehicle's driving. In order to avoid obstructing the special vehicle by changing lanes, the controller can use the current lane as the lane change command.

[0103] c2. If the location identification information indicates the presence of a special vehicle, but the image recognition information indicates that no special vehicle has been identified, then the lane change instruction for the vehicle itself is determined based on the relative position information and driving environment information in the location identification information.

[0104] Specifically, if the location identification information indicates the presence of a special vehicle, but the image recognition information indicates that no special vehicle has been identified, the controller can read the relative position information from the location identification information and, in conjunction with the driving environment information, determine the lane-changing command for its own vehicle.

[0105] Based on the above embodiments, the steps for determining the lane-changing command of the vehicle according to the relative position information and driving environment information in the positioning and identification information can be further optimized, including:

[0106] c21. Based on relative position information, determine whether your vehicle and special vehicles are in the same lane.

[0107] Specifically, the controller can determine whether its own vehicle and the special vehicle are in the same lane based on the left and right distance between the two vehicles in the relative position information.

[0108] For example, if the left and right distance is greater than one lane, it can be assumed that the vehicle and the special vehicle are not in the same lane; if the left and right distance is less than or equal to one lane, it can be assumed that the vehicle and the special vehicle are in the same lane.

[0109] c22. If so, when the driving environment information meets the safe lane-changing conditions, the lane-changing instruction will be changed to the safe lane determined based on the driving environment information.

[0110] Specifically, if the vehicle and a special vehicle are in the same lane, the controller can compare the driving environment information with the safe lane-changing conditions. If the driving environment information meets the safe lane-changing conditions, the controller can send a lane-changing instruction to the safe lane determined based on the driving environment information. If the driving environment information does not meet the safe lane-changing conditions, the lane-changing will not be performed until the safe lane-changing conditions are met.

[0111] c23. If not, the current lane will be maintained as the lane change instruction.

[0112] Specifically, if your vehicle and a special vehicle are not in the same lane, you will maintain your current lane as a lane-changing instruction.

[0113] The technical solution of this invention considers the Doppler effect between vehicles, combines the first speed information of the vehicle itself with the second speed information of the vehicles behind it to restore the acquired sound wave frequency information, eliminating the influence of the Doppler effect and obtaining the original sound wave information. By comparing the original sound wave information with the sound wave information of the special vehicle, the positioning and identification information of the special vehicle is obtained. Combined with the acquired rear image information, the lane of the special vehicle is identified. Based on the lane conditions of both the vehicle and the special vehicle, a lane-changing instruction is determined, and the vehicle is controlled to drive according to the lane-changing instruction. This improves the accuracy of special vehicle identification, realizes the automatic generation of lane-changing instructions, and allows for advance lane-changing to give way, thereby ensuring the rapid passage of special vehicles performing emergency work and providing strong support for rescue operations.

[0114] Example 3

[0115] Figure 3 This is a schematic diagram of a vehicle lane-changing device provided in Embodiment 3 of the present invention. Figure 3 As shown, the device includes: an information acquisition module 31, a first determination module 32, and a second determination module 33. Among them,

[0116] Information acquisition module 31 is used to acquire the sound wave frequency information, first speed information and second speed information of the vehicle behind it in the current frame;

[0117] The first determining module 32 is used to determine the positioning and identification information of the special vehicle among the vehicles behind based on the sound wave frequency information, the first speed information and the second speed information;

[0118] The second determining module 33 is used to determine the lane-changing command of its own vehicle based on the acquired rear image information and the positioning and recognition information, and to control its own vehicle based on the lane-changing command.

[0119] The technical solution of this invention reconstructs the original sound information of each vehicle behind it during the journey by using the speed information of the vehicle itself and the vehicles behind it. Based on the reconstructed original sound information, it identifies special vehicles and generates subsequent lane-changing instructions. This improves the accuracy of special vehicle identification, enables automatic generation of lane-changing instructions, and allows for advance lane-changing to give way, thereby ensuring the rapid passage of special vehicles performing emergency work and providing strong support for rescue efforts.

[0120] Optionally, the first determining module 32 includes:

[0121] The first acquisition unit is used to acquire preset special vehicle optimization information and acoustic wave estimation information determined in the previous period frame;

[0122] The first determining unit is used to determine the original sound optimal estimation information in the current frame based on the special vehicle optimization information, the sound wave estimation information and the sound wave frequency information.

[0123] The second acquisition unit is used to identify and locate the special vehicle among the vehicles behind based on the original optimal estimation information, the first speed information, the second speed information and the preset special vehicle sound wave information, so as to obtain the positioning and identification information of the special vehicle.

[0124] Specifically, the second acquisition unit is used for:

[0125] The sound wave frequency information is restored based on the original sound optimal estimation information, the first speed information and the second speed information to obtain the original sound wave information corresponding to the vehicle behind;

[0126] Based on the original acoustic wave information and the special vehicle acoustic wave information, determine whether the vehicle behind is a special vehicle and obtain vehicle identification information;

[0127] The original acoustic wave information is used to locate and determine the relative position information of the vehicle behind it relative to its own vehicle;

[0128] The vehicle identification information and the relative position information are used as the positioning identification information.

[0129] Optionally, the second determining module 33 includes:

[0130] The vehicle identification unit is used to identify special vehicles in the acquired rear image information and determine whether there are special vehicles in the rear image information.

[0131] The second determining unit is used to determine the lane position of the special vehicle in the rear image information if the condition is met, and to use the lane position as image recognition information.

[0132] The third determining unit is used to treat the unidentified special vehicle as image recognition information if no;

[0133] The fourth determining unit is used to determine the lane-changing command of its own vehicle based on the positioning and identification information and the image recognition information.

[0134] Furthermore, the fourth determining unit includes:

[0135] The information acquisition subunit is used to acquire the vehicle's lane information and driving environment information at the current moment;

[0136] The first determining subunit is used to determine the lane-changing instruction of its own vehicle based on its own lane information, the lane position and the driving environment information if the positioning and identification information indicates the presence of a special vehicle and the image recognition information includes the lane position.

[0137] The second determining subunit is used to determine the lane change command of its own vehicle based on the relative position information and driving environment information in the positioning and identification information if the positioning and identification information indicates the presence of a special vehicle and the image recognition information indicates that no special vehicle has been identified.

[0138] Specifically, the first determining subunit is used for:

[0139] Based on its own lane information and lane position, it is determined whether its own vehicle and the special vehicle are in the same lane;

[0140] If so, when the driving environment information meets the safe lane-changing conditions, the lane-changing instruction will be changed to the safe lane determined based on the driving environment information.

[0141] If not, the current lane will be maintained as the lane change instruction.

[0142] Specifically, the second determining subunit is used for:

[0143] Based on the relative position information, determine whether the vehicle itself and the special vehicle are in the same lane;

[0144] If so, when the driving environment information meets the safe lane-changing conditions, the lane-changing instruction will be changed to the safe lane determined based on the driving environment information.

[0145] If not, the current lane will be maintained as the lane change instruction.

[0146] The vehicle lane-changing device provided in the embodiments of the present invention can execute the vehicle lane-changing method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the method execution.

[0147] Example 4

[0148] Figure 4 This is a structural schematic diagram of a vehicle provided in Embodiment 4 of the present invention, as shown below. Figure 4 As shown, the vehicle includes a controller 41, a memory 42, an input device 43, and an output device 44. The number of controllers 41 and memory 42 can be one or more. Figure 4 Taking a controller 41 and a memory 42 as an example; the controller 41 and memory 42 in the vehicle can be connected via a bus or other means. Figure 4 Taking a bus connection as an example, the controller refers to the controller of the execution entity in this embodiment of the invention.

[0149] The memory 42, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the vehicle lane-changing method in this embodiment of the invention (e.g., the information acquisition module 31, the first determination module 32, and the second determination module 33 in the vehicle lane-changing device). The controller 41 executes various vehicle functions and data processing by running the software programs, instructions, and modules stored in the memory 42, thereby implementing the aforementioned vehicle lane-changing method, which includes:

[0150] Obtain the sound wave frequency information, first speed information, and second speed information of the vehicles behind the vehicle in the current frame;

[0151] Based on the sound wave frequency information, the first speed information, and the second speed information, the positioning and identification information of the special vehicle among the vehicles behind is determined;

[0152] Based on the acquired rear image information and the positioning and recognition information, the vehicle's lane-changing command is determined, and the vehicle is controlled based on the lane-changing command.

[0153] The memory 42 may primarily include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a given function; the data storage area may store data created based on terminal usage. Furthermore, the memory 42 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory, or other non-volatile solid-state storage device. In some instances, the memory 42 may further include memory remotely configured relative to the controller 41, which can be connected to the vehicle via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0154] The input device 43 can be used to receive digital or character information, and to generate key signal inputs related to vehicle user settings and function control.

[0155] Output device 44 may include a display device.

[0156] Example 5

[0157] Embodiment 5 of the present invention also provides a storage medium containing computer-executable instructions, which, when executed by a computer controller, are used for a vehicle lane-changing method, the method comprising:

[0158] Obtain the sound wave frequency information, first speed information, and second speed information of the vehicles behind the vehicle in the current frame;

[0159] Based on the sound wave frequency information, the first speed information, and the second speed information, the positioning and identification information of the special vehicle among the vehicles behind is determined;

[0160] Based on the acquired rear image information and the positioning and recognition information, the vehicle's lane-changing command is determined, and the vehicle is controlled based on the lane-changing command.

[0161] Of course, the computer-executable instructions provided in the embodiments of the present invention are not limited to the method operations described above, but can also perform related operations in the vehicle lane-changing method provided in any embodiment of the present invention.

[0162] Based on the above description of the implementation methods, those skilled in the art can clearly understand that the present invention can be implemented using software and necessary general-purpose hardware, and of course, it can also be implemented using hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk, or optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0163] It is worth noting that in the above embodiments of the vehicle lane changing device, the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of each functional unit are only for easy differentiation and are not used to limit the scope of protection of the present invention.

[0164] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0165] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A vehicle lane-changing method, characterized in that, include: Obtain the sound wave frequency information, first speed information, and second speed information of the vehicles behind the vehicle in the current frame; Based on the sound wave frequency information, the first speed information, and the second speed information, the positioning and identification information of the special vehicle among the vehicles behind is determined; Based on the acquired rear image information and the positioning and recognition information, the vehicle's lane-changing command is determined, and the vehicle is controlled based on the lane-changing command. The step of determining the location and identification information of the special vehicle among the following vehicles based on the sound wave frequency information, the first speed information, and the second speed information includes: Obtain the preset special vehicle optimization information and the acoustic wave estimation information determined in the previous frame; Based on the special vehicle optimization information, the sound wave estimation information, and the sound wave frequency information, determine the original sound optimal estimation information for the current frame; Based on the original optimal sound estimation information, the first speed information, the second speed information, and the preset special vehicle sound wave information, the special vehicle in the rear vehicles is identified and located to obtain the special vehicle's location and identification information.

2. The method according to claim 1, characterized in that, The step of identifying and locating a special vehicle among the rear vehicles based on the original optimal sound estimation information, the first speed information, the second speed information, and preset special vehicle sound wave information, to obtain the special vehicle's location and identification information, includes: The sound wave frequency information is restored based on the original sound optimal estimation information, the first speed information and the second speed information to obtain the original sound wave information corresponding to the vehicle behind; Based on the original acoustic wave information and the special vehicle acoustic wave information, determine whether the vehicle behind is a special vehicle and obtain vehicle identification information; The original acoustic wave information is used to locate and determine the relative position information of the vehicle behind it relative to its own vehicle; The vehicle identification information and the relative position information are used as the positioning identification information.

3. The method according to claim 1, characterized in that, The step of determining the lane-changing command for the vehicle itself based on the acquired rear image information and the positioning and recognition information includes: Special vehicle identification is performed on the acquired rear image information to determine whether there are special vehicles in the rear image information; If so, the lane position of the special vehicle is determined from the rear image information, and the lane position is used as image recognition information; If not, the failure to identify a special vehicle will be treated as image recognition information; Based on the location recognition information and the image recognition information, the lane change command for the vehicle itself is determined.

4. The method according to claim 3, characterized in that, The step of determining the lane-changing command for the vehicle itself based on the positioning and identification information and the image recognition information includes: Obtain the vehicle's current lane information and driving environment information; If the location identification information indicates the presence of a special vehicle, and the image recognition information includes the lane position, then the lane change instruction for the vehicle is determined based on its own lane information, the lane position, and the driving environment information. If the location identification information indicates the presence of a special vehicle, and the image recognition information indicates that no special vehicle has been identified, then the lane change instruction for the vehicle itself is determined based on the relative position information and driving environment information in the location identification information.

5. The method according to claim 4, characterized in that, The step of determining the lane-changing instruction for the vehicle based on its own lane information, lane position, and driving environment information includes: Based on its own lane information and lane position, it is determined whether its own vehicle and the special vehicle are in the same lane; If so, when the driving environment information meets the safe lane-changing conditions, the lane-changing instruction will be changed to the safe lane determined based on the driving environment information. If not, the current lane will be maintained as the lane change instruction.

6. The method according to claim 4, characterized in that, The step of determining the lane-changing command for the vehicle itself based on the relative position information and driving environment information in the positioning and identification information includes: Based on the relative position information, determine whether the vehicle itself and the special vehicle are in the same lane; If so, when the driving environment information meets the safe lane-changing conditions, the lane-changing instruction will be changed to the safe lane determined based on the driving environment information. If not, the current lane will be maintained as the lane change instruction.

7. A vehicle lane-changing device for performing the vehicle lane-changing method as described in any one of claims 1-6, characterized in that, include: The information acquisition module is used to acquire the sound wave frequency information, first speed information, and second speed information of the vehicles behind the vehicle in the current frame. The first determining module is used to determine the positioning and identification information of the special vehicle among the vehicles behind based on the sound wave frequency information, the first speed information and the second speed information; The second determining module is used to determine the lane-changing command of its own vehicle based on the acquired rear image information and the positioning and recognition information, and to control its own vehicle based on the lane-changing command.

8. A vehicle, characterized in that, The vehicles include: At least one controller; and A memory communicatively connected to the at least one controller; wherein, The memory stores a computer program that can be executed by the at least one controller to enable the at least one controller to perform the vehicle lane-changing method according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause the controller to execute the vehicle lane-changing method according to any one of claims 1-6.

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