A vehicle lane-changing control method, device, equipment and storage medium

Abstract

Embodiments of the present application disclose a vehicle lane changing control method, device, equipment and storage medium, wherein the method comprises: determining at least one target lane vehicle on a target lane, and obtaining lane vehicle driving state information of the target lane vehicle; determining a safety distance reference threshold according to the lane vehicle driving state information and driving state information of a current control vehicle; performing lane changing safety analysis between the target lane vehicle and the current control vehicle based on the safety distance reference threshold, and determining a lane changing safety analysis result; and controlling the current control vehicle to perform road switching according to the lane changing safety analysis result. The technical solution of the embodiments of the present application solves the problem of the prior art that lane changing analysis is performed based on vehicle relative speed and a preset vehicle distance, the analysis accuracy is not high, and the vehicle lane changing safety is poor, and can determine a safe vehicle distance according to vehicle driving state, improve lane changing analysis accuracy and lane changing safety.

Description

Technical Field

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

[0002] Lane changing is a high-risk driving behavior, and in complex traffic conditions, this function can easily cause traffic accidents. Although existing lane changing technology can determine whether to change lanes based on the relative speed between the target vehicle and other vehicles and the preset distance, the judgment criteria based on relative speed and preset distance are too simplistic to effectively assess the safety of lane changing. Summary of the Invention

[0003] This invention provides a vehicle lane-changing control method, device, equipment, and storage medium, which can determine a safe following distance based on the vehicle's driving status, thereby improving the accuracy of lane-changing analysis and lane-changing safety.

[0004] In a first aspect, embodiments of the present invention provide a vehicle lane-changing control method, the method comprising:

[0005] Identify at least one vehicle in the target lane and obtain the lane vehicle driving status information of the target lane vehicle;

[0006] A safe distance reference threshold is determined based on the lane vehicle driving status information and the driving status information of the currently controlled vehicle;

[0007] Based on the safe distance reference threshold, a lane-changing safety analysis is performed between the target lane vehicle and the currently controlled vehicle to determine the lane-changing safety analysis result.

[0008] Based on the lane change safety analysis results, the currently controlled vehicle is controlled to perform a road switch.

[0009] In a second aspect, embodiments of the present invention provide a vehicle lane-changing control device, the device comprising:

[0010] The target lane vehicle determination module is used to determine at least one target lane vehicle in the target lane and obtain the lane vehicle driving status information of the target lane vehicle.

[0011] The safe distance reference threshold determination module is used to determine the safe distance reference threshold based on the lane vehicle driving status information and the driving status information of the currently controlled vehicle;

[0012] The lane change safety analysis result determination module is used to perform lane change safety analysis between the target lane vehicle and the currently controlled vehicle based on the safe distance reference threshold, and determine the lane change safety analysis result.

[0013] The vehicle lane change control module is used to control the currently controlled vehicle to perform a road switch based on the lane change safety analysis results.

[0014] Thirdly, embodiments of the present invention provide a computer device, the computer device comprising:

[0015] One or more processors;

[0016] Memory, used to store one or more programs;

[0017] When the one or more programs are executed by the one or more processors, the one or more processors implement the vehicle lane change control method described in any embodiment.

[0018] Fourthly, embodiments of the present invention provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the vehicle lane-changing control method described in any embodiment.

[0019] The technical solution provided by this invention involves identifying at least one vehicle in a target lane and acquiring the driving status information of the target lane vehicle; determining a safe distance reference threshold based on the driving status information of the target lane vehicle and the driving status information of the currently controlled vehicle; performing lane-changing safety analysis between the target lane vehicle and the currently controlled vehicle based on the safe distance reference threshold, and determining the lane-changing safety analysis result; and controlling the currently controlled vehicle to perform a road switch based on the lane-changing safety analysis result. This invention solves the problem that existing technologies, which rely on relative vehicle speed and preset vehicle distances for lane-changing analysis, suffer from low accuracy and poor lane-changing safety. It determines the safe distance based on the vehicle's driving status, improving both the accuracy and safety of lane-changing analysis. Attached Figure Description

[0020] Figure 1 This is a flowchart of a vehicle lane-changing control method provided in an embodiment of the present invention;

[0021] Figure 2 This is a flowchart of another vehicle lane-changing control method provided in an embodiment of the present invention;

[0022] Figure 3 This is a schematic diagram of vehicle position relationships provided in an embodiment of the present invention;

[0023] Figure 4 This is a schematic diagram illustrating the positional relationship between the vehicle and the vehicle behind it, provided by an embodiment of the present invention.

[0024] Figure 5 This is a schematic diagram illustrating the positional relationship between the vehicle and the vehicle in front, provided by an embodiment of the present invention.

[0025] Figure 6 This is a schematic diagram of the structure of a vehicle lane-changing control device provided in an embodiment of the present invention;

[0026] Figure 7 This is a schematic diagram of the structure of a computer device provided in an embodiment of the present invention. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] Figure 1 This is a flowchart of a vehicle lane-changing control method provided by an embodiment of the present invention. The embodiment of the present invention can be applied to scenarios where moving vehicles automatically switch lanes. The method can be executed by a vehicle lane-changing control device, which can be implemented by software and / or hardware.

[0029] like Figure 1 As shown, a vehicle lane-changing control method includes the following steps:

[0030] S110. Determine at least one target lane vehicle in the target lane and obtain the lane vehicle driving status information of the target lane vehicle.

[0031] The target lane can be the lane the vehicle needs to switch to. The target lane can be selected by the vehicle's infotainment system or determined manually. The target lane vehicle can be any vehicle in the target lane that needs to undergo lane-changing safety analysis with the vehicle currently being controlled. Specifically, for overall safety considerations around the vehicle, the closest vehicles behind and in front of the currently controlling vehicle in the target lane can be designated as target lane vehicles. The currently controlling vehicle can be the vehicle currently being controlled that needs to perform a lane-changing operation.

[0032] Lane vehicle driving status information can be information related to the driving status of vehicles in the target lane. For example, lane vehicle driving status information may include the speed of vehicles in the target lane and the distance between the target lane vehicle and the currently controlling vehicle. Specifically, lane vehicle driving status information can be obtained from onboard sensors on the currently controlling vehicle.

[0033] S120. Determine a safe distance reference threshold based on the lane vehicle driving status information and the driving status information of the currently controlled vehicle.

[0034] The safe distance threshold after a lane change can be considered a reference distance threshold that the currently controlled vehicle should maintain with respect to vehicles in the target lane when changing lanes. Specifically, the safe distance threshold after a lane change includes both the safe distance threshold for the vehicle following the lane change and the safe distance threshold for the vehicle preceding the lane change. The safe distance threshold for the vehicle following the lane change can be considered a reference distance threshold that the currently controlled vehicle should maintain with respect to vehicles behind it when changing lanes; the safe distance threshold for the vehicle preceding the lane change can be considered a reference distance threshold that the currently controlled vehicle should maintain with respect to vehicles in front of it when changing lanes.

[0035] The safe distance reference threshold can be determined based on the lane vehicle driving status information and the driving status information of the currently controlled vehicle. Specifically, the safe distance threshold for the vehicle ahead in a lane change can be determined based on the speed of the vehicle ahead and the speed of the currently controlled vehicle. Furthermore, the safe distance threshold for the vehicle ahead in a lane change is also related to the vehicle's own attribute information and the angle formed between the currently controlled vehicle and the target lane. By determining the safe distance reference threshold based on the lane vehicle driving status information and the driving status information of the currently controlled vehicle, the current safe distance threshold can be dynamically determined based on these information. This facilitates subsequent analysis of lane change safety based on the safe distance reference threshold, improving the accuracy and safety of lane change analysis.

[0036] S130. Based on the safe distance reference threshold, perform lane-changing safety analysis between the target lane vehicle and the currently controlled vehicle, and determine the lane-changing safety analysis result.

[0037] The lane change safety analysis result can be the result of analyzing the overall safety of the vehicle's surroundings when the currently controlled vehicle changes lanes. Specifically, the lane change safety analysis can be performed between the target lane vehicle and the currently controlled vehicle based on the safety distance thresholds for the vehicle after the lane change and the safety distance thresholds for the vehicle before the lane change, to determine the lane change safety analysis result.

[0038] For example, lane-change safety analysis can be performed between the vehicle behind and the currently controlled vehicle based on a safe distance threshold for the vehicle after a lane change. When the distance between the vehicle behind and the currently controlled vehicle is greater than the safe distance threshold for the vehicle after a lane change, it can be determined that there is good lane-change safety behind the currently controlled vehicle. Similarly, lane-change safety analysis can be performed between the vehicle in front and the currently controlled vehicle based on a safe distance threshold for the vehicle in front. When the distance between the vehicle in front and the currently controlled vehicle is greater than the safe distance threshold for the vehicle in front, it can be determined that there is good lane-change safety ahead of the currently controlled vehicle.

[0039] S140. Based on the lane change safety analysis results, control the currently controlled vehicle to perform a road switch.

[0040] Specifically, when determining whether to control the currently controlled vehicle to perform a road change operation, the decision can be based on the lane change safety analysis results. Specifically, this can be determined by combining the lane change safety analysis results in front of and behind the currently controlled vehicle. For example, if the lane change safety analysis results show that there is good lane change safety both in front of and behind the currently controlled vehicle, then the currently controlled vehicle will be controlled to perform a road change operation; if the lane change safety analysis results show that there is no good lane change safety in front of or behind the currently controlled vehicle, then the currently controlled vehicle will not be controlled to perform a road change.

[0041] The technical solution provided by this invention involves identifying at least one vehicle in a target lane and acquiring its driving status information; determining a safe distance reference threshold based on the driving status information and the driving status information of the currently controlled vehicle; performing lane-changing safety analysis between the target lane vehicle and the currently controlled vehicle based on the safe distance reference threshold, and determining the lane-changing safety analysis result; and controlling the currently controlled vehicle to perform a road switch based on the lane-changing safety analysis result. This invention solves the problem that existing technologies, which rely on relative vehicle speed and preset vehicle distances for lane-changing analysis, suffer from low accuracy and poor lane-changing safety. It determines the safe distance based on the vehicle's driving status, improving both the accuracy and safety of lane-changing analysis.

[0042] Figure 2 This is a flowchart of another vehicle lane-changing control method provided by an embodiment of the present invention. This embodiment is applicable to scenarios where moving vehicles automatically change lanes. Based on the above embodiments, this embodiment further explains how to determine at least one target lane vehicle in the target lane; how to determine a safe distance reference threshold based on the lane vehicle's driving status information and the driving status information of the currently controlled vehicle; how to perform lane-changing safety analysis between the target lane vehicle and the currently controlled vehicle based on the safe distance reference threshold, and determine the lane-changing safety analysis result; and how to control the currently controlled vehicle to perform a lane change based on the lane-changing safety analysis result. This device can be implemented by software and / or hardware and integrated into a computer device with application development capabilities.

[0043] like Figure 2 As shown, a vehicle lane-changing control method includes the following steps:

[0044] S210. The vehicles behind and in front of the target vehicle that are closest to the currently controlled vehicle in the target lane are identified as target lane vehicles, and the lane vehicle driving status information of the target lane vehicles is obtained.

[0045] The target lane can be the lane the vehicle needs to switch to. The target lane can be selected by the vehicle's infotainment system or determined manually. The currently controlling vehicle can be the vehicle currently being controlled and requiring a lane-changing operation. The target lane vehicle can be the vehicle in the target lane that needs to undergo lane-changing safety analysis with the preceding controlled vehicle. Lane vehicle driving status information can be information related to the driving status of the target lane vehicle. For example, lane vehicle driving status information can include the target lane vehicle's speed and the distance between the target lane vehicle and the currently controlling vehicle. Specifically, lane vehicle driving status information can be obtained from onboard sensors on the currently controlling vehicle.

[0046] The vehicle behind can be the vehicle in the target lane that is behind the currently controlled vehicle and is the closest to it; similarly, the vehicle in front can be the vehicle in the target lane that is in front of the currently controlled vehicle and is the closest to it. By treating the vehicles behind and in front as vehicles in the target lane, the safety of lane changing ahead and behind the currently controlled vehicle can be analyzed separately, thereby improving the safety of lane changing.

[0047] For example, Figure 3 This is a schematic diagram of vehicle position relationships provided in an embodiment of the present invention, wherein the vehicle marked "VZ" is the currently controlled vehicle, the vehicle marked "VQ" is the vehicle in front, the vehicle marked "VH" is the vehicle behind, and the direction of the arrow indicates the vehicle's driving direction.

[0048] For example, Figure 4 This is a schematic diagram of the positional relationship between the vehicle and the vehicle behind it, provided by an embodiment of the present invention. The vehicle marked "VZ" is the currently controlled vehicle, the vehicle marked "VH" is the vehicle behind it, the direction of the arrow indicates the direction of vehicle travel, and the angle formed between the currently controlled vehicle and the target lane is φ.

[0049] For example, Figure 5 This is a schematic diagram of the positional relationship between the vehicle and the vehicle in front provided by an embodiment of the present invention. The vehicle marked "VZ" is the currently controlled vehicle, the vehicle marked "VQ" is the vehicle in front, the arrow direction indicates the vehicle's driving direction, and the angle formed between the currently controlled vehicle and the target lane is φ.

[0050] S220. Determine the safe distance threshold for the vehicle after lane change based on the speed of the vehicle behind and the speed of the currently controlled vehicle.

[0051] The safe distance threshold after a lane change can be considered a reference distance that the currently controlled vehicle should maintain from vehicles behind it when changing lanes. Specifically, the safe distance threshold after a lane change can be determined based on the speed of the vehicles behind and the speed of the currently controlled vehicle. Furthermore, the safe distance threshold after a lane change is also related to the vehicle's own attribute information and the angle formed between the currently controlled vehicle and the target lane.

[0052] S230. Determine the safe distance threshold for the vehicle ahead based on the speed of the vehicle ahead and the speed of the currently controlled vehicle.

[0053] The lane-changing safe distance threshold can be considered a reference distance that the currently controlled vehicle should maintain when changing lanes. Specifically, the lane-changing safe distance threshold can be determined based on the speed of the vehicle ahead and the speed of the currently controlled vehicle. Furthermore, the lane-changing safe distance threshold is also related to the vehicle's own attributes and the angle between the currently controlled vehicle and the target lane.

[0054] S240. Based on the safe distance threshold after lane change, perform lane change safety analysis between the rear vehicle and the currently controlled vehicle to obtain the lane change safety analysis result.

[0055] The lane change safety analysis results can be the outcome of an analysis of the safety of the vehicle behind when it changes lanes. This analysis can be performed based on a safe distance threshold between the vehicle behind and the currently controlled vehicle, yielding the lane change safety analysis results. Specifically, the vehicles can be categorized according to their speed relative to the vehicle behind, and appropriate safety analyses can be conducted for each scenario.

[0056] For example, when the speed of the vehicle behind is greater than the speed of the currently controlled vehicle, a lane change safety analysis is performed between the vehicle behind and the currently controlled vehicle based on a first lane change rear vehicle safety distance threshold, resulting in a first lane change rear safety analysis result; when the speed of the vehicle behind is less than the speed of the currently controlled vehicle, a lane change safety analysis is performed between the vehicle behind and the currently controlled vehicle based on a second lane change rear vehicle safety distance threshold, resulting in a second lane change rear safety analysis result.

[0057] The safe distance threshold after a lane change includes a first safe distance threshold and a second safe distance threshold. The first safe distance threshold can be a distance threshold used for safety analysis when the speed of the vehicle behind is greater than the speed of the currently controlled vehicle; similarly, the second safe distance threshold can be a distance threshold used for safety analysis when the speed of the vehicle behind is less than the speed of the currently controlled vehicle.

[0058] When the speed of the vehicle behind is lower than the speed of the currently controlled vehicle, the distance between the two vehicles will continuously increase when the currently controlled vehicle changes lanes. Lane changes in this situation are relatively safe, therefore a lower safety distance threshold is permissible. However, when the speed of the vehicle behind is higher than the speed of the currently controlled vehicle, the distance between the two vehicles will continuously decrease when the currently controlled vehicle changes lanes, increasing the risk factor. Therefore, a higher safety distance threshold is required. Thus, the safety distance threshold after the first lane change is greater than the safety distance threshold after the second lane change.

[0059] By classifying the vehicles behind and the currently controlled vehicle according to their speed relationship, corresponding safety analyses can be performed for different situations, thereby improving the effectiveness and accuracy of lane-changing safety analysis.

[0060] To further enhance rear safety during lane changes, a larger additional value can be added to the initial safe distance threshold. Then, when the speed of the vehicle behind is greater than the speed of the currently controlled vehicle, and the distance between the two vehicles is greater than the initial safe distance threshold, a secondary safety analysis can be performed based on this additional value. If the distance between the vehicle behind and the currently controlled vehicle is greater than the initial safe distance threshold but less than the additional value, it can be determined that there is good lane change safety behind the currently controlled vehicle. If the distance between the vehicle behind and the currently controlled vehicle is greater than the initial safe distance threshold but less than the additional value, it can be determined that there is excellent lane change safety behind the currently controlled vehicle.

[0061] Correspondingly, an additional value for the second lane-change rear vehicle safety distance threshold, larger than the initial second lane-change rear vehicle safety distance threshold, can be added. When the speed of the vehicle behind is greater than the speed of the currently controlled vehicle, and the distance between the rear vehicle and the currently controlled vehicle is greater than the second lane-change rear vehicle safety distance threshold, a secondary safety analysis of the distance between the two vehicles can be performed based on the additional value. When the distance between the rear vehicle and the currently controlled vehicle is greater than the initial second lane-change rear vehicle safety distance threshold but less than the additional value, it can be determined that there is good lane-change safety behind the currently controlled vehicle. When the distance between the rear vehicle and the currently controlled vehicle is greater than the additional value, it can be determined that there is very good lane-change safety behind the currently controlled vehicle.

[0062] Specifically, the distance between the vehicle behind and the currently controlled vehicle can be calculated using the following formula:

[0063] ;

[0064] in, , , Denotes the coefficients of the equation. This indicates the vehicle before changing lanes. The vertical position, Indicates the vehicle following in the target lane before changing lanes. The vertical position.

[0065] When the speed of the vehicle behind is greater than the speed of the currently controlled vehicle, the formula for calculating the safe distance threshold after the first lane change is as follows:

[0066] ;

[0067] in, Indicates the speed of the vehicle following in the target lane. This indicates the vehicle's speed. Indicates lane change duration. Indicates the width of this vehicle. This indicates the angle between the vehicle body and the lane line, assuming it remains constant during lane changing. Indicates following distance. Indicates the minimum safe distance. Indicates braking lag time. It is the time for the braking deceleration to increase. This indicates the maximum braking deceleration of the vehicle.

[0068] The formula for calculating the additional safety distance threshold after the first lane change is as follows:

[0069] ;

[0070] Accordingly, when the speed of the vehicle behind is less than the speed of the currently controlled vehicle, the formula for calculating the safe distance threshold after the second lane change is as follows:

[0071] ;

[0072] in, This indicates the relative speed between the vehicle behind and the currently controlled vehicle. Indicates the safe time threshold. Indicates the minimum safe distance;

[0073] The formula for calculating the additional safety distance threshold after a second lane change is shown below:

[0074] ;

[0075] S250. Based on the safe distance threshold of the vehicle ahead, a lane-changing safety analysis is performed between the vehicle ahead and the currently controlled vehicle to obtain the lane-changing safety analysis results.

[0076] The lane change safety analysis result can be the result of analyzing the safety ahead when the currently controlled vehicle changes lanes. It can be based on a safe distance threshold between the vehicle ahead and the currently controlled vehicle to perform a lane change safety analysis, thus obtaining the result. Specifically, it can be categorized according to the speed relationship between the vehicle ahead and the currently controlled vehicle, and corresponding safety analyses can be performed for different situations.

[0077] For example, when the speed of the vehicle in front is greater than the speed of the currently controlled vehicle, a lane change safety analysis is performed between the lane vehicle and the currently controlled vehicle based on a first lane change safety distance threshold, resulting in a first lane change safety analysis result; when the speed of the vehicle in front is less than the speed of the currently controlled vehicle, a lane change safety analysis is performed between the lane vehicle and the currently controlled vehicle based on a second lane change safety distance threshold, resulting in a second lane change safety analysis result.

[0078] The safe distance threshold for the vehicle ahead in lane changing includes a first safe distance threshold and a second safe distance threshold for the vehicle ahead in lane changing. The first safe distance threshold can be a distance threshold used for safety analysis when the speed of the vehicle ahead is greater than the speed of the currently controlled vehicle; similarly, the second safe distance threshold can be a distance threshold used for safety analysis when the speed of the vehicle ahead is less than the speed of the currently controlled vehicle.

[0079] When the vehicle ahead is traveling faster than the currently controlled vehicle, the distance between the two vehicles will continuously increase when the currently controlled vehicle changes lanes. Lane changes in this situation are relatively safe, therefore a lower safety distance threshold is permissible. Conversely, when the vehicle ahead is traveling slower than the currently controlled vehicle, the distance between the two vehicles will continuously decrease when the currently controlled vehicle changes lanes, increasing the risk factor. Therefore, a higher safety distance threshold is required. Thus, the safety distance threshold for the vehicle ahead in the first lane change is lower than the safety distance threshold for the vehicle ahead in the second lane change.

[0080] By classifying the vehicles based on their speeds relative to the vehicle currently in control, and conducting corresponding safety analyses for different situations, lane-changing safety analyses can be performed under various circumstances, improving the effectiveness and accuracy of lane-changing safety analysis.

[0081] To further enhance forward safety when the currently controlled vehicle changes lanes, a higher additional value can be added to the initial safe distance threshold. When the speed of the vehicle ahead is greater than the speed of the currently controlled vehicle, and the distance between the two vehicles is greater than the initial safe distance threshold, a secondary safety analysis can be performed based on this additional value. If the distance between the two vehicles is greater than the initial safe distance threshold but less than the additional value, a good lane-changing safety level can be determined for the currently controlled vehicle. If the distance between the two vehicles is greater than the initial safe distance threshold but less than the additional value, a very good lane-changing safety level can be determined for the currently controlled vehicle.

[0082] Correspondingly, an additional value for the second lane-changing safe distance threshold, larger than the initial second lane-changing safe distance threshold, can be added. When the speed of the vehicle ahead is greater than the speed of the currently controlled vehicle, and the distance between the vehicle ahead and the currently controlled vehicle is greater than the second lane-changing safe distance threshold, a secondary safety analysis of the distance between the two vehicles can be performed based on the additional value. When the distance between the vehicle ahead and the currently controlled vehicle is greater than the initial second lane-changing safe distance threshold but less than the additional value, it can be determined that there is good lane-changing safety ahead of the currently controlled vehicle. When the distance between the vehicle ahead and the currently controlled vehicle is greater than the additional value, it can be determined that there is very good lane-changing safety ahead of the currently controlled vehicle.

[0083] When the speed of the vehicle ahead is greater than the speed of the currently controlled vehicle, the formula for calculating the safe distance threshold for the first lane-changing vehicle is as follows:

[0084] ;

[0085] in, This indicates the relative speed between the vehicle behind and the currently controlled vehicle. Indicates the safe time threshold. Indicates the minimum safe distance;

[0086] The formula for calculating the additional safety distance threshold for the vehicle ahead of the first lane change is as follows:

[0087] ;

[0088] Accordingly, when the speed of the vehicle ahead is less than the speed of the currently controlled vehicle, the formula for calculating the safe distance threshold for the second lane change ahead is as follows:

[0089] ;

[0090] in, Indicates the vehicle in front of the target lane before changing lanes. The vertical position, The speed of the vehicle ahead in the target lane, This indicates the maximum braking deceleration of the vehicle.

[0091] The formula for calculating the additional safety distance threshold for the vehicle ahead in the second lane change is as follows:

[0092] ;

[0093] S260. Determine the lane change safety analysis result based on the safety analysis result behind the lane change and the safety analysis result ahead of the lane change.

[0094] The lane change safety analysis result can be the result of an overall safety analysis of the area before and after the lane change. The lane change safety analysis result can be determined by a combination of the safety analysis results after and before the lane change. By determining the lane change safety analysis result, it is convenient to conduct an overall safety analysis from both before and after the lane change, thereby determining whether to execute the lane change operation.

[0095] S270. Determine the lane change safety assessment score based on the lane change safety analysis results.

[0096] The lane change safety assessment score is a score that evaluates the safety of the currently controlled vehicle during a lane change. Specifically, the lane change safety assessment score can be determined based on the lane change safety analysis results. For example, lane change safety assessments can be conducted from the perspectives of safety ahead of the lane change and safety behind the lane change, and corresponding lane change safety assessment scores can be assigned based on different situations shown in the safety analysis results.

[0097] For example, if the speed of the vehicle ahead is greater than the speed of the currently controlled vehicle, and the distance between the vehicle ahead and the currently controlled vehicle is greater than the first lane-changing safe distance threshold, the lane-changing safety assessment score can be incremented by one. If the distance between the vehicle ahead and the currently controlled vehicle is also greater than the additional value of the first lane-changing safe distance threshold, the lane-changing safety assessment score can be incremented by one again. Similarly, if the speed of the vehicle ahead is less than the speed of the currently controlled vehicle, and the distance between the vehicle ahead and the currently controlled vehicle is greater than the second lane-changing safe distance threshold, the lane-changing safety assessment score can be incremented by one. If the distance between the vehicle ahead and the currently controlled vehicle is also greater than the additional value of the second lane-changing safe distance threshold, the lane-changing safety assessment score can be incremented by one again.

[0098] Correspondingly, if the speed of the vehicle behind is greater than the speed of the currently controlled vehicle, and the distance between the vehicle behind and the currently controlled vehicle is greater than the first lane-changing safe distance threshold, the lane-changing safety assessment score can be incremented by one. If the distance between the vehicle behind and the currently controlled vehicle is also greater than the additional value of the first lane-changing safe distance threshold, the lane-changing safety assessment score can be incremented by one. Similarly, if the speed of the vehicle behind is less than the speed of the currently controlled vehicle, and the distance between the vehicle behind and the currently controlled vehicle is greater than the second lane-changing safe distance threshold, the lane-changing safety assessment score can be incremented by one. If the distance between the vehicle behind and the currently controlled vehicle is also greater than the additional value of the second lane-changing safe distance threshold, the lane-changing safety assessment score can be incremented by one.

[0099] By assessing the safety of the current vehicle's lane-changing process and determining a lane-changing safety assessment score, the safety of the lane-changing process can be more intuitively reflected. This makes it easier to determine whether it is appropriate to perform a lane-changing maneuver afterward based on the lane-changing assessment score, thereby improving the intuitiveness and effectiveness of the safety analysis during the lane-changing process.

[0100] S280. The lane change safety assessment score is compared with the preset lane change safety reference score, and the vehicle lane change control result is determined based on the comparison result.

[0101] The preset lane-change safety reference score can be a pre-defined reference score for assessing lane-change safety. Based on the comparison between the lane-change safety assessment score and the preset lane-change safety reference score, it can be indirectly determined whether the vehicle's lane-change safety meets a certain standard, thereby determining whether to perform the lane-change operation. The vehicle lane-change control result can be the final determination of whether to perform the lane-change operation, and this result can be determined based on the comparison between the lane-change safety assessment score and the preset lane-change safety reference score.

[0102] For example, when the safety assessment score is less than the preset safe reference score, the lane change control result can be determined as not performing a lane change operation; when the safe assessment score is greater than or equal to the preset safe reference score, the lane change control result can be determined as performing a lane change operation. For instance, it can be determined whether the lane change safety assessment score is ≥3. If it is, the lane change clearance is considered to meet the requirements, and a lane change can be performed; if the lane change safety assessment score is <3, the lane change clearance is considered to not meet the requirements, and for safety reasons, a lane change cannot be performed.

[0103] The technical solution provided by this invention involves: using the vehicles closest to the currently controlled vehicle in the target lane as target lane vehicles, and acquiring their lane vehicle driving status information; determining a safe distance threshold for the vehicle after a lane change based on the speeds of the vehicles behind and the currently controlled vehicle; determining a safe distance threshold for the vehicle before a lane change based on the speeds of the vehicles ahead and the currently controlled vehicle; performing a lane change safety analysis between the vehicles behind and the currently controlled vehicle based on the safe distance thresholds for the vehicles after a lane change, obtaining a lane change safety analysis result; performing a lane change safety analysis between the vehicles ahead and the currently controlled vehicle based on the safe distance thresholds for the vehicles before a lane change, obtaining a lane change safety analysis result for the vehicle ahead; determining a lane change safety analysis result based on the lane change safety analysis results for the vehicles behind and the vehicle ahead; determining a lane change safety assessment score based on the lane change safety analysis results; comparing the lane change safety assessment score with a preset lane change safety reference score, and determining the vehicle lane change control result based on the comparison result. The technical solution of this invention solves the problem that the existing technology, which analyzes lane changes based on relative vehicle speed and preset vehicle distance, has low accuracy and results in poor lane change safety. It can determine the safe distance based on the vehicle's driving status, thereby improving the accuracy of lane change analysis and lane change safety.

[0104] Figure 6 This is a schematic diagram of a vehicle lane-changing control device provided in an embodiment of the present invention. The embodiment of the present invention can be applied to scenarios where moving vehicles automatically switch lanes. The device can be implemented by software and / or hardware and integrated into a computer device with application development capabilities.

[0105] like Figure 6 As shown, the vehicle lane change control device includes: a target lane vehicle determination module 310, a safe distance reference threshold determination module 320, a lane change safety analysis result determination module 330, and a vehicle lane change control module 340.

[0106] The system includes: a target lane vehicle determination module 310, used to determine at least one target lane vehicle in a target lane and acquire the lane vehicle driving status information of the target lane vehicle; a safe distance reference threshold determination module 320, used to determine a safe distance reference threshold based on the lane vehicle driving status information and the driving status information of the currently controlled vehicle; a lane change safety analysis result determination module 330, used to perform lane change safety analysis between the target lane vehicle and the currently controlled vehicle based on the safe distance reference threshold and determine the lane change safety analysis result; and a vehicle lane change control module 340, used to control the currently controlled vehicle to perform a road switch based on the lane change safety analysis result.

[0107] The technical solution provided by this invention involves identifying at least one vehicle in a target lane and acquiring the driving status information of the target lane vehicle; determining a safe distance reference threshold based on the driving status information of the target lane vehicle and the driving status information of the currently controlled vehicle; performing lane-changing safety analysis between the target lane vehicle and the currently controlled vehicle based on the safe distance reference threshold, and determining the lane-changing safety analysis result; and controlling the currently controlled vehicle to perform a road switch based on the lane-changing safety analysis result. This invention solves the problem that existing technologies, which rely on relative vehicle speed and preset vehicle distances for lane-changing analysis, suffer from low accuracy and poor lane-changing safety. It determines the safe distance based on the vehicle's driving status, improving both the accuracy and safety of lane-changing analysis.

[0108] In one optional implementation, the target lane vehicles include vehicles behind and vehicles in front of the target lane, and the safe distance reference threshold determination module 320 is specifically used to: determine a safe distance threshold for the vehicle after lane change based on the driving speed of the vehicle behind and the driving speed of the currently controlled vehicle; and determine a safe distance threshold for the vehicle in front of lane change based on the driving speed of the vehicle in front and the driving speed of the currently controlled vehicle.

[0109] In one optional implementation, the lane change safety analysis result determination module 330 is specifically used to: perform lane change safety analysis between the rear vehicle and the currently controlled vehicle based on the rear vehicle safety distance threshold to obtain a lane change rear safety analysis result; perform lane change safety analysis between the front vehicle and the currently controlled vehicle based on the front vehicle safety distance threshold to obtain a lane change front safety analysis result; and determine the lane change safety analysis result based on the rear lane change safety analysis result and the front lane change safety analysis result.

[0110] In one optional implementation, the lane change safety analysis result determination module 330 includes: a lane change rear safety analysis result determination unit, configured to: perform lane change safety analysis between the rear vehicle and the currently controlled vehicle based on a first lane change rear vehicle safety distance threshold when the speed of the rear vehicle is greater than the speed of the currently controlled vehicle, to obtain a first lane change rear safety analysis result; and perform lane change safety analysis between the rear vehicle and the currently controlled vehicle based on a second lane change rear vehicle safety distance threshold when the speed of the rear vehicle is less than the speed of the currently controlled vehicle, to obtain a second lane change rear safety analysis result.

[0111] In an optional implementation, the lane change safety analysis result determination module 330 further includes: a lane change forward safety analysis result determination unit, configured to: perform lane change safety analysis between the lane vehicle and the currently controlled vehicle based on a first lane change forward vehicle safety distance threshold when the speed of the vehicle ahead is greater than the speed of the currently controlled vehicle, to obtain a first lane change forward safety analysis result; and perform lane change safety analysis between the lane vehicle and the currently controlled vehicle based on a second lane change forward vehicle safety distance threshold when the speed of the vehicle ahead is less than the speed of the currently controlled vehicle, to obtain a second lane change forward safety analysis result.

[0112] In one optional implementation, the vehicle lane change control module 340 is specifically used to: determine a lane change safety assessment score based on the lane change safety analysis result; compare the lane change safety assessment score with a preset lane change safety reference score; and determine the vehicle lane change control result based on the comparison result.

[0113] In one optional implementation, the target lane vehicle determination module 310 is specifically used to: determine a lane change safety assessment score based on the lane change safety analysis result; compare the lane change safety assessment score with a preset lane change safety reference score; and determine the vehicle lane change control result based on the comparison result.

[0114] The vehicle lane change control device provided in the embodiments of the present invention can execute the vehicle lane change control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the method execution.

[0115] Figure 7 This is a schematic diagram of the structure of a computer device provided in an embodiment of the present invention. Figure 7 A block diagram of an exemplary computer device 12 suitable for implementing embodiments of the present invention is shown. Figure 7The computer device 12 shown is merely an example and should not be construed as limiting the functionality or scope of the embodiments of the present invention. The computer device 12 can be any terminal device with computing capabilities and can be integrated into a vehicle lane change control device.

[0116] like Figure 7 As shown, the computer device 12 is represented in the form of a general-purpose computing device. The components of the computer device 12 may include, but are not limited to: one or more processors or processing units 16, system memory 28, and bus 18 connecting different system components (including system memory 28 and processing unit 16).

[0117] Bus 18 can be one or more of several bus architectures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of the various bus architectures. For example, these architectures include, but are not limited to, the Industry Standard Architecture (ISA) bus, the Micro Channel Architecture (MAC) bus, the Enhanced ISA bus, the Video Electronics Standards Association (VESA) local bus, and the Peripheral Component Interconnect (PCI) bus.

[0118] Computer device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by computer device 12, including volatile and non-volatile media, removable and non-removable media.

[0119] System memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache 32. Computer device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 34 may be used to read and write non-removable, non-volatile magnetic media (… Figure 7 Not shown; usually referred to as a "hard drive"). Although Figure 7 Not shown, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk") and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 via one or more data media interfaces. System memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of the embodiments of the present invention.

[0120] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in system memory 28. Such program modules 42 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment. Program modules 42 typically perform the functions and / or methods described in the embodiments of the present invention.

[0121] Computer device 12 can also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), and with one or more devices that enable a user to interact with the computer device 12, and / or with any device that enables the computer device 12 to communicate with one or more other computing devices (e.g., network card, modem, etc.). This communication can be performed via input / output (I / O) interface 22. Furthermore, computer device 12 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 20. As shown, network adapter 20 communicates with other modules of computer device 12 via bus 18. It should be understood that, although... Figure 7 As not shown, it can be used in conjunction with computer device 12 with other hardware and / or software modules, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0122] Processing unit 16 executes various functional applications and data processing by running programs stored in system memory 28, such as implementing the vehicle lane-changing control method provided in this embodiment, which includes:

[0123] Identify at least one vehicle in the target lane and obtain the lane vehicle driving status information of the target lane vehicle;

[0124] A safe distance reference threshold is determined based on the lane vehicle driving status information and the driving status information of the currently controlled vehicle;

[0125] Based on the safe distance reference threshold, a lane-changing safety analysis is performed between the target lane vehicle and the currently controlled vehicle to determine the lane-changing safety analysis result.

[0126] Based on the lane change safety analysis results, the currently controlled vehicle is controlled to perform a road switch.

[0127] This embodiment provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the vehicle lane-changing control method as provided in any embodiment of the present invention, including:

[0128] Identify at least one vehicle in the target lane and obtain the lane vehicle driving status information of the target lane vehicle;

[0129] A safe distance reference threshold is determined based on the lane vehicle driving status information and the driving status information of the currently controlled vehicle;

[0130] Based on the safe distance reference threshold, a lane-changing safety analysis is performed between the target lane vehicle and the currently controlled vehicle to determine the lane-changing safety analysis result.

[0131] Based on the lane change safety analysis results, the currently controlled vehicle is controlled to perform a road switch.

[0132] The computer storage medium of this invention can be any combination of one or more computer-readable media. A computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. A computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0133] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, capable of sending, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device.

[0134] Program code contained on a computer-readable medium may be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0135] Computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof. Programming languages ​​include object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0136] Those skilled in the art will understand that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. Optionally, they can be implemented using computer-executable program code, thereby allowing them to be stored in a storage device for execution by a computing device, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0137] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A vehicle lane-changing control method, characterized in that, include: The vehicles behind and in front of the currently controlled vehicle that are closest to the target lane are identified as vehicles in the target lane, and the lane vehicle driving status information of the target lane vehicles is obtained. The safe distance threshold for the vehicle after lane change is determined based on the speed of the vehicle behind and the speed of the currently controlled vehicle; wherein, the safe distance threshold for the vehicle after lane change includes a first safe distance threshold for the vehicle after lane change and a second safe distance threshold for the vehicle after lane change; the first safe distance threshold for the vehicle after lane change is greater than the second safe distance threshold for the vehicle after lane change. The safe distance threshold for the vehicle ahead is determined based on the speed of the vehicle ahead and the speed of the currently controlled vehicle. If the speed of the vehicle behind is greater than the speed of the currently controlled vehicle, and the distance between the vehicle behind and the currently controlled vehicle is greater than the first lane-change rear vehicle safety distance threshold, then a lane-change safety analysis is performed between the vehicle behind and the currently controlled vehicle based on the additional value of the first lane-change rear vehicle safety distance threshold to obtain the first lane-change rear safety analysis result; wherein, the additional value of the first lane-change rear vehicle safety distance threshold is greater than the first lane-change rear vehicle safety distance threshold. If the speed of the vehicle behind is less than the speed of the currently controlled vehicle, and the distance between the vehicle behind and the currently controlled vehicle is greater than the second lane-change rear vehicle safety distance threshold, then a lane-change safety analysis is performed between the vehicle behind and the currently controlled vehicle based on the additional value of the second lane-change rear vehicle safety distance threshold to obtain the second lane-change rear safety analysis result; wherein, the additional value of the second lane-change rear vehicle safety distance threshold is greater than the second lane-change rear vehicle safety distance threshold. Based on the safe distance threshold of the vehicle ahead, a lane-changing safety analysis is performed between the vehicle ahead and the currently controlled vehicle to obtain the lane-changing safety analysis result. The lane change safety analysis result is determined based on the safety analysis results behind the lane change and the safety analysis results ahead of the lane change; wherein, the safety analysis result behind the lane change is either the first safety analysis result behind the lane change or the second safety analysis result behind the lane change; Based on the lane change safety analysis results, the currently controlled vehicle is controlled to perform a road switch.

2. The method according to claim 1, characterized in that, The method of performing lane-changing safety analysis between the vehicle ahead and the currently controlled vehicle based on the safe distance threshold of the vehicle ahead, and obtaining the lane-changing safety analysis results, includes: When the speed of the vehicle ahead is greater than the speed of the currently controlled vehicle, a lane-changing safety analysis is performed between the lane vehicle and the currently controlled vehicle based on a first lane-changing safety distance threshold, and a first lane-changing safety analysis result is obtained. When the speed of the vehicle ahead is less than the speed of the currently controlled vehicle, a lane-changing safety analysis is performed between the lane vehicle and the currently controlled vehicle based on a second lane-changing ahead vehicle safety distance threshold, and a second lane-changing ahead safety analysis result is obtained.

3. The method according to claim 1, characterized in that, The step of controlling the currently controlled vehicle to perform a road switch based on the lane change safety analysis results includes: The lane change safety assessment score is determined based on the lane change safety analysis results. The lane change safety assessment score is compared with the preset lane change safety reference score. The lane change control result is determined based on the comparison result. The currently controlled vehicle is then controlled to perform a road switch based on the lane change control result.

4. A vehicle lane-changing control device, characterized in that, The device includes: The target lane vehicle determination module is used to identify the vehicles behind and in front of the currently controlled vehicle that are in the target lane and are closest to it as target lane vehicles, and to obtain the lane vehicle driving status information of the target lane vehicles. A safe distance reference threshold determination module is used to determine a safe distance threshold for a vehicle after a lane change based on the speed of the vehicle behind and the speed of the currently controlled vehicle; and to determine a safe distance threshold for a vehicle before a lane change based on the speed of the vehicle in front and the speed of the currently controlled vehicle; wherein the safe distance threshold for a vehicle after a lane change includes a first safe distance threshold for a vehicle after a lane change and a second safe distance threshold for a vehicle after a lane change; the first safe distance threshold for a vehicle after a lane change is greater than the second safe distance threshold for a vehicle after a lane change. The lane change safety analysis result determination module includes a lane change rear safety analysis result determination unit; The lane change rear safety analysis result determination unit is configured to: when the speed of the following vehicle is greater than the speed of the currently controlled vehicle, if the distance between the following vehicle and the currently controlled vehicle is greater than the first lane change rear vehicle safety distance threshold, then perform a lane change safety analysis between the following vehicle and the currently controlled vehicle based on an additional value to the first lane change rear vehicle safety distance threshold, to obtain a first lane change rear safety analysis result; when the speed of the following vehicle is less than the speed of the currently controlled vehicle, if the distance between the following vehicle and the currently controlled vehicle is greater than the second lane change rear vehicle safety distance threshold, then perform a lane change safety analysis between the following vehicle and the currently controlled vehicle based on an additional value to the second lane change rear vehicle safety distance threshold, to obtain a second lane change rear safety analysis result; wherein, the additional value to the first lane change rear vehicle safety distance threshold is greater than the first lane change rear vehicle safety distance threshold; and the additional value to the second lane change rear vehicle safety distance threshold is greater than the second lane change rear vehicle safety distance threshold. The lane change safety analysis result determination module is specifically used for: performing lane change safety analysis between the vehicle ahead and the currently controlled vehicle based on the safe distance threshold of the vehicle ahead, to obtain a lane change forward safety analysis result; and determining a lane change safety analysis result based on the lane change backward safety analysis result and the lane change forward safety analysis result; wherein, the lane change backward safety analysis result is either the first lane change backward safety analysis result or the second lane change backward safety analysis result; The vehicle lane change control module is used to control the currently controlled vehicle to perform a road switch based on the lane change safety analysis results.

5. A computer device, characterized in that, The computer device includes: One or more processors; Memory, used to store one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the vehicle lane change control method as described in any one of claims 1-3.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the vehicle lane change control method as described in any one of claims 1-3.

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