Vehicle lane changing control method, device, equipment and storage medium

Abstract

This invention belongs to the field of autonomous driving technology and discloses a vehicle lane change control method, device, equipment, and storage medium. This application detects the forward lane change space margin of the target lane corresponding to the high-speed lane change request when a high-speed lane change request is detected. If the forward lane change space margin is greater than a preset lane change space threshold, a reference vehicle is selected from the backward lane change space in the target lane. When the longitudinal distance between the reference vehicle and the main vehicle is less than the original lane change threshold but greater than or equal to the lane change attempt threshold, the main vehicle is controlled to slowly approach the lane line, and the speed of the reference vehicle is obtained. If the speed is less than the speed of the main vehicle, the main vehicle is controlled to change lanes to the target lane. Because it attempts to slowly approach the lane line when the longitudinal distance is between the original lane change threshold and the lane change attempt threshold, and further judges based on the speed before executing the lane change, the requirement for backward lane change space for automatic lane changing is reduced.

Description

Technical Field

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

[0002] With the development of autonomous driving technology, some mass-produced models are now equipped with highway navigation assistance functions. However, although current vehicles can automatically change lanes on closed highways, the requirements for lane changing conditions are stringent. They often require a rearward lane-changing space of 2-3 times the vehicle length to make an automatic lane change. As a result, in actual driving scenarios with slightly heavy traffic, the vehicle often cannot complete the autonomous lane change and requires frequent human intervention, which affects the driving experience and the actual use effect is not ideal.

[0003] The above content is only used to help understand the technical solution of the present invention and does not represent an admission that the above content is prior art. Summary of the Invention

[0004] The main objective of this invention is to provide a vehicle lane change control method, device, equipment, and storage medium, aiming to solve the technical problem that the existing technology of automatic lane change of vehicles has harsh conditions and poor practical application effect.

[0005] To achieve the above objectives, the present invention provides a vehicle lane change control method, the method comprising the following steps:

[0006] When a high-speed lane change request is detected, the forward lane change space margin of the target lane corresponding to the high-speed lane change request is detected.

[0007] If the forward lane change space margin is greater than the preset lane change space threshold, then a reference vehicle is selected from the backward lane change space in the target lane.

[0008] When the longitudinal distance between the reference vehicle and the main vehicle is less than the original lane change threshold and greater than or equal to the lane change attempt threshold, the main vehicle is controlled to slowly approach the lane line, and the speed of the reference vehicle is obtained.

[0009] If the driving speed is less than the speed of the main vehicle, then the main vehicle is controlled to change lanes to the target lane.

[0010] Optionally, the step of controlling the main vehicle to change lanes to the target lane if the driving speed is less than the driving speed of the main vehicle includes:

[0011] If the driving speed is less than the driving speed of the main vehicle, the main vehicle is controlled to perform a lane change maneuver at a preset lateral steering speed, and the driving speed of the reference vehicle is continuously monitored.

[0012] If the acceleration of the reference vehicle is determined based on the driving speed, then the lane-changing phase of the master vehicle is detected;

[0013] If the lane-changing phase involves crossing the center line of the lane, the driver vehicle is controlled to accelerate within the speed limit and then continue changing lanes to the target lane.

[0014] Optionally, after the step of detecting the lane-changing phase of the main vehicle if the acceleration of the reference vehicle is determined based on the driving speed, the method further includes:

[0015] If the lane-changing phase does not involve crossing the lane center line, the driver vehicle is controlled to stop changing lanes and maintain its position on the lane line.

[0016] Optionally, after the step of controlling the main vehicle to slowly approach the lane line and obtaining the speed of the reference vehicle when the longitudinal distance between the reference vehicle and the main vehicle is less than the original lane change threshold and greater than or equal to the lane change attempt threshold, the method further includes:

[0017] If the driving speed is greater than or equal to the driving speed of the main vehicle, then the relative longitudinal speed between the reference vehicle and the main vehicle is obtained;

[0018] If the relative longitudinal speed meets the collision avoidance conditions, then the main vehicle is controlled to change lanes to the target lane.

[0019] Optionally, before the step of controlling the main vehicle to change lanes to the target lane if the relative longitudinal velocity meets the collision avoidance conditions, the method further includes:

[0020] Obtain the distance between the master vehicle and the reference vehicle, obtain the lateral spacing distance, and obtain the current longitudinal distance between the master vehicle and the reference vehicle;

[0021] The relative lateral speed between the main vehicle and the reference vehicle is determined based on the lateral lane change speed of the main vehicle;

[0022] The required longitudinal distance for lane changing is determined based on the lateral spacing distance, the relative lateral speed, the relative longitudinal speed, and a preset collision risk threshold.

[0023] If the required longitudinal distance for lane change is less than or equal to the current longitudinal distance, then the relative longitudinal speed is determined to meet the collision avoidance conditions.

[0024] Optionally, after the step of obtaining the relative longitudinal speed between the reference vehicle and the main vehicle if the driving speed is greater than or equal to the driving speed of the main vehicle, the method further includes:

[0025] If the relative longitudinal velocity does not meet the collision avoidance conditions, then it is detected whether the reference vehicle decelerates to avoid the collision.

[0026] If the reference vehicle slows down to avoid the obstacle, the change in the relative longitudinal speed between the reference vehicle and the main vehicle is continuously monitored.

[0027] When the relative longitudinal speed change between the reference vehicle and the main vehicle is detected to meet the collision avoidance conditions, the main vehicle is controlled to change lanes to the target lane.

[0028] Optionally, after the step of selecting a reference vehicle from the rearward lane change space in the target lane if the forward lane change space margin is greater than a preset lane change space threshold, the method further includes:

[0029] When the longitudinal distance between the reference vehicle and the main vehicle is less than the lane change attempt threshold, the distance between the main vehicle and the target exit is obtained;

[0030] If the distance between the main vehicle and the target exit is less than a preset distance threshold, the main vehicle is controlled to decelerate within the speed limit range to avoid the reference vehicle.

[0031] Furthermore, to achieve the above objectives, the present invention also proposes a vehicle lane change control device, which includes the following modules:

[0032] The receiving module is used to detect the forward lane change space margin of the target lane corresponding to the high-speed lane change request when a high-speed lane change request is detected.

[0033] The selection module is used to select a reference vehicle in the backward lane change space in the target lane if the forward lane change space margin is greater than a preset lane change space threshold.

[0034] The detection module is used to control the main vehicle to slowly approach the lane line and obtain the driving speed of the reference vehicle when the longitudinal distance between the reference vehicle and the main vehicle is less than the original lane change threshold and greater than or equal to the lane change attempt threshold.

[0035] The control module is used to control the main vehicle to change lanes to the target lane if the driving speed is less than the driving speed of the main vehicle.

[0036] Furthermore, to achieve the above objectives, the present invention also proposes a vehicle lane change control device, which includes: a processor, a memory, and a vehicle lane change control program stored in the memory and executable on the processor. When the vehicle lane change control program is executed, it implements the steps of the vehicle lane change control method as described above.

[0037] Furthermore, to achieve the above objectives, the present invention also proposes a computer-readable storage medium storing a vehicle lane change control program, wherein the vehicle lane change control program, when executed, implements the steps of the vehicle lane change control method as described above.

[0038] This invention detects the forward lane change space margin of the target lane corresponding to the high-speed lane change request when a high-speed lane change request is detected. If the forward lane change space margin is greater than a preset lane change space threshold, a reference vehicle is selected from the backward lane change space in the target lane. When the longitudinal distance between the reference vehicle and the main vehicle is less than the original lane change threshold but greater than or equal to the lane change attempt threshold, the main vehicle is controlled to slowly approach the lane line, and the speed of the reference vehicle is obtained. If the speed is less than the speed of the main vehicle, the main vehicle is controlled to change lanes to the target lane. Because it attempts to slowly approach the lane line when the longitudinal distance is between the original lane change threshold and the lane change attempt threshold, and further judges based on the speed before executing the lane change, the requirement for backward lane change space for automatic lane changing is reduced. Attached Figure Description

[0039] Figure 1 This is a schematic diagram of the structure of an electronic device in the hardware operating environment involved in the embodiments of the present invention;

[0040] Figure 2 This is a flowchart illustrating the first embodiment of the vehicle lane change control method of the present invention;

[0041] Figure 3 This is a flowchart illustrating the second embodiment of the vehicle lane change control method of the present invention;

[0042] Figure 4 This is a flowchart illustrating the third embodiment of the vehicle lane change control method of the present invention;

[0043] Figure 5 This is a schematic diagram illustrating lane parameter acquisition according to an embodiment of the present invention;

[0044] Figure 6 This is a structural block diagram of the first embodiment of the vehicle lane change control device of the present invention.

[0045] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0046] It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the invention.

[0047] Reference Figure 1 , Figure 1 This is a schematic diagram of the vehicle lane change control device structure in the hardware operating environment involved in the embodiments of the present invention.

[0048] like Figure 1 As shown, the electronic device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen or an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wireless-Fidelity (Wi-Fi) interface). The memory 1005 may be high-speed random access memory (RAM) or stable non-volatile memory (NVM), such as a disk drive. The memory 1005 may also optionally be a storage device independent of the aforementioned processor 1001.

[0049] Those skilled in the art will understand that Figure 1 The structure shown does not constitute a limitation on the electronic device and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0050] like Figure 1 As shown, the memory 1005, which serves as a storage medium, may include an operating system, a network communication module, a user interface module, and a vehicle lane change control program.

[0051] exist Figure 1 In the electronic device shown, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the electronic device of the present invention can be set in the vehicle lane change control device. The electronic device calls the vehicle lane change control program stored in the memory 1005 through the processor 1001 and executes the vehicle lane change control method provided in the embodiment of the present invention.

[0052] This invention provides a vehicle lane change control method, referring to... Figure 2 , Figure 2 This is a flowchart illustrating the first embodiment of a vehicle lane change control method according to the present invention.

[0053] In this embodiment, the vehicle lane change control method includes the following steps:

[0054] Step S10: When a high-speed lane change request is detected, the forward lane change space margin of the target lane corresponding to the high-speed lane change request is detected.

[0055] It should be noted that the executing entity in this embodiment can be the vehicle lane change control device (hereinafter referred to as the lane change device) or the vehicle itself. The lane change device can be a controller in the vehicle, such as an ECU controller, or other devices that can achieve the same or similar functions. This embodiment does not limit this. In this embodiment and the following embodiments, the lane change device is used as an example to illustrate the vehicle lane change control method of this application.

[0056] It should be noted that a high-speed lane change request can be an automatic request generated by the vehicle's driver assistance system when it determines that a high-speed lane change is necessary. For example, the driver assistance system may determine that a high-speed lane change is needed based on navigation route guidance, or it may detect that the vehicle in front is a large vehicle (such as a construction vehicle or semi-trailer truck), and following behind would result in poor visibility and an increased risk of accidents, thus determining the need for a high-speed lane change. A high-speed lane change request can also be generated by the driver's operation, such as a lane change request generated when the driver activates a stalk. The target lane can be the lane the high-speed lane change request wishes to move to. The forward lane change space margin can be the distance between the driver vehicle and the vehicle in the target lane that is closest to the driver vehicle in front of it. The driver vehicle is the vehicle controlled by the lane change device.

[0057] In practical implementation, if a high-speed lane change request is detected, the lane change device needs to check whether the current lane environment can guarantee a safe lane change. Since the vehicle is traveling on a closed highway section, and the vehicle in front may suddenly brake or decelerate, it is necessary to ensure that there is a large space between the vehicle and the vehicle in front. Therefore, the forward lane change space margin of the target lane can be obtained at this time to facilitate further judgment.

[0058] In practical use, to ensure vehicle driving safety, when a high-speed lane change request is detected, the system can first check whether the lane markings on the current road segment allow lane changes (for example, if the lane markings on the current road segment are solid lines, lane changes are not allowed; if the lane markings are dashed lines, lane changes are allowed). If allowed, subsequent steps are performed for further detection. If not allowed, the system can control the vehicle to remain in its lane until a lane marking is detected that allows lane changes, at which point subsequent steps are performed for further detection.

[0059] Step S20: If the forward lane change space margin is greater than the preset lane change space threshold, then select a reference vehicle from the backward lane change space in the target lane.

[0060] It should be noted that the rear lane change space can be the space in the target lane that is located behind the driver vehicle. When selecting a reference vehicle in the rear lane change space in the target lane, the vehicle that is closest to the driver vehicle in the rear lane change space of the target lane can be selected as the reference vehicle.

[0061] It should be understood that if the forward lane change space margin is greater than the preset lane change space threshold, it means that the distance between the vehicle in front of the driver in the target lane and the vehicle closest to the driver is also beyond the safe distance (at this time, it can also be assumed that there is no vehicle in the forward lane change space). When changing lanes to the target lane, even if the vehicle in front of the driver in the target lane suddenly decelerates, the driver can decelerate in time to avoid a collision with that vehicle. The driving status of the vehicles behind can be further detected to determine whether a lane change can be carried out. Therefore, a reference vehicle can be selected from the rear lane change space in the target lane.

[0062] In practical use, the preset lane change space threshold can be set by the lane change equipment administrator based on the maximum threshold within the speed limit range of the road segment. For example, assuming the speed limit on a highway is 80-120 km / h, the preset lane change space threshold can be set to 15 meters. Since the faster the vehicle speed, the more distance needs to be reserved as a buffer, the larger the maximum threshold of the speed limit range, the larger the preset lane change space threshold can be set.

[0063] Step S30: When the longitudinal distance between the reference vehicle and the main vehicle is less than the original lane change threshold and greater than or equal to the lane change attempt threshold, control the main vehicle to slowly approach the lane line and obtain the driving speed of the reference vehicle.

[0064] It should be noted that the original lane change threshold can be the spatial threshold used in existing technologies to determine whether a lane change is permitted, such as 2-3 times the vehicle length or 2 times the vehicle length plus 2m. The lane change attempt threshold can be preset by the lane change equipment administrator according to actual needs. The lane change attempt threshold is lower than the original lane change threshold. For example, the lane change attempt threshold can be set to 1-2 times the vehicle length or 1 times the vehicle length plus 2m.

[0065] In practical use, if the longitudinal distance between the reference vehicle and the main vehicle is greater than or equal to the original lane change threshold, it means that the longitudinal distance between the reference vehicle and the main vehicle meets the distance requirements of the existing automatic lane change technology. At this time, the existing lane change technology can be used to directly control the main vehicle to turn on the turn signal and change lanes to the target lane.

[0066] To ensure the safety of the main vehicle, the speed of a reference vehicle can also be acquired. If the reference vehicle is speeding (for example, if the reference vehicle's speed exceeds the maximum speed limit by 10%), the main vehicle can be stopped from changing lanes. The system waits for the reference vehicle to leave the forward lane-changing space before re-detecting whether to change lanes again. The lane-changing space includes both forward and backward lane-changing spaces. Leaving the lane-changing space occurs when the longitudinal distance between the reference vehicle and the main vehicle exceeds a preset lane-changing space threshold.

[0067] If the longitudinal distance between the reference vehicle and the main vehicle is less than the original lane-change threshold but greater than or equal to the lane-change attempt threshold, it indicates that the longitudinal distance between the reference vehicle and the main vehicle does not meet the requirements of existing automatic lane-change technology. However, the overall distance is still relatively large. Therefore, the main vehicle can be controlled to slowly approach the lane line, and the speed of the reference vehicle can be obtained for further monitoring and judgment to control subsequent lane-change actions. Controlling the main vehicle to slowly approach the lane line can be achieved by activating the main vehicle's turn signal and controlling the vehicle to change lanes at a low lateral steering speed, slowly approaching the lane line. For example, assuming the lateral steering speed is Vsy when the vehicle changes lanes at full speed, then a lateral steering speed of 0.3*Vsy can be used to control the vehicle to change lanes and slowly approach the lane line.

[0068] Step S40: If the driving speed is less than the driving speed of the main vehicle, then control the main vehicle to change lanes to the target lane.

[0069] It should be noted that the speed of the main vehicle can be the speed of the main vehicle.

[0070] Understandably, if the speed of the reference vehicle is less than the speed of the main vehicle, it means that the distance between the reference vehicle and the main vehicle will become larger and larger. Changing lanes at this time does not pose a risk. Therefore, the main vehicle can be directly controlled to change lanes at full speed to the target lane.

[0071] To ensure the accuracy of the judgment, the driving speed can be judged based on the longitudinal driving speed (the speed component of a vehicle traveling along the lane). For example, if the longitudinal driving speed of the reference vehicle is less than the longitudinal driving speed of the main vehicle, that is, the relative longitudinal speed between the two is greater than 0, then the main vehicle is controlled to change lanes to the target lane.

[0072] Furthermore, to ensure that vehicles do not miss highway exits, this embodiment may further include the following step after step S20:

[0073] When the longitudinal distance between the reference vehicle and the main vehicle is less than the lane change attempt threshold, the distance between the main vehicle and the target exit is obtained;

[0074] If the distance between the main vehicle and the target exit is less than a preset distance threshold, the main vehicle is controlled to decelerate within the speed limit range to avoid the reference vehicle.

[0075] It should be noted that if the longitudinal distance between the reference vehicle and the main vehicle is less than the lane change attempt threshold, it means that the distance between the main vehicle and the reference vehicle is too close. Changing lanes at this time is very risky. Therefore, the lane change action can be avoided. In order to avoid the vehicle missing the highway exit, the distance between the main vehicle and the target exit can be obtained.

[0076] The target exit can be the ramp exiting the highway section specified by the main vehicle's navigation route, and the distance between the main vehicle and the target exit can be the distance the main vehicle needs to travel to reach the target exit.

[0077] In practice, the preset interval threshold can be pre-set by the lane-changing equipment administrator, for example, by setting the preset interval threshold to 2km. If the distance between the main vehicle and the target exit is less than the preset interval threshold, it means that the main vehicle is already close to the exit ramp of the highway section. Therefore, the main vehicle can be controlled to decelerate within the speed limit to avoid reference vehicles and attempt to obtain sufficient lane-changing space to ensure that the vehicle can change lanes in time to reach the target exit.

[0078] Within the speed limit range, deceleration can be achieved by reducing the speed of the main vehicle to a level lower than that of the reference vehicle, but not lower than the minimum speed limit range. The specific deceleration range can be set by the lane change equipment manager according to actual needs, and this embodiment does not impose any restrictions on this.

[0079] In actual use, if the distance between the main vehicle and the target exit is greater than the preset distance threshold, it means that the main vehicle is still far from the exit ramp of the highway section. At this time, no deceleration is required. The main vehicle can continue to drive in the current lane and continue to monitor the vehicles in the target lane until it is possible to change lanes. Then, the main vehicle can be controlled to change lanes to the target lane.

[0080] This embodiment detects the forward lane change space margin of the target lane corresponding to the high-speed lane change request when a high-speed lane change request is detected. If the forward lane change space margin is greater than a preset lane change space threshold, a reference vehicle is selected from the backward lane change space in the target lane. When the longitudinal distance between the reference vehicle and the main vehicle is less than the original lane change threshold but greater than or equal to the lane change attempt threshold, the main vehicle is controlled to slowly approach the lane line, and the speed of the reference vehicle is obtained. If the speed is less than the speed of the main vehicle, the main vehicle is controlled to change lanes to the target lane. Because it attempts to slowly approach the lane line when the longitudinal distance is between the original lane change threshold and the lane change attempt threshold, and further judges based on the speed before executing the lane change, the requirement for backward lane change space for automatic lane changing is reduced.

[0081] refer to Figure 3 , Figure 3 This is a flowchart illustrating a second embodiment of a vehicle lane change control method according to the present invention.

[0082] Based on the first embodiment described above, step S40 of the vehicle lane change control method in this embodiment includes:

[0083] Step S401: If the driving speed is less than the driving speed of the main vehicle, control the main vehicle to perform a lane change action at a preset lateral turning speed, and continuously monitor the driving speed of the reference vehicle.

[0084] It should be noted that, in actual human driving, drivers may be influenced by emotions and act irrationally. When the main vehicle attempts to change lanes in front of the reference vehicle, the reference vehicle may suddenly accelerate. In order to deal with this kind of sudden phenomenon, the speed of the reference vehicle can be continuously monitored.

[0085] Step S402: If the reference vehicle is determined to be accelerating based on the driving speed, then the lane-changing phase of the master vehicle is detected.

[0086] It should be noted that if the acceleration of the reference vehicle is determined based on its speed, it indicates that the driver of the reference vehicle has already engaged in irrational behavior. In this case, the lane-changing phase of the primary vehicle can be detected to determine whether to continue the lane change. The lane-changing phase of the primary vehicle can be divided into the phase of crossing the lane center line and the phase of not crossing the lane center line. For example, if the center point of the front of the primary vehicle has crossed the center line of the target lane, the lane-changing phase can be determined as crossing the lane center line; if the center point of the front of the primary vehicle has not crossed the center line of the target lane, the lane-changing phase can be determined as not crossing the lane center line.

[0087] Step S403: If the lane change phase is the phase of passing the center line of the lane, then control the main vehicle to accelerate within the speed limit range, and continue to change lanes to the target lane after acceleration.

[0088] It should be noted that if the lane-changing phase involves crossing the lane center line, it indicates that the lane change is essentially complete. At this point, attempting to change back to the original lane or to another lane to avoid an accelerating reference vehicle could be dangerous. Instead, to minimize the risk of collision, the vehicle can be controlled to accelerate appropriately within the speed limit, and then continue changing lanes to the target lane. Controlling the vehicle's acceleration within the speed limit can involve increasing the vehicle's speed by a preset value, ensuring that the vehicle's speed is higher than the reference vehicle's accelerated speed, but still within the speed limit.

[0089] To ensure that the lane change phase does not cross the lane center line and thus maximizes the safety of the main vehicle, the following step after step S402 in this embodiment may also include:

[0090] If the lane-changing phase does not involve crossing the lane center line, the driver vehicle is controlled to stop changing lanes and maintain its position on the lane line.

[0091] It should be noted that if the lane change phase is before crossing the center line of the lane, it means that the lane change is not yet complete. In order to avoid a collision with the reference vehicle, you can control the main vehicle to stop the lane change action and control the main vehicle to drive on the lane line (i.e. drive on the lane line) until the reference vehicle has moved out of the forward lane change space, and then try to control the main vehicle to change lanes to the target lane.

[0092] This embodiment controls the driver vehicle to perform a lane change maneuver at a preset lateral steering speed if the reference vehicle's speed is less than the driver vehicle's speed, while continuously monitoring the reference vehicle's speed. If the reference vehicle is determined to be accelerating based on the speed, the driver vehicle's lane change phase is detected. If the lane change phase involves crossing the lane center line, the driver vehicle is controlled to accelerate within the speed limit and then continue changing lanes to the target lane. Because the reference vehicle's speed is continuously monitored even when it is less than the driver vehicle's speed, and an appropriate solution is selected based on the lane change phase when the reference vehicle accelerates, the occurrence of accidents is minimized, thus improving the safety of the vehicle lane change control method.

[0093] refer to Figure 4 , Figure 4 This is a flowchart illustrating a third embodiment of a vehicle lane change control method according to the present invention.

[0094] Based on the first embodiment described above, after step S30 of the vehicle lane change control method in this embodiment, the method further includes:

[0095] Step S40': If the driving speed is greater than or equal to the driving speed of the main vehicle, then obtain the relative longitudinal speed between the reference vehicle and the main vehicle.

[0096] It should be noted that if the speed of the reference vehicle is greater than or equal to the speed of the main vehicle, it means that the distance between the reference vehicle and the main vehicle will gradually decrease over time. In this case, it is necessary to obtain the relative longitudinal speed between the reference vehicle and the main vehicle to determine whether there is a risk of collision if the main vehicle changes lanes.

[0097] To ensure the accuracy of the judgment, the longitudinal speed can also be used when determining the speed. That is, if the longitudinal speed of the reference vehicle is greater than or equal to the longitudinal speed of the main vehicle, the relative speed between the reference vehicle and the main vehicle is obtained.

[0098] In practical use, the relative longitudinal speed between the reference vehicle and the main vehicle can be obtained by subtracting the longitudinal speed of the reference vehicle from the longitudinal speed of the main vehicle.

[0099] Step S50': If the relative longitudinal speed meets the collision avoidance conditions, then control the main vehicle to change lanes to the target lane.

[0100] It should be noted that if the relative longitudinal speed meets the collision avoidance conditions, it means that when the main vehicle changes lanes to the target lane, the distance between the main vehicle and the reference vehicle is still within a safe range when the lane change is successful, and a collision will not occur. Therefore, the main vehicle can be controlled to change lanes to the target lane.

[0101] Furthermore, in order to accurately determine whether the relative longitudinal velocity meets the collision avoidance conditions, this embodiment may include the following steps before step S50':

[0102] Obtain the distance between the master vehicle and the reference vehicle, obtain the lateral spacing distance, and obtain the current longitudinal distance between the master vehicle and the reference vehicle;

[0103] The relative lateral speed between the main vehicle and the reference vehicle is determined based on the lateral lane change speed of the main vehicle;

[0104] The required longitudinal distance for lane changing is determined based on the lateral spacing distance, the relative lateral speed, the relative longitudinal speed, and a preset collision risk threshold.

[0105] If the required longitudinal distance for lane change is less than or equal to the current longitudinal distance, then the relative longitudinal speed is determined to meet the collision avoidance conditions.

[0106] It should be noted that obtaining the current longitudinal distance between the driver vehicle and the reference vehicle can be achieved by obtaining the distance component of the current interval between the driver vehicle and the reference vehicle in the lane direction. The relative lateral speed between the driver vehicle and the reference vehicle can be the difference between the lateral lane-changing speed of the driver vehicle and the lateral lane-changing speed of the reference vehicle.

[0107] In a specific implementation, determining the longitudinal distance for lane change requests based on lateral clearance, relative lateral speed, relative longitudinal speed, and a preset collision risk threshold can be done using a distance calculation formula. This formula can be:

[0108] Ln=(D / Vyre)*Vxre+L0

[0109] In the formula, Ln can be the longitudinal distance required for lane changing, D can be the lateral spacing distance, Vyre can be the relative lateral speed, Vxre can be the relative longitudinal speed, and L0 can be the preset collision risk threshold. The preset collision risk threshold is a reserved safety distance that can be preset by the management personnel of the lane changing equipment. For example, the preset collision risk threshold can be set to 2m.

[0110] Understandably, if the longitudinal distance required for lane change is less than or equal to the current longitudinal distance, it means that even if the main vehicle changes lanes, the main vehicle and the reference vehicle will not collide. Therefore, it can be determined that the relative longitudinal speed meets the collision avoidance conditions. However, if the longitudinal distance required for lane change is greater than the current longitudinal distance, it means that if the main vehicle changes lanes, the main vehicle and the reference vehicle may collide. Therefore, it can be determined that the relative longitudinal speed does not meet the collision avoidance conditions.

[0111] To ensure the driving safety of the main vehicle, after step S40' in this embodiment, the following may also be included:

[0112] If the relative longitudinal velocity does not meet the collision avoidance conditions, then it is detected whether the reference vehicle decelerates to avoid the collision.

[0113] If the reference vehicle slows down to avoid the obstacle, the change in the relative longitudinal speed between the reference vehicle and the main vehicle is continuously monitored.

[0114] When the relative longitudinal speed change between the reference vehicle and the main vehicle is detected to meet the collision avoidance conditions, the main vehicle is controlled to change lanes to the target lane.

[0115] Understandably, if the relative longitudinal speed does not meet the collision avoidance conditions, it means that if the main vehicle continues to change lanes, it may cause a collision between the main vehicle and the reference vehicle. In this case, the main vehicle can be controlled to continue to illuminate the turn signal, drive close to the lane line, and check whether the reference vehicle slows down to avoid it. If the reference vehicle does not slow down to avoid it, the main vehicle can be controlled to keep the vehicle close to the lane line until the reference vehicle has driven out of the forward lane change space.

[0116] If the reference vehicle accelerates to avoid the collision, the relative longitudinal speed between the reference vehicle and the main vehicle can be continuously monitored until the relative longitudinal speed between the reference vehicle and the main vehicle reaches the collision avoidance condition, at which point the main vehicle is controlled to change lanes to the target lane.

[0117] To facilitate understanding, we will now combine... Figure 5 This explanation is provided, but it does not limit the scope of this solution. Figure 5 This is a schematic diagram illustrating lane parameter acquisition in this embodiment. Figure 5 As shown, Lf is the preset lane change space threshold, L is the longitudinal distance between the main vehicle and the reference vehicle, D is the lateral distance between the main vehicle and the reference vehicle, Vsx is the longitudinal speed of the main vehicle, Asx is the longitudinal acceleration of the main vehicle, Vsy is the lateral lane change speed of the main vehicle when changing lanes at full speed, Asy is the lateral acceleration of the main vehicle, Vrx is the longitudinal speed of the reference vehicle, Arx is the longitudinal acceleration of the reference vehicle, Vry is the lateral lane change speed of the reference vehicle when changing lanes at full speed, and Ary is the lateral acceleration of the reference vehicle.

[0118] This embodiment obtains the relative longitudinal speed between the reference vehicle and the main vehicle if the reference vehicle's speed is greater than or equal to the main vehicle's speed; if the relative longitudinal speed meets the collision avoidance conditions, the main vehicle is controlled to change lanes to the target lane. Since further judgment is made based on the relative longitudinal speed between the reference vehicle and the main vehicle when the reference vehicle's speed is greater than or equal to the main vehicle's speed, and it is determined that the main vehicle's lane change will not cause a collision (i.e., the relative longitudinal speed meets the collision avoidance conditions), the main vehicle is controlled to change lanes to the target lane. This ensures that lane changes can still be performed safely even when the distance between the reference vehicle and the main vehicle is small.

[0119] Furthermore, this embodiment of the invention also proposes a storage medium storing a vehicle lane change control program, which, when executed by a processor, implements the steps of the vehicle lane change control method described above.

[0120] Reference Figure 6 , Figure 6 This is a structural block diagram of the first embodiment of the vehicle lane change control device of the present invention.

[0121] like Figure 6As shown, the vehicle lane change control device proposed in this embodiment of the invention includes:

[0122] The receiving module 10 is used to detect the forward lane change space margin of the target lane corresponding to the high-speed lane change request when a high-speed lane change request is detected.

[0123] The selection module 20 is used to select a reference vehicle in the backward lane change space in the target lane if the forward lane change space margin is greater than the preset lane change space threshold.

[0124] The detection module 30 is used to control the main vehicle to slowly approach the lane line and obtain the driving speed of the reference vehicle when the longitudinal distance between the reference vehicle and the main vehicle is less than the original lane change threshold and greater than or equal to the lane change attempt threshold.

[0125] The control module 40 is used to control the main vehicle to change lanes to the target lane if the driving speed is less than the driving speed of the main vehicle.

[0126] This embodiment detects the forward lane change space margin of the target lane corresponding to the high-speed lane change request when a high-speed lane change request is detected. If the forward lane change space margin is greater than a preset lane change space threshold, a reference vehicle is selected from the backward lane change space in the target lane. When the longitudinal distance between the reference vehicle and the main vehicle is less than the original lane change threshold but greater than or equal to the lane change attempt threshold, the main vehicle is controlled to slowly approach the lane line, and the speed of the reference vehicle is obtained. If the speed is less than the speed of the main vehicle, the main vehicle is controlled to change lanes to the target lane. Because it attempts to slowly approach the lane line when the longitudinal distance is between the original lane change threshold and the lane change attempt threshold, and further judges based on the speed before executing the lane change, the requirement for backward lane change space for automatic lane changing is reduced.

[0127] Furthermore, the control module 40 is also configured to, if the driving speed is less than the driving speed of the main vehicle, control the main vehicle to perform a lane change action at a preset lateral turning speed and continuously monitor the driving speed of the reference vehicle; if it is determined that the reference vehicle is accelerating based on the driving speed, detect the lane change phase of the main vehicle; if the lane change phase is the phase of exceeding the center line of the lane, control the main vehicle to accelerate within the speed limit range, and continue to change lanes to the target lane after acceleration.

[0128] Furthermore, the control module 40 is also used to control the main vehicle to stop changing lanes and maintain driving on the lane line if the lane change phase does not exceed the center line of the lane.

[0129] Furthermore, the control module 40 is also used to obtain the relative longitudinal speed between the reference vehicle and the main vehicle if the driving speed is greater than or equal to the driving speed of the main vehicle; and to control the main vehicle to change lanes to the target lane if the relative longitudinal speed meets the collision avoidance conditions.

[0130] Furthermore, the control module 40 is also used to obtain the distance between the main vehicle and the reference vehicle, obtain the lateral clearance distance, and obtain the current longitudinal distance between the main vehicle and the reference vehicle; determine the relative lateral speed between the main vehicle and the reference vehicle based on the lateral lane change speed of the main vehicle; determine the lane change requirement longitudinal distance based on the lateral clearance distance, the relative lateral speed, the relative longitudinal speed and the preset collision risk threshold; if the lane change requirement longitudinal distance is less than or equal to the current longitudinal distance, then determine that the relative longitudinal speed meets the collision avoidance conditions.

[0131] Furthermore, the control module 40 is also configured to detect whether the reference vehicle decelerates to avoid collision if the relative longitudinal speed does not meet the collision avoidance conditions; if the reference vehicle decelerates to avoid collision, continuously monitor the change in the relative longitudinal speed between the reference vehicle and the main vehicle; and when the change in the relative longitudinal speed between the reference vehicle and the main vehicle is detected to meet the collision avoidance conditions, control the main vehicle to change lanes to the target lane.

[0132] Furthermore, the control module 40 is also used to obtain the distance between the main vehicle and the target exit when the longitudinal distance between the reference vehicle and the main vehicle is less than the lane change attempt threshold; if the distance between the main vehicle and the target exit is less than the preset distance threshold, then control the main vehicle to decelerate within the speed limit range to avoid the reference vehicle.

[0133] It should be understood that the above are merely illustrative examples and do not constitute any limitation on the technical solutions of the present invention. In specific applications, those skilled in the art can make settings as needed, and the present invention does not impose any restrictions on this.

[0134] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of this invention. In practical applications, those skilled in the art can select some or all of the workflow to achieve the purpose of this embodiment according to actual needs, and no restrictions are imposed here.

[0135] In addition, for technical details not described in detail in this embodiment, please refer to the vehicle lane change control method provided in any embodiment of the present invention, which will not be repeated here.

[0136] Furthermore, it should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0137] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0138] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by 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 is stored in a storage medium (such as read-only memory (ROM) / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0139] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. A vehicle lane change control method characterized by, The vehicle lane change control method includes the following steps: When a high-speed lane change request is detected, the forward lane change space margin of the target lane corresponding to the high-speed lane change request is detected. If the forward lane change space margin is greater than the preset lane change space threshold, then a reference vehicle is selected from the backward lane change space in the target lane. When the longitudinal distance between the reference vehicle and the main vehicle is less than the original lane change threshold and greater than or equal to the lane change attempt threshold, the main vehicle is controlled to slowly approach the lane line, and the speed of the reference vehicle is obtained. If the speed of the reference vehicle is less than the speed of the main vehicle, then the main vehicle is controlled to change lanes to the target lane. The step of controlling the main vehicle to change lanes to the target lane if the speed of the reference vehicle is less than the speed of the main vehicle includes: If the speed of the reference vehicle is less than the speed of the main vehicle, the main vehicle is controlled to perform a lane change maneuver at a preset lateral steering speed, and the speed of the reference vehicle is continuously monitored. If the acceleration of the reference vehicle is determined based on the speed of the reference vehicle, then the lane-changing phase of the main vehicle is detected. If the lane-changing phase does not involve crossing the lane center line, the driver vehicle is controlled to stop changing lanes and maintain its position on the lane line.

2. The vehicle lane change control method according to claim 1, characterized by, The step of detecting the lane-changing phase of the main vehicle after determining the acceleration of the reference vehicle based on its driving speed further includes: If the lane-changing phase involves crossing the center line of the lane, the driver vehicle is controlled to accelerate within the speed limit and then continue changing lanes to the target lane.

3. The vehicle lane change control method according to claim 1, characterized by, After the step of controlling the driver vehicle to slowly approach the lane line and obtaining the speed of the reference vehicle when the longitudinal distance between the reference vehicle and the driver vehicle is less than the original lane change threshold and greater than or equal to the lane change attempt threshold, the method further includes: If the driving speed is greater than or equal to the driving speed of the main vehicle, then the relative longitudinal speed between the reference vehicle and the main vehicle is obtained; If the relative longitudinal speed meets the collision avoidance conditions, then the main vehicle is controlled to change lanes to the target lane.

4. The vehicle lane change control method according to claim 3, characterized by, Before the step of controlling the main vehicle to change lanes to the target lane if the relative longitudinal velocity meets the collision avoidance conditions, the method further includes: Obtain the distance between the master vehicle and the reference vehicle, obtain the lateral spacing distance, and obtain the current longitudinal distance between the master vehicle and the reference vehicle; The relative lateral speed between the main vehicle and the reference vehicle is determined based on the lateral lane change speed of the main vehicle; The required longitudinal distance for lane changing is determined based on the lateral spacing distance, the relative lateral speed, the relative longitudinal speed, and a preset collision risk threshold. If the required longitudinal distance for lane change is less than or equal to the current longitudinal distance, then the relative longitudinal speed is determined to meet the collision avoidance conditions.

5. The vehicle lane change control method according to claim 3, characterized by, After the step of obtaining the relative longitudinal speed between the reference vehicle and the main vehicle if the driving speed is greater than or equal to the driving speed of the main vehicle, the method further includes: If the relative longitudinal velocity does not meet the collision avoidance conditions, then it is detected whether the reference vehicle decelerates to avoid the collision. If the reference vehicle slows down to avoid the obstacle, the change in the relative longitudinal speed between the reference vehicle and the main vehicle is continuously monitored. When the relative longitudinal speed change between the reference vehicle and the main vehicle is detected to meet the collision avoidance conditions, the main vehicle is controlled to change lanes to the target lane.

6. The vehicle lane change control method according to any one of claims 1-5, characterized in that, Following the step of selecting a reference vehicle from the rearward lane change space in the target lane if the forward lane change space margin is greater than a preset lane change space threshold, the method further includes: When the longitudinal distance between the reference vehicle and the main vehicle is less than the lane change attempt threshold, the distance between the main vehicle and the target exit is obtained; If the distance between the main vehicle and the target exit is less than a preset distance threshold, the main vehicle is controlled to decelerate within the speed limit range to avoid the reference vehicle.

7. A vehicle lane change control device, characterized in that, The vehicle lane change control device includes the following modules: The receiving module is used to detect the forward lane change space margin of the target lane corresponding to the high-speed lane change request when a high-speed lane change request is detected. The selection module is used to select a reference vehicle in the backward lane change space in the target lane if the forward lane change space margin is greater than a preset lane change space threshold. The detection module is used to control the main vehicle to slowly approach the lane line and obtain the driving speed of the reference vehicle when the longitudinal distance between the reference vehicle and the main vehicle is less than the original lane change threshold and greater than or equal to the lane change attempt threshold. The control module is used to control the main vehicle to change lanes to the target lane if the speed of the reference vehicle is less than the speed of the main vehicle. The control module is further configured to: control the main vehicle to perform a lane change maneuver at a preset lateral steering speed if the speed of the reference vehicle is less than the speed of the main vehicle, and continuously monitor the speed of the reference vehicle; detect the lane change phase of the main vehicle if the speed of the reference vehicle indicates that the reference vehicle is accelerating; and control the main vehicle to stop changing lanes and maintain driving on the lane line if the lane change phase is before crossing the center line of the lane.

8. A vehicle lane change control apparatus characterized by comprising: The vehicle lane change control device includes: a processor, a memory, and a vehicle lane change control program stored in the memory and executable on the processor. When the vehicle lane change control program is executed, it implements the steps of the vehicle lane change control method as described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a vehicle lane change control program, which, when executed, implements the steps of the vehicle lane change control method as described in any one of claims 1-6.

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