A follow-the-wire mode switching method, device, equipment and medium

Abstract

The application discloses a following-line driving mode switching method and device, equipment and medium, and relates to the technical field of auxiliary driving. The method comprises the following steps: when a vehicle is passing through a road intersection, it is determined whether a target lane line is recognized and whether the lane line confidence of the target lane line is greater than a preset confidence threshold; if not, the following vehicle driving mode is maintained; if yes, the lateral distance and the included angle between the longitudinal axis center line of the vehicle and the lane center line are determined, and the change rate of the lateral distance is determined; the lane center line is the center line of the target lane line; and it is determined whether to switch the following vehicle driving mode to the following-line driving mode based on the lateral distance, the included angle and the change rate of the lateral distance. It can be seen that, when the lane line confidence is greater than the confidence threshold, the lateral distance, the included angle and the change rate of the lateral distance between the longitudinal axis center line of the vehicle and the lane center line are used to determine whether to switch the following-line driving mode, so that safety accidents caused by excessive lateral torque and lateral offset are avoided, and the driving comfort is improved.

Description

Technical Field

[0001] This invention relates to the field of driver assistance technology, and in particular to a method, device, equipment and medium for switching lane-following driving modes. Background Technology

[0002] Existing Traffic Jam Assistant (TJA) systems switch from lane-following mode to lane-following mode when following another vehicle through an intersection and detects the lane lines disappearing. When the lane lines are re-identified, they immediately switch back to lane-following mode. This can lead to excessive lateral control torque and lateral offset, causing panic for the driver and potentially resulting in a collision with the curb, thus affecting the driving experience.

[0003] Therefore, in the process of switching from following vehicle mode to lane-following mode, how to avoid safety accidents caused by excessive lateral torque and lateral offset, and improve driving comfort, is an urgent problem to be solved in this field. Summary of the Invention

[0004] In view of this, the purpose of this invention is to provide a method, device, equipment, and medium for switching lane-following driving modes, which can avoid safety accidents caused by excessive lateral torque and lateral offset and improve driving comfort. The specific solution is as follows:

[0005] In a first aspect, this application discloses a method for switching lane-following driving modes, applied to a traffic congestion assist system, comprising:

[0006] When following another vehicle through an intersection, determine whether the target lane line is identified and whether the lane line confidence of the target lane line is greater than a preset lane line confidence threshold.

[0007] If the target lane line is not identified or the lane line confidence of the target lane line is not greater than the preset lane line confidence threshold, then maintain the following driving mode;

[0008] If the target lane line is identified and the lane line confidence of the target lane line is greater than a preset lane line confidence threshold, then the lateral distance and angle between the vehicle's longitudinal axis centerline and the lane centerline are determined, and the rate of change of the lateral distance is determined; wherein, the lane centerline is the centerline of the target lane line;

[0009] The decision to switch from following vehicle mode to lane-following mode is determined based on the lateral distance, the included angle, and the rate of change of the lateral distance.

[0010] Optionally, determining whether to switch from following mode to lane-following mode based on the lateral distance and the included angle includes:

[0011] If the lateral distance is not greater than a preset lateral distance threshold and the included angle is less than a preset included angle threshold, then the following mode will be switched to the lane following mode.

[0012] Optionally, determining whether to switch from following mode to lane-following mode based on the lateral distance and the included angle includes:

[0013] If the lateral distance is not greater than a preset lateral distance threshold and the included angle is not less than a preset included angle threshold, then the following driving mode is maintained and the included angle is continuously monitored.

[0014] When the lateral distance is not greater than the preset lateral distance threshold and the included angle is less than the preset included angle threshold, the following mode is switched to the lane following mode.

[0015] Optionally, determining whether to switch from following mode to lane-following mode based on the lateral distance, the included angle, and the rate of change of the lateral distance includes:

[0016] If the lateral distance is greater than a preset lateral distance threshold and the rate of change of the lateral distance is less than a preset rate of change threshold, then maintain the following driving mode and continuously monitor the lateral distance and the included angle;

[0017] When the lateral distance is not greater than the preset lateral distance threshold and the included angle is less than the preset included angle threshold, the following mode will be switched to the lane following mode.

[0018] Optionally, determining whether to switch from following mode to lane-following mode based on the lateral distance, the included angle, and the rate of change of the lateral distance includes:

[0019] If the lateral distance is greater than a preset lateral distance threshold, and the rate of change of the lateral distance is not less than a preset rate of change threshold, then the following mode will be forcibly switched to the lane-following mode.

[0020] Optionally, the process of forcibly switching from following vehicle mode to lane-following mode includes:

[0021] The vehicle's historical trajectory line is fused with the trajectory control line planned based on the lane center line to obtain the vehicle's current trajectory planning line;

[0022] During the process of driving towards the current trajectory planning line of the vehicle, the lateral torque is controlled by the proportional-integral-derivative control method so that the rate of change of the lateral torque is less than a preset torque change rate threshold. When the included angle is less than a preset included angle threshold, the following driving mode is forcibly switched to the line following driving mode.

[0023] Optionally, the method for switching the following driving mode further includes:

[0024] Identify lane attributes and lane line attributes;

[0025] The lane line confidence level of the target lane line is determined based on the lane attributes and the lane line attributes.

[0026] Secondly, this application discloses a lane-following mode switching device, applied to a traffic congestion assistance system, comprising:

[0027] The lane line determination module is used to determine whether a target lane line is identified and whether the lane line confidence of the target lane line is greater than a preset lane line confidence threshold when following a vehicle through an intersection.

[0028] The first determination result processing module is used to maintain the following driving mode if the target lane line is not identified or the lane line confidence of the target lane line is not greater than the preset lane line confidence threshold.

[0029] The second determination result processing module is used to determine the lateral distance and angle between the vehicle's longitudinal axis centerline and the lane centerline if the target lane line is identified and the lane line confidence of the target lane line is greater than a preset lane line confidence threshold, and to determine the rate of change of the lateral distance; wherein the lane centerline is the centerline of the target lane line;

[0030] The lane-following driving mode switching module is used to determine whether to switch the following driving mode to the lane-following driving mode based on the lateral distance, the included angle, and the rate of change of the lateral distance.

[0031] Thirdly, this application discloses an electronic device, including:

[0032] Memory, used to store computer programs;

[0033] A processor is used to execute the computer program to implement the aforementioned method for switching driving modes while following lanes.

[0034] Fourthly, this application discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, it implements the aforementioned lane-following mode switching method.

[0035] As can be seen, this application proposes a method for switching a lane-following driving mode, applied to a traffic congestion assist system, comprising: when following another vehicle through an intersection, determining whether a target lane line is identified and whether the lane line confidence of the target lane line is greater than a preset lane line confidence threshold; if the target lane line is not identified or the lane line confidence of the target lane line is not greater than the preset lane line confidence threshold, then maintaining the lane-following driving mode; if the target lane line is identified and the lane line confidence of the target lane line is greater than the preset lane line confidence threshold, then determining the lateral distance and angle between the vehicle's longitudinal axis centerline and the lane centerline, and determining the rate of change of the lateral distance; wherein, the lane centerline is the centerline of the target lane line; and determining whether to switch the lane-following driving mode to the lane-following driving mode based on the lateral distance, the angle, and the rate of change of the lateral distance. In summary, when following another vehicle through an intersection, this application does not immediately switch to lane-following mode upon detecting a target lane line. Instead, it uses whether the lane line confidence of the target lane line meets a preset lane line confidence threshold as one of the judgment conditions. Furthermore, if the target lane line is not detected or its lane line confidence is not greater than the preset lane line confidence threshold, the following mode is maintained. If the target lane line is detected and its lane line confidence is greater than the preset lane line confidence threshold, the lateral distance and angle between the vehicle's longitudinal axis centerline and the lane centerline are determined, along with the rate of change of the lateral distance. The lateral distance, the angle, and the rate of change of the lateral distance are then used as another judgment condition to determine whether the following mode can be switched to lane-following mode. This avoids safety accidents caused by the vehicle directly switching driving modes when the lateral torque and lateral offset are too large, and improves driving comfort. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0037] Figure 1 This is a flowchart of a method for switching driving modes while following lanes, as disclosed in this application.

[0038] Figure 2 This application discloses a flowchart of a specific method for switching lane-following driving modes.

[0039] Figure 3 This is a schematic diagram illustrating a lateral distance as disclosed in this application;

[0040] Figure 4 This is a schematic diagram illustrating an included angle as disclosed in this application;

[0041] Figure 5 This application discloses a schematic diagram representing historical trajectory lines, trajectory control lines, and current trajectory planning lines.

[0042] Figure 6 This application discloses a flowchart of a specific method for switching lane-following driving modes.

[0043] Figure 7 This is a schematic diagram of a specific lane-following driving mode switching device disclosed in this application;

[0044] Figure 8 This is a structural diagram of an electronic device disclosed in this application. Detailed Implementation

[0045] 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, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0046] When following another vehicle through an intersection, existing traffic jam assist systems will switch from lane-following mode to lane-following mode if the lane line disappears. When the lane line is re-identified, it will immediately switch back to lane-following mode. This may result in excessive lateral control torque and lateral offset, which may cause panic to the driver and even lead to collision with the curb, affecting the driving experience.

[0047] Therefore, this application proposes a lane-following driving mode switching scheme, which can avoid safety accidents caused by the vehicle directly switching driving modes when the lateral torque and lateral offset are too large, and improve driving comfort.

[0048] This application discloses a method for switching lane-following driving modes, applied to a traffic congestion assist system. See also... Figure 1 As shown, the method includes:

[0049] Step S11: When following another vehicle through an intersection, determine whether the target lane line is identified and whether the lane line confidence of the target lane line is greater than a preset lane line confidence threshold.

[0050] It should be noted that, in addition to detecting actual lane lines, dirt, tar lines, tire markings, shadows, etc. on the road may also be detected. Therefore, this embodiment needs to determine whether a target lane line has been identified and whether the lane line confidence of the target lane line is greater than a preset lane line confidence threshold, so as to determine whether the identified target lane line is usable.

[0051] In this embodiment, the specific process of identifying the target lane line includes: identifying lane attributes and lane line attributes; determining the lane line confidence level of the target lane line based on the lane attributes and lane line attributes. A higher lane line confidence level indicates a clearer target lane line, further indicating higher lane line quality, meaning the target lane line is usable. The lane attributes and lane line attributes include, but are not limited to: lane line type, lane line length, lane line width, lane line color, and lane line clarity. It is understood that lane line fading or color weakening, asphalt cracks, road surface water accumulation, wet road surface reflection, and road surface snow accumulation can all affect the lane line confidence level.

[0052] In some embodiments, lane line confidence specifically includes the following: the confidence level is typically between 0 and 1. High confidence indicates high lane line quality, while low confidence indicates that the lane line is abandoned or unclear. For example, if a lane line is detected as missing, the confidence level is 0. If old or erased lane line traces are detected, indicating that the lane line is abandoned, the lane line confidence level is low. A confidence level greater than 0.5 indicates that the lane line exists, is clear, and there are no abrupt changes. In some embodiments, a lane line confidence level between 0 and 0.2 indicates a missing or unstable detection, and the lane line is unusable. If the lane line confidence level remains between 0.2 and 0.3 for an extended period, disabling the lane line should be considered. A lane line confidence level between 0.3 and 0.5 indicates that the lane line quality is sufficiently good, but there may be small abrupt changes. A lane line confidence level between 0.5 and 1.0 indicates high lane line quality.

[0053] In some embodiments, the method for calculating lane line confidence specifically includes the following: semantic segmentation technology is used to semantically segment the road scene identified by the camera, and convolutional neural network technology (DNN) is used to detect attributes such as non-lane lines, lane lines, lane line length, lane line width, lane line color, and lane line clarity. In this process, the road is segmented to continuously improve the lane line segmentation accuracy. Furthermore, the confidence of each attribute of the lane line is output. Finally, the lane line confidence is obtained by taking the weighted average of the confidence of each attribute of the lane line.

[0054] Step S12: If the target lane line is not identified or the lane line confidence of the target lane line is not greater than the preset lane line confidence threshold, then maintain the following driving mode.

[0055] As can be seen from the above, if the target lane line is not identified or the lane line confidence of the target lane line is not greater than the preset lane line confidence threshold, it means that there is no target lane line or the target lane line is unavailable. Therefore, it is necessary to maintain the following driving mode.

[0056] Step S13: If the target lane line is identified and the lane line confidence of the target lane line is greater than a preset lane line confidence threshold, then determine the lateral distance and angle between the vehicle's longitudinal axis centerline and the lane centerline, and determine the rate of change of the lateral distance; wherein, the lane centerline is the centerline of the target lane line.

[0057] In this embodiment, if the target lane line is identified and the lane line confidence score of the target lane line is greater than a preset lane line confidence score threshold, then the lateral distance and angle between the vehicle's longitudinal axis centerline and the lane centerline are determined, and the rate of change of the lateral distance is determined. Here, the lane centerline is the centerline of the target lane line, and the lateral distance is... Figure 3 In dx, the included angle is also Figure 4 Regarding θ, it should be noted that... (See also...) Figure 3 As shown, d1 is the lateral distance from the center line of the vehicle's longitudinal axis to the left lane line, and d2 is the lateral distance from the center line of the vehicle's longitudinal axis to the right lane line. For dx, dx = (d1 + d2) / 2 - d1. When dx < 0, it indicates that the vehicle is veering to the right of the lane center line, and the vehicle should be steered to the left to straighten. When dx > 0, it indicates that the vehicle is veering to the left of the lane center line, and the vehicle should be steered to the right to straighten.

[0058] In this embodiment, determining the lateral distance and angle between the vehicle's longitudinal axis centerline and the lane centerline, as well as the rate of change of the lateral distance, is to determine whether to switch the following mode to the lane-following mode based on the lateral distance, the angle, and the rate of change of the lateral distance. This avoids safety accidents caused by the vehicle directly switching driving modes when the lateral torque and lateral offset are too large, and improves driving comfort.

[0059] Step S14: Determine whether to switch the following mode to the lane-following mode based on the lateral distance, the included angle, and the rate of change of the lateral distance.

[0060] In one specific implementation, if the lateral distance is not greater than a preset lateral distance threshold and the included angle is less than a preset included angle threshold, it indicates that the vehicle is close to the lane centerline and the vehicle's driving direction deviates little from the direction of the lane centerline. At this time, the lateral control torque and offset are small, so the vehicle can be directly switched to the lane-following driving mode.

[0061] In the second specific implementation, if the lateral distance is not greater than a preset lateral distance threshold and the included angle is not less than a preset included angle threshold, it indicates that although the vehicle is close to the center line of the lane, the vehicle's driving direction deviates significantly from the direction of the center line of the lane. At this time, the lateral control torque and offset are large, so it is necessary to maintain the following driving mode and continuously monitor the included angle. When the lateral distance is not greater than the preset lateral distance threshold and the included angle is less than the preset included angle threshold, the following driving mode is switched to the lane following driving mode.

[0062] In the third specific implementation, if the lateral distance is greater than a preset lateral distance threshold and the rate of change of the lateral distance is less than a preset rate of change threshold, it indicates that the vehicle has deviated far from the lane centerline, but is following the vehicle in front and correcting the deviation of the vehicle from the lane centerline, and controlling the vehicle to move towards the lane centerline. To prevent large lateral torque and lateral instantaneous offset, the following mode is maintained at this time, and the lateral distance and the included angle are continuously monitored. When the lateral distance is not greater than the preset lateral distance threshold and the included angle is less than the preset included angle threshold, the following mode is switched to the lane-following mode.

[0063] As can be seen, this application proposes a method for switching a lane-following driving mode, applied to a traffic congestion assist system, comprising: when following another vehicle through an intersection, determining whether a target lane line is identified and whether the lane line confidence of the target lane line is greater than a preset lane line confidence threshold; if the target lane line is not identified or the lane line confidence of the target lane line is not greater than the preset lane line confidence threshold, then maintaining the lane-following driving mode; if the target lane line is identified and the lane line confidence of the target lane line is greater than the preset lane line confidence threshold, then determining the lateral distance and angle between the vehicle's longitudinal axis centerline and the lane centerline, and determining the rate of change of the lateral distance; wherein, the lane centerline is the centerline of the target lane line; and determining whether to switch the lane-following driving mode to the lane-following driving mode based on the lateral distance, the angle, and the rate of change of the lateral distance. In summary, when following another vehicle through an intersection, this application does not immediately switch to lane-following mode upon detecting a target lane line. Instead, it uses whether the lane line confidence of the target lane line meets a preset lane line confidence threshold as one of the judgment conditions. Furthermore, if the target lane line is not detected or its lane line confidence is not greater than the preset lane line confidence threshold, the following mode is maintained. If the target lane line is detected and its lane line confidence is greater than the preset lane line confidence threshold, the lateral distance and angle between the vehicle's longitudinal axis centerline and the lane centerline are determined, along with the rate of change of the lateral distance. The lateral distance, the angle, and the rate of change of the lateral distance are then used as another judgment condition to determine whether the following mode can be switched to lane-following mode. This avoids safety accidents caused by the vehicle directly switching driving modes when the lateral torque and lateral offset are too large, and improves driving comfort.

[0064] This application discloses a specific method for switching lane-following driving modes, applied to a traffic congestion assist system. Compared to the previous embodiment, this embodiment further explains and optimizes the technical solution. See also... Figure 2 As shown, it specifically includes:

[0065] Step S21: When following another vehicle through an intersection, determine whether the target lane line is identified and whether the lane line confidence of the target lane line is greater than a preset lane line confidence threshold.

[0066] Step S22: If the target lane line is not identified or the lane line confidence of the target lane line is not greater than the preset lane line confidence threshold, then maintain the following driving mode.

[0067] Step S23: If the target lane line is identified and the lane line confidence of the target lane line is greater than a preset lane line confidence threshold, then determine the lateral distance and angle between the vehicle's longitudinal axis centerline and the lane centerline, and determine the rate of change of the lateral distance; wherein, the lane centerline is the centerline of the target lane line.

[0068] For more detailed working processes of steps S21, S22, and S23, please refer to the aforementioned disclosed embodiments, which will not be elaborated here.

[0069] Step S24: If the lateral distance is greater than a preset lateral distance threshold and the rate of change of the lateral distance is not less than a preset rate of change threshold, then the following mode will be forcibly switched to the lane following mode.

[0070] In one specific implementation, if the lateral distance is greater than a preset lateral distance threshold and the rate of change of the lateral distance is not less than a preset rate of change threshold, it indicates that the lateral deviation of the following vehicle's trajectory from the lane centerline is increasing, suggesting that the vehicle in front may be crossing the line or changing lanes. In this case, following should be abandoned, and the vehicle should be forcibly switched to lane-following mode.

[0071] It should be noted that when forcibly switching to lane-following mode, to prevent excessive lateral control torque and lateral offset, the instantaneous offset and trajectory deviation of the vehicle should be controlled. For details, please refer to [link to relevant documentation]. Figure 5 As shown, the historical trajectory line of the vehicle (i.e. Figure 5 I2) and the trajectory control line planned based on the lane centerline (i.e. Figure 5 The I1 in the equation is fused to obtain the current trajectory planning line of the vehicle (i.e., ... Figure 5 Furthermore, during the process of driving towards the current trajectory planning line of the vehicle, the lateral torque is controlled by the proportional integral derivative control method (PID) so that the rate of change of the lateral torque is less than a preset torque change rate threshold. When the included angle is less than a preset included angle threshold, the following driving mode is forcibly switched to the line following driving mode to ensure the smoothness of lateral control when switching from following to line following.

[0072] As can be seen, this application proposes a specific method for switching to a lane-following driving mode, including: when following another vehicle through an intersection, determining whether a target lane line is identified and whether the lane line confidence of the target lane line is greater than a preset lane line confidence threshold; if the target lane line is not identified or the lane line confidence of the target lane line is not greater than the preset lane line confidence threshold, then maintaining the lane-following driving mode; if the target lane line is identified and the lane line confidence of the target lane line is greater than the preset lane line confidence threshold, then determining the lateral distance and angle between the vehicle's longitudinal axis centerline and the lane centerline, and determining the rate of change of the lateral distance; wherein, the lane centerline is the centerline of the target lane line; if the lateral distance is greater than a preset lateral distance threshold, and the rate of change of the lateral distance is not less than a preset rate of change threshold, then forcibly switching the lane-following driving mode to the lane-following driving mode. In summary, when following another vehicle through an intersection, this application does not immediately switch to lane-following mode upon detecting a target lane line. Instead, it uses whether the lane line confidence of the target lane line meets a preset lane line confidence threshold as one of the judgment conditions. Furthermore, if the target lane line is not detected or its lane line confidence is not greater than the preset lane line confidence threshold, the following mode is maintained. If the target lane line is detected and its lane line confidence is greater than the preset lane line confidence threshold, the lateral distance and angle between the vehicle's longitudinal axis centerline and the lane centerline are determined, along with the rate of change of the lateral distance. Further, if the lateral distance is greater than a preset lateral distance threshold and the rate of change of the lateral distance is not less than a preset rate of change threshold, the following mode is forcibly switched to lane-following mode. This avoids safety accidents caused by excessive lateral torque and lateral offset due to the vehicle directly switching to lane-following mode when conditions are not met, and improves driving comfort.

[0073] The following specific embodiment illustrates the following method for switching the following driving mode described in this application: See Figure 6 As shown, when the intelligent driving mode is activated, the vehicle automatically follows the other vehicle through the intersection and identifies the lane line attributes ahead through the camera. If the lane line does not exist or the lane line quality is poor, the vehicle continues to follow the other vehicle. If the lane line exists and the lane line quality is high, the vehicle records the lateral distance dx, the included angle θ, and the lateral distance change rate Δdx between the center of the vehicle and the center of the target lane. Based on the relationship between the lateral distance, the included angle, and the lateral distance change rate and their corresponding thresholds, the vehicle determines whether to switch the following mode to the lane-following mode.

[0074] It should be noted that the vehicle's deviation from the lane is represented by the vehicle's attitude, which indicates the deviation of the vehicle's direction of travel relative to the lane line. This attitude is represented by the angle θ between the vehicle's longitudinal axis and the lane centerline, and the lateral distance dx between the vehicle and the lane centerline. In this embodiment, considering that when θ < 0.4 and dx ≤ 0.5, the deviation angle and lateral distance between the vehicle's longitudinal axis and the lane centerline are both small, and the vehicle attitude is relatively correct, the lateral function intervenes at this point. The lateral torque and lateral offset of the vehicle controlled by the lane line to correct the vehicle back to the lane centerline are both small, resulting in smoother control. Therefore, in this embodiment, 0.4 is set as the preset angle threshold, and 0.5 is set as the preset lateral distance threshold.

[0075] Therefore, when dx ≤ 0.5 and θ < 0.4, switch directly to lane-following; when dx ≤ 0.5 and θ ≥ 0.4, continue following the vehicle ahead and monitor θ until dx ≤ 0.5 and θ < 0.4, then switch to lane-following; when dx > 0.5 and Δdx < 0, it indicates that the vehicle has deviated far from the lane centerline, but following the vehicle ahead is correcting the deviation from the lane centerline and controlling the vehicle to move towards the lane centerline, so continue following the vehicle ahead and continuously monitor dx and θ. When dx ≤ 0.5 and θ < 0.4, switch to lane-following; when dx > 0.5 and Δdx ≥ 0, it indicates that the lateral deviation of the following vehicle's trajectory from the lane centerline is increasing, suggesting that the vehicle ahead may be... When crossing the lane line or changing lanes, the following mode should be abandoned, and the vehicle should be forcibly switched to lane-following mode. During the forced switch to lane-following mode, to prevent excessive lateral control torque and lateral offset, the instantaneous offset and trajectory deviation of the vehicle should be controlled, and the historical trajectory line (i.e., the longitudinal axis centerline) and the trajectory control line (i.e., the trajectory control line planned based on the lane centerline) should be fused to obtain the vehicle's trajectory (i.e., the trajectory planning line). Furthermore, during the process of driving towards the vehicle's trajectory, the lateral torque is controlled by PID control to ensure that the rate of change of the lateral torque is less than a preset torque change rate threshold. When θ < 0.4, the following mode should be forcibly switched to lane-following mode to ensure the smoothness of lateral control during the switch from following to lane-following.

[0076] It should be noted that the included angle threshold and the lateral distance threshold can be set independently based on actual business needs and the experience of those skilled in the art.

[0077] In summary, the traffic jam assist system in this application does not immediately switch to lane following mode when it detects lane lines. Instead, it judges the quality of the lane lines and the positional relationship between the vehicle and the lane lines, thus avoiding the danger of excessive instantaneous deviation caused by excessive lateral torque, which may lead to deviation from the lane or collision with the curb. Furthermore, it can intelligently switch between following and lane following modes according to the scenario and environmental conditions, truly improving the safety and robustness of following other vehicles through intersections.

[0078] Specifically, (1) In addition to the traditional traffic congestion assist system's method of switching to following mode based solely on the presence of lane lines when following another vehicle through an intersection, this application adds conditions for judging the existence and quality of lane lines. When lane lines are absent or of low quality, the following mode is maintained. (2) This application adds a condition for judging the deviation distance between the vehicle and the center of the lane. By using the distance between the vehicle and the lane lines on both sides, a virtual center line of the lane is constructed, and then the distance between the vehicle and the center line of the lane is judged. When the deviation between the vehicle and the center of the lane is large, and the vehicle is continuously moving towards the center line of the lane while following another vehicle, the following mode is maintained. (3) This application adds the judgment of the offset of the vehicle's driving direction from the center line of the lane. The offset of the vehicle's driving direction is judged by the angle between the longitudinal center axis of the vehicle and the center line of the lane. When the lateral offset distance and the driving direction offset of the vehicle from the center line of the lane are both small, the automatic following mode is switched. (4) This application adds the judgment of the lateral offset change rate condition. In order to avoid the vehicle from hitting the curb or changing lanes automatically, when the lateral position of the vehicle's center and the center line of the lane is large and the lateral offset is getting larger and larger, the following mode is forcibly switched. At the same time, in order to avoid the lateral torque being too large when switching to following mode, the trajectory calculated by the vehicle's historical trajectory and the center line of the lane is fused. The lateral torque change rate is controlled to be less than the safe driving threshold by PID adjustment. In order to avoid the driver from being dangerous and having a bad driving experience by suddenly turning the steering wheel.

[0079] Accordingly, this application also discloses a lane-following mode switching device, applied to a traffic congestion assist system, see [link to relevant documentation]. Figure 7 As shown, the device includes:

[0080] The lane line determination module 11 is used to determine whether a target lane line is identified and whether the lane line confidence of the target lane line is greater than a preset lane line confidence threshold when following a vehicle through an intersection.

[0081] The first determination result processing module 12 is used to maintain the following driving mode if the target lane line is not identified or the lane line confidence of the target lane line is not greater than the preset lane line confidence threshold.

[0082] The second determination result processing module 13 is used to determine the lateral distance and angle between the vehicle's longitudinal axis centerline and the lane centerline, and to determine the rate of change of the lateral distance, if the target lane line is identified and the lane line confidence of the target lane line is greater than a preset lane line confidence threshold; wherein, the lane centerline is the centerline of the target lane line.

[0083] The lane-following mode switching module 14 is used to determine whether to switch the following mode to the lane-following mode based on the lateral distance, the included angle, and the rate of change of the lateral distance.

[0084] For more detailed information on the working process of each of the above modules, please refer to the relevant content disclosed in the foregoing embodiments, which will not be repeated here.

[0085] As can be seen, this application proposes a method for switching a lane-following driving mode, applied to a traffic congestion assist system, comprising: when following another vehicle through an intersection, determining whether a target lane line is identified and whether the lane line confidence of the target lane line is greater than a preset lane line confidence threshold; if the target lane line is not identified or the lane line confidence of the target lane line is not greater than the preset lane line confidence threshold, then maintaining the lane-following driving mode; if the target lane line is identified and the lane line confidence of the target lane line is greater than the preset lane line confidence threshold, then determining the lateral distance and angle between the vehicle's longitudinal axis centerline and the lane centerline, and determining the rate of change of the lateral distance; wherein, the lane centerline is the centerline of the target lane line; and determining whether to switch the lane-following driving mode to the lane-following driving mode based on the lateral distance, the angle, and the rate of change of the lateral distance. In summary, when following another vehicle through an intersection, this application does not immediately switch to lane-following mode upon detecting a target lane line. Instead, it uses whether the lane line confidence of the target lane line meets a preset lane line confidence threshold as one of the judgment conditions. Furthermore, if the target lane line is not detected or its lane line confidence is not greater than the preset lane line confidence threshold, the following mode is maintained. If the target lane line is detected and its lane line confidence is greater than the preset lane line confidence threshold, the lateral distance and angle between the vehicle's longitudinal axis centerline and the lane centerline are determined, along with the rate of change of the lateral distance. The lateral distance, the angle, and the rate of change of the lateral distance are then used as another judgment condition to determine whether the following mode can be switched to lane-following mode. This avoids safety accidents caused by the vehicle directly switching driving modes when the lateral torque and lateral offset are too large, and improves driving comfort.

[0086] Furthermore, embodiments of this application also provide an electronic device. Figure 8This is a structural diagram of an electronic device 20 according to an exemplary embodiment. The content of the diagram should not be construed as limiting the scope of this application.

[0087] Figure 8 This is a schematic diagram of the structure of an electronic device 20 provided in an embodiment of this application. The electronic device 20 may specifically include: at least one processor 21, at least one memory 22, a display screen 23, an input / output interface 24, a communication interface 25, a power supply 26, and a communication bus 27. The memory 22 stores a computer program, which is loaded and executed by the processor 21 to implement the relevant steps in the lane-following mode switching method disclosed in any of the foregoing embodiments. Alternatively, the electronic device 20 in this embodiment may specifically be a computer.

[0088] In this embodiment, the power supply 26 is used to provide operating voltage for each hardware device on the electronic device 20; the communication interface 25 can create a data transmission channel between the electronic device 20 and external devices, and the communication protocol it follows can be any communication protocol applicable to the technical solution of this application, and is not specifically limited here; the input / output interface 24 is used to acquire external input data or output data to the outside world, and its specific interface type can be selected according to specific application needs, and is not specifically limited here.

[0089] Furthermore, the memory 22, as a carrier for resource storage, can be a read-only memory, random access memory, disk, or optical disk, etc. The resources stored thereon may include computer programs 221, and the storage method may be temporary storage or permanent storage. The computer programs 221 may include, in addition to computer programs capable of performing the lane-following mode switching method executed by the electronic device 20 as disclosed in any of the foregoing embodiments, computer programs capable of performing other specific tasks.

[0090] Furthermore, embodiments of this application also disclose a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, it implements the aforementioned lane-following driving mode switching method.

[0091] For the specific steps of this method, please refer to the relevant content disclosed in the foregoing embodiments, which will not be repeated here.

[0092] The various embodiments in this application are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. For the same or similar parts between the various embodiments, refer to each other. As for the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple, and relevant parts can be referred to in the method section.

[0093] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0094] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly by hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0095] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus 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 apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0096] The foregoing has provided a detailed description of the following driving mode switching method, apparatus, device, and storage medium provided in this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A method for switching lane-following driving modes, characterized in that, Applications in traffic congestion assistance systems include: When following another vehicle through an intersection, determine whether the target lane line is identified and whether the lane line confidence of the target lane line is greater than a preset lane line confidence threshold. If the target lane line is not identified or the lane line confidence of the target lane line is not greater than the preset lane line confidence threshold, then maintain the following driving mode; If the target lane line is identified and the lane line confidence of the target lane line is greater than a preset lane line confidence threshold, then the lateral distance and angle between the vehicle's longitudinal axis centerline and the lane centerline are determined, and the rate of change of the lateral distance is determined; wherein, the lane centerline is the centerline of the target lane line; The decision to switch from following vehicle mode to lane following mode is made based on the lateral distance, the included angle, and the rate of change of the lateral distance. The step of determining whether to switch from following mode to lane-following mode based on the lateral distance, the included angle, and the rate of change of the lateral distance includes: If the lateral distance is greater than a preset lateral distance threshold and the rate of change of the lateral distance is less than a preset rate of change threshold, then maintain the following driving mode and continuously monitor the lateral distance and the included angle; When the lateral distance is not greater than the preset lateral distance threshold and the included angle is less than the preset included angle threshold, the following mode will be switched to the lane following mode.

2. The method for switching driving modes according to claim 1, characterized in that, Determining whether to switch from following mode to lane-following mode based on the lateral distance and the included angle includes: If the lateral distance is not greater than a preset lateral distance threshold and the included angle is less than a preset included angle threshold, then the following mode will be switched to the lane following mode.

3. The method for switching driving modes according to claim 1, characterized in that, Determining whether to switch from following mode to lane-following mode based on the lateral distance and the included angle includes: If the lateral distance is not greater than a preset lateral distance threshold and the included angle is not less than a preset included angle threshold, then the following driving mode is maintained and the included angle is continuously monitored. When the lateral distance is not greater than the preset lateral distance threshold and the included angle is less than the preset included angle threshold, the following mode is switched to the lane following mode.

4. The method for switching driving modes according to claim 1, characterized in that, The step of determining whether to switch from following mode to lane-following mode based on the lateral distance, the included angle, and the rate of change of the lateral distance includes: If the lateral distance is greater than a preset lateral distance threshold, and the rate of change of the lateral distance is not less than a preset rate of change threshold, then the following mode will be forcibly switched to the lane-following mode.

5. The method for switching driving modes according to claim 4, characterized in that, The process of forcibly switching from following vehicle mode to lane-following mode includes: The vehicle's historical trajectory line is fused with the trajectory control line planned based on the lane center line to obtain the vehicle's current trajectory planning line; During the process of driving towards the current trajectory planning line of the vehicle, the lateral torque is controlled by the proportional-integral-derivative control method so that the rate of change of the lateral torque is less than a preset torque change rate threshold. When the included angle is less than a preset included angle threshold, the following driving mode is forcibly switched to the line following driving mode.

6. The method for switching driving modes according to any one of claims 1 to 5, characterized in that, Also includes: Identify lane attributes and lane line attributes; The lane line confidence level of the target lane line is determined based on the lane attributes and the lane line attributes.

7. A lane-following driving mode switching device, characterized in that, Applications in traffic congestion assistance systems include: The lane line determination module is used to determine whether a target lane line is identified and whether the lane line confidence of the target lane line is greater than a preset lane line confidence threshold when following a vehicle through an intersection. The first determination result processing module is used to maintain the following driving mode if the target lane line is not identified or the lane line confidence of the target lane line is not greater than the preset lane line confidence threshold. The second determination result processing module is used to determine the lateral distance and angle between the vehicle's longitudinal axis centerline and the lane centerline if the target lane line is identified and the lane line confidence of the target lane line is greater than a preset lane line confidence threshold, and to determine the rate of change of the lateral distance; wherein the lane centerline is the centerline of the target lane line; The lane-following driving mode switching module is used to determine whether to switch the following driving mode to the lane-following driving mode based on the lateral distance, the included angle, and the rate of change of the lateral distance. The step of determining whether to switch from following mode to lane-following mode based on the lateral distance, the included angle, and the rate of change of the lateral distance includes: If the lateral distance is greater than a preset lateral distance threshold and the rate of change of the lateral distance is less than a preset rate of change threshold, then maintain the following driving mode and continuously monitor the lateral distance and the included angle; When the lateral distance is not greater than the preset lateral distance threshold and the included angle is less than the preset included angle threshold, the following mode will be switched to the lane following mode.

8. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor for executing the computer program to implement the lane-following mode switching method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, Used to store computer programs; wherein, when the computer programs are executed by a processor, they implement the lane-following driving mode switching method as described in any one of claims 1 to 6.

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