A lane change suppression determination method and device for intelligent driving commercial vehicles

Abstract

The present invention discloses a lane change suppression determination method and device for an intelligent driving commercial vehicle, and relates to the technical field of intelligent vehicles. A lane change suppression determination method for an intelligent driving commercial vehicle comprises the following steps: obtaining driving operation information of the vehicle, driving information of the vehicle and surrounding vehicles, and road information; determining the predicted collision time between the vehicle and the front and rear vehicles according to the driving information of the vehicle and surrounding vehicles; judging whether to change lanes according to the road information and the predicted collision time of the front and rear vehicles; in the lane change process, obtaining a lane change suppression evaluation value according to the driving information of the vehicle and surrounding vehicles, and judging whether to perform a suppression operation. The method provided by the present invention enhances the safety of lane change in complex driving environment conditions.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent vehicles, and in particular relates to a method and device for determining lane change suppression of an intelligent driving commercial vehicle. Background Art

[0002] With the increasing popularity of autonomous driving, the continuous development of technology, the massive investment of capital, and the accelerating pace of transformation of traditional vehicles to intelligence, more and more autonomous driving technology companies have emerged to seize the market segments they are good at. For the field of passenger car autonomous driving, which has huge demand, it has also gradually developed from the initial L1 level cruise control and lane keeping assistance to L2+ level navigation assisted autonomous driving. Among them, active lane change is a relatively important function. In the same scenario, the active lane change function of different system products will have different performances because their lane change decision logic will adopt different solutions. What lane change decision needs to do is to decide whether to change lanes and whether to change lanes now. The more mainstream methods at present are rule-based and data-driven. Among them, the rule-based method is to model the common driving behavior of humans, while the data-driven method is to train the model through a large amount of actual driving data. At present, mass-produced systems generally use rule-based methods to implement lane change decisions, mainly by judging whether the target lane has enough lane change space. If so, a lane change decision will be made, otherwise the current lane will continue to be maintained. The problem with this solution is that different systems have different criteria for "sufficient lane change space". Some systems are very conservative for safety reasons, which makes it difficult for experienced drivers with good driving skills to accept them. Some systems are more aggressive for efficiency, but they will cause panic for novice drivers. The current technical solutions are generally based on sensing the information of vehicles around the vehicle, generating lane change intentions and lane change trajectories based on relative speed and distance, and do not involve lane change suppression. Summary of the invention

[0003] The present application provides a method, device, equipment and storage medium for determining lane change suppression of an intelligent driving commercial vehicle, which can enhance the safety of lane change operations of the intelligent driving commercial vehicle under complex road conditions.

[0004] In order to achieve the above objectives, this application adopts the following technical solutions:

[0005] In a first aspect, a method for determining lane change suppression of an intelligent driving commercial vehicle is provided, comprising the following steps:

[0006] Obtain the driving operation information of the vehicle, the driving information of the vehicle and surrounding vehicles, and the road information;

[0007] Determining a predicted collision time between the vehicle and the front and rear vehicles based on the driving information of the vehicle and surrounding vehicles;

[0008] Determining whether to change lanes according to the road information and the predicted collision time of the front and rear vehicles;

[0009] During the lane changing process, the lane changing suppression evaluation value is obtained based on the driving information of the vehicle and surrounding vehicles to determine whether to perform the suppression operation.

[0010] In some embodiments, the driving information of the self-vehicle and surrounding vehicles includes: the speed of the self-vehicle, the speed of surrounding vehicles, the relative distance between the self-vehicle and surrounding vehicles, and the length of the vehicle body trailer;

[0011] The road information includes: lane line type, target lane line width, and target lane line confidence.

[0012] In some embodiments, determining the predicted collision time between the vehicle and the preceding vehicle based on the driving information of the vehicle and surrounding vehicles includes:

[0013] According to the formula:

[0014] TS1=ΔL1 / V

[0015] The time distance TS1 between the vehicle and the vehicle in front is obtained, where ΔL1 is the relative distance between the vehicle and the vehicle in front, and V is the speed of the vehicle;

[0016] According to the formula:

[0017] Δv1=V-V1

[0018] Get the relative speed Δv1 between the vehicle and the front vehicle, where V is the speed of the vehicle and V1 is the speed of the front vehicle;

[0019] According to the formula:

[0020] TTC1=ΔL1 / Δv1

[0021] The predicted collision time with the front vehicle TTC1 is obtained, where ΔL1 is the relative distance between the vehicle and the front vehicle, and Δv1 is the relative speed between the vehicle and the front vehicle;

[0022] In some embodiments, determining the predicted collision time between the vehicle and the following vehicle based on the driving information of the vehicle and surrounding vehicles includes:

[0023] According to the formula:

[0024] TS2=ΔL2 / V

[0025] The time distance TS2 between the vehicle and the rear vehicle is obtained, where ΔL2 is the relative distance between the vehicle and the rear vehicle, and V is the speed of the vehicle.

[0026] According to the formula:

[0027] Δv2=V-V2

[0028] The relative speed Δv2 between the vehicle and the rear vehicle is obtained, where V is the speed of the vehicle and V2 is the speed of the rear vehicle.

[0029] According to the formula:

[0030] TTC2=(ΔL2-l) / Δv2

[0031] The predicted collision time with the rear vehicle TTC2 is obtained, where ΔL2 is the relative distance between the vehicle and the rear vehicle, and Δv2 is the relative speed between the vehicle and the rear vehicle.

[0032] In some embodiments, judging whether to change lanes based on the self-vehicle driving operation information, road information, and the predicted collision time of the front and rear vehicles includes:

[0033] When it is detected that the driver intends to cancel the lane change operation, the lane change is canceled;

[0034] When it is recognized that the driver has not canceled the lane change operation, it is determined whether the target lane confidence meets the lane line confidence requirement. If not, the lane change is canceled;

[0035] When the target lane confidence meets the lane line confidence requirement, determine whether the lane width of the target lane line meets the lane change requirement. If not, cancel the lane change.

[0036] When the time distance TS1 or TS2 between the vehicle and the front and rear vehicles is less than the safety threshold, the lane change is canceled;

[0037] When the predicted collision time TTC1 or TTC2 between the vehicle and the front and rear vehicles is less than the safety threshold, the lane change is canceled;

[0038] When the lane line on the lane changing side is a solid line, cancel the lane changing.

[0039] In some embodiments, during the lane changing process, obtaining a lane changing inhibition evaluation value according to driving information of the vehicle and surrounding vehicles includes:

[0040] According to the formula:

[0041] S1=(S11+S12) / 2

[0042] The driving value S1 of the vehicle in front of the lane maintaining a stable state is obtained, where S11 is the characteristic value of the predicted collision time between the vehicle in the lane and the vehicle in front, and S12 is the characteristic value of the time distance between the vehicle in the lane and the vehicle in front;

[0043] According to the formula:

[0044] S2=(S21+S22) / 2

[0045] The driving value S2 of the vehicle in front of the target lane maintaining a stable state is obtained, where S21 is the characteristic value of the predicted collision time between the target lane vehicle and the vehicle in front, and S22 is the characteristic value of the time distance between the target lane vehicle and the vehicle in front;

[0046] According to the formula:

[0047] S3=(S31+S32) / 2

[0048] The driving value S3 of the vehicle behind the own lane maintaining a stable state is obtained, where S31 is the characteristic value of the predicted collision time between the own vehicle in the own lane and the vehicle behind, and S32 is the characteristic value of the time distance between the own vehicle in the own lane and the vehicle behind;

[0049] According to the formula:

[0050] S4=(S41+S42) / 2

[0051] Obtain the driving value S4 of the vehicle behind the target lane maintaining a stable state, where S41 is the predicted collision time characteristic value between the target lane vehicle and the rear vehicle, and S42 is the time distance characteristic value between the target lane vehicle and the rear vehicle;

[0052] According to the formula:

[0053] E=K1*S1+K2*S2+K3*S3+K4*S4+KL*SL

[0054] The lane change suppression evaluation value E is obtained, where K1 is the weight of the vehicle in front of the lane, K2 is the weight of the vehicle in front of the target lane, K3 is the weight of the vehicle behind the lane, K4 is the weight of the vehicle behind the target lane, and KL is the lane line confidence weight.

[0055] In some embodiments, obtaining the lane change suppression evaluation value and determining whether to perform a suppression operation includes:

[0056] When the vehicle is in the lane and the lane change suppression evaluation value E is greater than the first preset threshold, the vehicle replans the trajectory and returns to the center of the original lane;

[0057] When the vehicle is in the target lane and the lane change suppression evaluation value E is greater than the second preset threshold, the vehicle adjusts the lateral control to straighten the front of the vehicle, continues to go straight longitudinally, and replans the driving trajectory to return to the center of the original lane.

[0058] In a second aspect, a lane change suppression determination device for an intelligent driving commercial vehicle is provided, comprising:

[0059] A collection unit, which is used to obtain the driving operation information of the vehicle, the driving information of the vehicle and surrounding vehicles, and road information;

[0060] A calculation unit, which is used to determine the predicted collision time between the vehicle and the front and rear vehicles according to the driving information of the vehicle and the surrounding vehicles;

[0061] A judgment unit, configured to judge whether to change lanes according to the road information and the predicted collision time of the front and rear vehicles;

[0062] The judgment unit is also used to obtain a lane change suppression evaluation value according to the driving information of the own vehicle and surrounding vehicles during the lane change process, and judge whether to perform a suppression operation.

[0063] According to a third aspect, a computer device is provided, comprising: a processor, a memory, and a computer program stored in the memory and executable by the processor, wherein when the computer program is executed by the processor, the method described in any one of the first aspects is implemented.

[0064] According to a fourth aspect, a computer-readable storage medium is provided, on which a computer program is stored, wherein when the computer program is executed by a processor, the method described in any one of the first aspects is implemented.

[0065] In the present invention, the driving operation information of the vehicle, the driving information of the vehicle and surrounding vehicles, and the road information are obtained; the predicted collision time between the vehicle and the front and rear vehicles is determined based on the driving information of the vehicle and surrounding vehicles; whether to change lanes is determined based on the road information and the predicted collision time of the front and rear vehicles; during the lane changing process, the lane changing suppression evaluation value is obtained based on the driving information of the vehicle and surrounding vehicles to determine whether to perform the suppression operation. The method provided by the present invention enhances the lane changing safety in complex driving environment conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] Figure 1 This is a flow chart of a method for determining lane change suppression for an intelligent driving commercial vehicle in an embodiment of the present invention;

[0067] Figure 2 Schematic diagram of lane change suppression in an embodiment of the present invention;

[0068] Figure 3 Schematic diagram of a lane change suppression determination device for an intelligent driving commercial vehicle in an embodiment of the present invention;

[0069] Figure 4 The figure is a schematic diagram of the structure of a computer device in an embodiment of the present invention. DETAILED DESCRIPTION

[0070] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0071] See also Figure 1 , Figure 1 A flowchart of a lane change suppression determination method for an intelligent driving commercial vehicle provided by an embodiment of the present invention. Figure 1 As shown, the method includes but is not limited to the following steps:

[0072] S1. Obtain the driving operation information of the vehicle, the driving information of the vehicle and surrounding vehicles, and the road information;

[0073] S2. Determine the predicted collision time between the vehicle and the front and rear vehicles according to the driving information of the vehicle and the surrounding vehicles;

[0074] S3. Determine whether to change lanes based on the road information and the predicted collision time of the front and rear vehicles;

[0075] S4. During the lane changing process, a lane changing suppression evaluation value is obtained based on the driving information of the own vehicle and surrounding vehicles, and a determination is made as to whether a suppression operation should be performed.

[0076] It is worth noting that the driving information of the vehicle and surrounding vehicles includes: the speed of the vehicle, the speed of surrounding vehicles, the relative distance between the vehicle and surrounding vehicles, and the length of the vehicle trailer;

[0077] The road information includes: lane line type, target lane line width, and target lane line confidence.

[0078] In some embodiments, determining the predicted collision time between the vehicle and the preceding vehicle based on the driving information of the vehicle and surrounding vehicles includes:

[0079] According to the formula:

[0080] TS1=ΔL1 / V

[0081] The time distance TS1 between the vehicle and the vehicle in front is obtained, where ΔL1 is the relative distance between the vehicle and the vehicle in front, and V is the speed of the vehicle;

[0082] According to the formula:

[0083] Δv1=V-V1

[0084] Get the relative speed Δv1 between the vehicle and the front vehicle, where V is the speed of the vehicle and V1 is the speed of the front vehicle;

[0085] According to the formula:

[0086] TTC1=ΔL1 / Δv1

[0087] The predicted collision time with the front vehicle TTC1 is obtained, where ΔL1 is the relative distance between the vehicle and the front vehicle, and Δv1 is the relative speed between the vehicle and the front vehicle;

[0088] Before starting the lane change operation, it is necessary to judge the situation around the vehicle, mainly the status of the vehicles in front and behind the current lane.

[0089] In some embodiments, determining the predicted collision time between the vehicle and the following vehicle based on the driving information of the vehicle and surrounding vehicles includes:

[0090] According to the formula:

[0091] TS2=ΔL2 / V

[0092] The time distance TS2 between the vehicle and the rear vehicle is obtained, where ΔL2 is the relative distance between the vehicle and the rear vehicle, and V is the speed of the vehicle.

[0093] According to the formula:

[0094] Δv2=V-V2

[0095] The relative speed Δv2 between the vehicle and the rear vehicle is obtained, where V is the speed of the vehicle and V2 is the speed of the rear vehicle.

[0096] According to the formula:

[0097] TTC2=(ΔL2-l) / Δv2

[0098] The predicted collision time with the rear vehicle TTC2 is obtained, where ΔL2 is the relative distance between the vehicle and the rear vehicle, and Δv2 is the relative speed between the vehicle and the rear vehicle.

[0099] In some embodiments, judging whether to change lanes based on the self-vehicle driving operation information, road information, and the predicted collision time of the front and rear vehicles includes:

[0100] When it is recognized that the driver intends to cancel the lane change operation, the lane change is canceled; in some complex driving situations, the driver's decision on whether to change lanes is based on the actual situation and has a high reference value.

[0101] When it is recognized that the driver has not canceled the lane change operation, it is determined whether the target lane confidence meets the lane line confidence requirement. If not, the lane change is canceled;

[0102] The lane confidence requirement is generally between 75% and 100%. If the lane line confidence does not meet the requirement, lane line recognition errors may occur. If lanes are changed based on the wrong lane line, dangerous situations may occur.

[0103] When the target lane confidence meets the lane line confidence requirement, determine whether the lane width of the target lane line meets the lane change requirement. If not, cancel the lane change.

[0104] It is worth mentioning that the width of the target lane needs to meet the basic requirements of the vehicle width, which is generally 2.8 meters to 3.75 meters. If it does not meet the requirements, lane changing cannot be performed.

[0105] When the time distance TS1 or TS2 between the vehicle and the front and rear vehicles is less than the safety threshold, the lane change is canceled;

[0106] When the predicted collision time TTC1 or TTC2 between the vehicle and the front and rear vehicles is less than the safety threshold, the lane change is canceled;

[0107] When the lane line on the lane changing side is a solid line, cancel the lane changing.

[0108] In some embodiments, during the lane changing process, obtaining a lane changing inhibition evaluation value according to driving information of the vehicle and surrounding vehicles includes:

[0109] According to the formula:

[0110] S1=(S11+S12) / 2

[0111] The driving value S1 of the vehicle in front of the lane maintaining a stable state is obtained, where S11 is the characteristic value of the predicted collision time between the vehicle in the lane and the vehicle in front, and S12 is the characteristic value of the time distance between the vehicle in the lane and the vehicle in front;

[0112] Among them, the corresponding relationship between TTC1 and S11 is as follows:

[0113]

[0114]

[0115] The relationship between the headway between the vehicle and the vehicle ahead in the lane and S12 is as follows:

[0116] Time Distance S12 0～2 4 2～4 3 4～8 2 >8 1

[0117] According to the formula:

[0118] S2=(S21+S22) / 2

[0119] The driving value S2 of the vehicle in front of the target lane maintaining a stable state is obtained, where S21 is the characteristic value of the predicted collision time between the target lane vehicle and the vehicle in front, and S22 is the characteristic value of the time distance between the target lane vehicle and the vehicle in front;

[0120] Among them, the corresponding relationship between TTC3 and S21 is as follows:

[0121] TTC3 S21 0～3 4 3～5 3 5～10 2 >10 1

[0122] The relationship between the time distance between the ego vehicle and the vehicle ahead in the target lane and S22 is as follows:

[0123] Time Distance S22 0～2 4 2～4 3 4～8 2 >8 1

[0124] Among them, TTC3 is the predicted collision time between the vehicle in the target lane and the vehicle in front.

[0125] According to the formula:

[0126] S3=(S31+S32) / 2

[0127] The driving value S3 of the vehicle behind the own lane maintaining a stable state is obtained, where S31 is the characteristic value of the predicted collision time between the own vehicle in the own lane and the vehicle behind, and S32 is the characteristic value of the time distance between the own vehicle in the own lane and the vehicle behind;

[0128] Among them, the corresponding relationship between TTC2 and S31 is as follows:

[0129] TTC2 S31 0～3 2 3～5 1 5～10 0 >10 0

[0130] The relationship between the time distance between the vehicle and the vehicle behind it in the lane and S32 is as follows:

[0131] Time Distance S32 0～1.5 2 1.5～3 1 3～6 0 >6 0

[0132] According to the formula:

[0133] S4=(S41+S42) / 2

[0134] Obtain the driving value S4 of the vehicle behind the target lane maintaining a stable state, where S41 is the predicted collision time characteristic value between the target lane vehicle and the rear vehicle, and S42 is the time distance characteristic value between the target lane vehicle and the rear vehicle;

[0135] Among them, the corresponding relationship between TTC4 and S41 is as follows:

[0136] TTC4 S41 0～3 2 3～5 1 5～10 0 >10 0

[0137] The relationship between the time distance between the ego vehicle and the vehicle behind the target lane and S42 is as follows:

[0138] Time Distance S42 0～1.5 2 1.5～3 1 3～6 0 >6 0

[0139] According to the formula:

[0140] E=K1*S1+K2*S2+K3*S3+K4*S4+KL*SL

[0141] The lane change suppression evaluation value E is obtained, where K1 is the weight of the vehicle in front of the lane, K2 is the weight of the vehicle in front of the target lane, K3 is the weight of the vehicle behind the lane, K4 is the weight of the vehicle behind the target lane, and KL is the lane line confidence weight.

[0142] Among them, the range of K1 is 0.2-0.25, the range of K2 is 0.2-0.25, the range of K3 is 0.15-0.2, the range of K4 is 0.18-0.23, and KL=0.2.

[0143] During the lane change process, some situations may occur and it is necessary to determine whether to continue the lane change. Determine whether the driver's operation information cancels the lane change intention, whether the vehicle in front of the lane maintains a stable driving state value S1, whether the vehicle in front of the target lane maintains a stable driving state value S2, whether the vehicle in the rear of the lane maintains a stable driving state value S3, whether the vehicle in the rear of the target lane maintains a stable driving state value S4, and whether the lane line confidence meets the conditional value SL.

[0144] The relationship between SL and lane line confidence is as follows:

[0145] Lane Confidence SL 0-25％ 4 25％-50％ 3 50％-75％ 2 75％-90％ 1 90％-100％ 0

[0146] See also Figure 2 In some embodiments, obtaining the lane change suppression evaluation value and determining whether to perform a suppression operation includes:

[0147] When the vehicle is in the lane and the lane change suppression evaluation value E is greater than the first preset threshold, the vehicle replans the trajectory and returns to the center of the original lane;

[0148] The vehicle adjusts the lateral control to straighten the front of the vehicle, continues to go straight longitudinally, and re-plans the driving trajectory to return to the center of the original lane.

[0149] When the vehicle is in the target lane and the lane change suppression evaluation value E is greater than the second preset threshold, the vehicle adjusts the lateral control to straighten the front of the vehicle, continues to go straight longitudinally, and replans the driving trajectory to return to the center of the original lane.

[0150] Whether the vehicle is in the lane is determined based on the center of the rear axle. Since this patent relates to lane change suppression for commercial vehicles, commercial vehicles with trailers are further considered.

[0151] The method of the present invention obtains the driving operation information of the vehicle, the driving information of the vehicle and surrounding vehicles, and the road information; determines the predicted collision time between the vehicle and the front and rear vehicles according to the driving information of the vehicle and surrounding vehicles; determines whether to change lanes according to the road information and the predicted collision time of the front and rear vehicles; and during the lane changing process, obtains the lane changing suppression evaluation value according to the driving information of the vehicle and surrounding vehicles, and determines whether to perform the suppression operation. The method provided by the present invention enhances the lane changing safety in complex driving environment conditions.

[0152] See also Figure 3 The embodiment of the present invention further provides a lane change suppression determination device for an intelligent driving commercial vehicle, comprising:

[0153] A collection unit, which is used to obtain the driving operation information of the vehicle, the driving information of the vehicle and surrounding vehicles, and road information;

[0154] A calculation unit, which is used to determine the predicted collision time between the vehicle and the front and rear vehicles according to the driving information of the vehicle and the surrounding vehicles;

[0155] A judgment unit, configured to judge whether to change lanes according to the road information and the predicted collision time of the front and rear vehicles;

[0156] The judgment unit is also used to obtain a lane change suppression evaluation value according to the driving information of the own vehicle and surrounding vehicles during the lane change process, and judge whether to perform a suppression operation.

[0157] In some embodiments, the driving information of the self-vehicle and surrounding vehicles includes: the speed of the self-vehicle, the speed of surrounding vehicles, the relative distance between the self-vehicle and surrounding vehicles, and the length of the vehicle body trailer;

[0158] The road information includes: lane line type, target lane line width, and target lane line confidence.

[0159] In some embodiments, the calculation unit is used to determine the predicted collision time between the vehicle and the preceding vehicle according to the driving information of the vehicle and surrounding vehicles, including:

[0160] According to the formula:

[0161] TS1=ΔL1 / V

[0162] The time distance TS1 between the vehicle and the vehicle in front is obtained, where ΔL1 is the relative distance between the vehicle and the vehicle in front, and V is the speed of the vehicle;

[0163] According to the formula:

[0164] Δv1=V-V1

[0165] Get the relative speed Δv1 between the vehicle and the front vehicle, where V is the speed of the vehicle and V1 is the speed of the front vehicle;

[0166] According to the formula:

[0167] TTC1=ΔL1 / Δv1

[0168] The predicted collision time with the front vehicle TTC1 is obtained, where ΔL1 is the relative distance between the vehicle and the front vehicle, and Δv1 is the relative speed between the vehicle and the front vehicle;

[0169] In some embodiments, the calculation unit is further used to: determine the predicted collision time between the vehicle and the following vehicle according to the driving information of the vehicle and the surrounding vehicles, including:

[0170] According to the formula:

[0171] TS2=ΔL2 / V

[0172] The time distance TS2 between the vehicle and the rear vehicle is obtained, where ΔL2 is the relative distance between the vehicle and the rear vehicle, and V is the speed of the vehicle.

[0173] According to the formula:

[0174] Δv2=V-V2

[0175] The relative speed Δv2 between the vehicle and the rear vehicle is obtained, where V is the speed of the vehicle and V2 is the speed of the rear vehicle.

[0176] According to the formula:

[0177] TTC2=(ΔL2-l) / Δv2

[0178] The predicted collision time with the rear vehicle TTC2 is obtained, where ΔL2 is the relative distance between the vehicle and the rear vehicle, and Δv2 is the relative speed between the vehicle and the rear vehicle.

[0179] In some embodiments, the judgment unit is used to judge whether to change lanes according to the self-vehicle driving operation information, road information and the predicted collision time of the front and rear vehicles, including:

[0180] When it is detected that the driver intends to cancel the lane change operation, the lane change is canceled;

[0181] When it is recognized that the driver has not canceled the lane change operation, it is determined whether the target lane confidence meets the lane line confidence requirement. If not, the lane change is canceled;

[0182] When the target lane confidence meets the lane line confidence requirement, determine whether the lane width of the target lane line meets the lane change requirement. If not, cancel the lane change.

[0183] When the time distance TS1 or TS2 between the vehicle and the front and rear vehicles is less than the safety threshold, the lane change is canceled;

[0184] When the predicted collision time TTC1 or TTC2 between the vehicle and the front and rear vehicles is less than the safety threshold, the lane change is canceled;

[0185] When the lane line on the lane changing side is a solid line, cancel the lane changing.

[0186] In some embodiments, the calculation unit is further used to: during the lane changing process, according to the driving information of the vehicle and surrounding vehicles, obtain a lane changing inhibition evaluation value, including:

[0187] According to the formula:

[0188] S1=(S11+S12) / 2

[0189] The driving value S1 of the vehicle in front of the lane maintaining a stable state is obtained, where S11 is the characteristic value of the predicted collision time between the vehicle in the lane and the vehicle in front, and S12 is the characteristic value of the time distance between the vehicle in the lane and the vehicle in front;

[0190] According to the formula:

[0191] S2=(S21+S22) / 2

[0192] The driving value S2 of the vehicle in front of the target lane maintaining a stable state is obtained, where S21 is the characteristic value of the predicted collision time between the target lane vehicle and the vehicle in front, and S22 is the characteristic value of the time distance between the target lane vehicle and the vehicle in front;

[0193] According to the formula:

[0194] S3=(S31+S32) / 2

[0195] The driving value S3 of the vehicle behind the own lane maintaining a stable state is obtained, where S31 is the characteristic value of the predicted collision time between the own vehicle in the own lane and the vehicle behind, and S32 is the characteristic value of the time distance between the own vehicle in the own lane and the vehicle behind;

[0196] According to the formula:

[0197] S4=(S41+S42) / 2

[0198] Obtain the driving value S4 of the vehicle behind the target lane maintaining a stable state, where S41 is the predicted collision time characteristic value between the target lane vehicle and the rear vehicle, and S42 is the time distance characteristic value between the target lane vehicle and the rear vehicle;

[0199] According to the formula:

[0200] E=K1*S1+K2*S2+K3*S3+K4*S4+KL*SL

[0201] The lane change suppression evaluation value E is obtained, where K1 is the weight of the vehicle in front of the lane, K2 is the weight of the vehicle in front of the target lane, K3 is the weight of the vehicle behind the lane, K4 is the weight of the vehicle behind the target lane, and KL is the lane line confidence weight.

[0202] In some embodiments, the judgment unit is further used to: obtain a lane change suppression evaluation value and judge whether to perform a suppression operation, including:

[0203] When the vehicle is in the lane and the lane change suppression evaluation value E is greater than the first preset threshold, the vehicle replans the trajectory and returns to the center of the original lane;

[0204] When the vehicle is in the target lane and the lane change suppression evaluation value E is greater than the second preset threshold, the vehicle adjusts the lateral control to straighten the front of the vehicle, continues to go straight longitudinally, and replans the driving trajectory to return to the center of the original lane.

[0205] The device of the present invention obtains the driving operation information of the vehicle, the driving information of the vehicle and surrounding vehicles, and the road information; determines the predicted collision time between the vehicle and the front and rear vehicles according to the driving information of the vehicle and surrounding vehicles; determines whether to change lanes according to the road information and the predicted collision time of the front and rear vehicles; and during the lane changing process, obtains the lane changing suppression evaluation value according to the driving information of the vehicle and surrounding vehicles to determine whether to perform the suppression operation. The device provided by the present invention enhances the safety of lane changing in complex driving environment.

[0206] It should be noted that the step numbers of the steps in the embodiments of the present application do not limit the sequence of the operations in the technical solution of the present application.

[0207] It should be noted that those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-described device and each unit can refer to the corresponding process in the aforementioned intelligent driving commercial vehicle lane change suppression determination method embodiment, and will not be repeated here.

[0208] The apparatus provided in the above embodiment may be implemented in the form of a computer program. The computer program may be Figure 4 Runs on the computer device shown.

[0209] An embodiment of the present application also provides a computer device, including: a memory, a processor, and a network interface connected via a system bus, wherein at least one instruction is stored in the memory, and the at least one instruction is loaded and executed by the processor to implement all or part of the steps of the aforementioned intelligent driving commercial vehicle lane change suppression determination method.

[0210] The network interface is used for network communication, such as sending assigned tasks, etc. Those skilled in the art will understand that Figure 4The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0211] The processor may be a CPU, or other general-purpose processors, DSP (Digital Signal Processor), ASIC (Application Specific Integrated Circuit), FPGA (Field Programmable Gate Array) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor, or the processor may be any conventional processor, etc. The processor is the control center of the computer device, and uses various interfaces and lines to connect various parts of the entire computer device.

[0212] The memory can be used to store computer programs and / or modules. The processor realizes various functions of the computer device by running or executing the computer programs and / or modules stored in the memory, and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required for at least one function (such as a video playback function, an image playback function, etc.), etc.; the data storage area can store data created according to the use of the mobile phone (such as video data, image data, etc.), etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, an SMC (Smart MediaCard, smart memory card), an SD (Secure digital, secure digital) card, a flash card (Flash Card), at least one disk storage device, a flash memory device or other volatile solid-state storage device.

[0213] An embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, all or part of the steps of the aforementioned intelligent driving commercial vehicle lane change suppression determination method are implemented.

[0214] The embodiment of the present application implements all or part of the aforementioned process, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of each of the above methods when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device that can carry computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, ROM (Read-Only memory), RAM (Random Access memory), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electric carrier signals and telecommunication signals.

[0215] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, servers or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) that contain computer-usable program code.

[0216] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0217] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0218] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features applied for herein.

Claims

1. A method for determining lane change suppression for an intelligent driving commercial vehicle, characterized in that: The following steps are involved: Obtain the driving operation information of the vehicle, the driving information of the vehicle and surrounding vehicles, and the road information; Determining a predicted collision time between the vehicle and the front and rear vehicles based on the driving information of the vehicle and surrounding vehicles; Determining whether to change lanes according to the road information and the predicted collision time of the front and rear vehicles; During the lane-changing process, the lane-changing suppression evaluation value is obtained based on the driving information of the vehicle and surrounding vehicles to determine whether to perform the suppression operation; The driving information of the vehicle and surrounding vehicles includes: the speed of the vehicle, the speed of surrounding vehicles, the relative distance between the vehicle and surrounding vehicles, and the length of the vehicle trailer; The road information includes: lane line type, target lane line width, and target lane line confidence; The step of determining the predicted collision time between the vehicle and the preceding vehicle based on the driving information of the vehicle and surrounding vehicles includes: According to the formula: TS1=ΔL1 / V The time distance TS1 between the vehicle and the vehicle in front is obtained, where ΔL1 is the relative distance between the vehicle and the vehicle in front, and V is the speed of the vehicle; According to the formula: Δv1=V-V1 Get the relative speed Δv1 between the vehicle and the front vehicle, where V is the speed of the vehicle and V1 is the speed of the front vehicle; According to the formula: TTC1=ΔL1 / Δv1 The predicted collision time with the front vehicle TTC1 is obtained, where ΔL1 is the relative distance between the vehicle and the front vehicle, and Δv1 is the relative speed between the vehicle and the front vehicle; The step of determining the predicted collision time between the vehicle and the following vehicle based on the driving information of the vehicle and surrounding vehicles includes: According to the formula: TS2=ΔL2 / V The time distance TS2 between the vehicle and the vehicle behind is obtained, where ΔL2 is the relative distance between the vehicle and the vehicle behind, and V is the speed of the vehicle; According to the formula: Δv2=V-V2 The relative speed between the vehicle and the rear vehicle is obtained, Δv2, where V is the speed of the vehicle and V2 is the speed of the rear vehicle; According to the formula: TTC2=(ΔL2-l) / Δv2 The predicted collision time with the rear vehicle TTC2 is obtained, where ΔL2 is the relative distance between the vehicle and the rear vehicle, and Δv2 is the relative speed between the vehicle and the rear vehicle; Wherein, judging whether to change lanes according to the self-vehicle driving operation information, road information and the predicted collision time of the front and rear vehicles includes: When it is detected that the driver intends to cancel the lane change operation, the lane change is canceled; When it is recognized that the driver has not canceled the lane change operation, it is determined whether the target lane confidence meets the lane line confidence requirement. If not, the lane change is canceled; When the target lane confidence meets the lane line confidence requirement, determine whether the lane width of the target lane line meets the lane change requirement. If not, cancel the lane change. When the time distance TS1 or TS2 between the vehicle and the front and rear vehicles is less than the safety threshold, the lane change is canceled; When the predicted collision time TTC1 or TTC2 between the vehicle and the front and rear vehicles is less than the safety threshold, the lane change is canceled; When the lane line on the lane-changing side is a solid line, cancel the lane change; Wherein, during the lane changing process, obtaining a lane changing suppression evaluation value according to driving information of the vehicle and surrounding vehicles includes: According to the formula: S1=(S11+S12) / 2 The driving value S1 of the vehicle in front of the lane maintaining a stable state is obtained, where S11 is the characteristic value of the predicted collision time between the vehicle in the lane and the vehicle in front, and S12 is the characteristic value of the time distance between the vehicle in the lane and the vehicle in front; According to the formula: S2=(S21+S22) / 2 The driving value S2 of the vehicle in front of the target lane maintaining a stable state is obtained, where S21 is the characteristic value of the predicted collision time between the target lane vehicle and the vehicle in front, and S22 is the characteristic value of the time distance between the target lane vehicle and the vehicle in front; According to the formula: S3=(S31+S32) / 2 The driving value S3 of the vehicle behind the own lane maintaining a stable state is obtained, where S31 is the characteristic value of the predicted collision time between the own vehicle in the own lane and the vehicle behind, and S32 is the characteristic value of the time distance between the own vehicle in the own lane and the vehicle behind; According to the formula: S4=(S41+S42) / 2 Obtain the driving value S4 of the vehicle behind the target lane maintaining a stable state, where S41 is the predicted collision time characteristic value between the target lane vehicle and the rear vehicle, and S42 is the time distance characteristic value between the target lane vehicle and the rear vehicle; According to the formula: E=K1*S1+K2*S2+K3*S3+K4*S4+KL*SL The lane change suppression evaluation value E is obtained, where K1 is the weight of the vehicle in front of the lane, K2 is the weight of the vehicle in front of the target lane, K3 is the weight of the vehicle behind the lane, K4 is the weight of the vehicle behind the target lane, KL is the lane line confidence weight, and SL is the lane line confidence condition value.

2. The method for determining lane change suppression of an intelligent driving commercial vehicle according to claim 1, characterized in that: The obtaining of the lane change suppression evaluation value and determining whether to perform a suppression operation include: When the vehicle is in the lane and the lane change suppression evaluation value E is greater than the first preset threshold, the vehicle replans the trajectory and returns to the center of the original lane; When the vehicle is in the target lane and the lane change suppression evaluation value E is greater than the second preset threshold, the vehicle adjusts the lateral control to straighten the front of the vehicle, continues to go straight longitudinally, and replans the driving trajectory to return to the center of the original lane.

3. A lane change suppression determination device for an intelligent driving commercial vehicle, characterized in that: include: A collection unit, which is used to obtain the driving operation information of the vehicle, the driving information of the vehicle and surrounding vehicles, and road information; A calculation unit, which is used to determine the predicted collision time between the vehicle and the front and rear vehicles according to the driving information of the vehicle and the surrounding vehicles; A judgment unit, configured to judge whether to change lanes according to the road information and the predicted collision time of the front and rear vehicles; A judgment unit, which is also used to obtain a lane change suppression evaluation value according to driving information of the vehicle and surrounding vehicles during the lane change process, and judge whether to perform a suppression operation; The driving information of the vehicle and surrounding vehicles includes: the speed of the vehicle, the speed of surrounding vehicles, the relative distance between the vehicle and surrounding vehicles, and the length of the vehicle trailer; The road information includes: lane line type, target lane line width, and target lane line confidence; The calculation unit is used to determine the predicted collision time between the vehicle and the preceding vehicle according to the driving information of the vehicle and the surrounding vehicles, including: According to the formula: TS1=ΔL1 / V The time distance TS1 between the vehicle and the vehicle in front is obtained, where ΔL1 is the relative distance between the vehicle and the vehicle in front, and V is the speed of the vehicle; According to the formula: Δv1=V-V1 Get the relative speed Δv1 between the vehicle and the front vehicle, where V is the speed of the vehicle and V1 is the speed of the front vehicle; According to the formula: TTC1=ΔL1 / Δv1 The predicted collision time with the front vehicle TTC1 is obtained, where ΔL1 is the relative distance between the vehicle and the front vehicle, and Δv1 is the relative speed between the vehicle and the front vehicle; The calculation unit is further used to determine the predicted collision time between the vehicle and the following vehicle according to the driving information of the vehicle and the surrounding vehicles, including: According to the formula: TS2=ΔL2 / V The time distance TS2 between the vehicle and the vehicle behind is obtained, where ΔL2 is the relative distance between the vehicle and the vehicle behind, and V is the speed of the vehicle; According to the formula: Δv2=V-V2 The relative speed between the vehicle and the rear vehicle is obtained, Δv2, where V is the speed of the vehicle and V2 is the speed of the rear vehicle; According to the formula: TTC2=(ΔL2-l) / Δv2 The predicted collision time with the rear vehicle TTC2 is obtained, where ΔL2 is the relative distance between the vehicle and the rear vehicle, and Δv2 is the relative speed between the vehicle and the rear vehicle; The judgment unit is used to judge whether to change lanes according to the self-vehicle driving operation information, road information and the predicted collision time of the front and rear vehicles, including: When it is detected that the driver intends to cancel the lane change operation, the lane change is canceled; When it is recognized that the driver has not canceled the lane change operation, it is determined whether the target lane confidence meets the lane line confidence requirement. If not, the lane change is canceled; When the target lane confidence meets the lane line confidence requirement, determine whether the lane width of the target lane line meets the lane change requirement. If not, cancel the lane change. When the time distance TS1 or TS2 between the vehicle and the front and rear vehicles is less than the safety threshold, the lane change is canceled; When the predicted collision time TTC1 or TTC2 between the vehicle and the front and rear vehicles is less than the safety threshold, the lane change is canceled; When the lane line on the lane-changing side is a solid line, cancel the lane change; The calculation unit is further used to obtain a lane change suppression evaluation value according to driving information of the vehicle and surrounding vehicles during the lane change process, including: According to the formula: S1=(S11+S12) / 2 The driving value S1 of the vehicle in front of the lane maintaining a stable state is obtained, where S11 is the characteristic value of the predicted collision time between the vehicle in the lane and the vehicle in front, and S12 is the characteristic value of the time distance between the vehicle in the lane and the vehicle in front; According to the formula: S2=(S21+S22) / 2 The driving value S2 of the vehicle in front of the target lane maintaining a stable state is obtained, where S21 is the characteristic value of the predicted collision time between the target lane vehicle and the vehicle in front, and S22 is the characteristic value of the time distance between the target lane vehicle and the vehicle in front; According to the formula: S3=(S31+S32) / 2 The driving value S3 of the vehicle behind the own lane maintaining a stable state is obtained, where S31 is the characteristic value of the predicted collision time between the own vehicle in the own lane and the vehicle behind, and S32 is the characteristic value of the time distance between the own vehicle in the own lane and the vehicle behind; According to the formula: S4=(S41+S42) / 2 Obtain the driving value S4 of the vehicle behind the target lane maintaining a stable state, where S41 is the predicted collision time characteristic value between the target lane vehicle and the rear vehicle, and S42 is the time distance characteristic value between the target lane vehicle and the rear vehicle; According to the formula: E=K1*S1+K2*S2+K3*S3+K4*S4+KL*SL The lane change suppression evaluation value E is obtained, where K1 is the weight of the vehicle in front of the lane, K2 is the weight of the vehicle in front of the target lane, K3 is the weight of the vehicle behind the lane, K4 is the weight of the vehicle behind the target lane, KL is the lane line confidence weight, and SL is the lane line confidence condition value.

4. A computer device, characterized in that: The computer device comprises a processor, a memory, and a computer program stored in the memory and executable by the processor, wherein when the computer program is executed by the processor, the steps according to any one of claims 1 to 2 are implemented.

5. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, wherein when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 2 are implemented.

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