An automatic lane changing control method and device, electronic equipment and storage medium

Abstract

The application provides an automatic lane changing control method and device, electronic equipment and a storage medium. The method comprises: obtaining lane changing parameters of a target vehicle during driving of the target vehicle, the lane changing parameters comprising: current speed and acceleration of the target vehicle, current speed and acceleration of a preceding vehicle, distance between the target vehicle and the preceding vehicle, and following distance; determining a first expected lane changing threshold of the target vehicle and the preceding vehicle based on the lane changing parameters; determining a first lane for lane changing of the target vehicle based on the first expected lane changing threshold; and controlling the target vehicle to change lanes to the first lane. According to the embodiment of the application, the current speed and acceleration of the target vehicle and the preceding vehicle, and the distance between the target vehicle and the preceding vehicle and the following distance are comprehensively utilized to determine the first expected lane changing threshold of the target vehicle and the preceding vehicle for reasonable lane changing, and the first lane for safe lane changing is determined based on the first expected lane changing threshold, so that the safety of automatic lane changing of the vehicle is improved.

Description

Technical Field

[0001] This invention relates to the field of intelligent driving technology, and in particular to an automatic lane change control method, device, electronic device, and computer-readable storage medium. Background Technology

[0002] With the rapid development of the automotive industry and the improvement of people's living standards, automobiles have become the main means of transportation. People's requirements for the safety performance of passenger cars are also getting higher and higher. Intelligent electric vehicles are the future development direction of automobiles. In the research and development process of intelligent vehicles, the decision-making and planning module best reflects the intelligence and rationality of the vehicle's intelligence level.

[0003] In related technologies, the rationality and predictability of intelligent vehicles triggering automatic lane changes are usually achieved through reinforcement learning or machine learning decision-making methods, or simply rule-based decision-making. However, learning methods are not conducive to tracing the root cause when decisions are unreasonable, while traditional rule-based decision-making methods are too rigid, resulting in poor lane changing and a lack of safety.

[0004] Therefore, how to make reasonable lane changes for vehicles and improve the safety of automatic lane changes is a problem that needs to be solved. Summary of the Invention

[0005] This invention provides an automatic lane change control method, device, electronic device, and storage medium to at least solve the problems in related technologies where it is impossible to trace the root cause of unreasonable lane changes during vehicle lane changes, and where simply relying on rule-based decision-making is too rigid, leading to poor lane changes and a lack of safety. The technical solution of this invention is as follows:

[0006] According to a first aspect of the present invention, an automatic lane change control method is provided, comprising:

[0007] During the driving of the target vehicle, the lane change parameters of the target vehicle are obtained. The lane change parameters include: the current speed and acceleration of the target vehicle, the current speed and acceleration of the vehicle in front, the distance between the target vehicle and the vehicle in front, and the following distance.

[0008] Determining the first expected lane change threshold between the target vehicle and the preceding vehicle based on the lane change parameters includes: determining the expected distance between the target vehicle and the preceding vehicle; the first expected lane change threshold = a1 * current speed of the target vehicle / current speed of the preceding vehicle + a2 * expected distance between the target vehicle and the preceding vehicle / distance between the target vehicle and the preceding vehicle + a3 * acceleration of the target vehicle / acceleration of the preceding vehicle; wherein, a1, a2, and a3 are weighting coefficients, and a1 + a2 + a3 = 1;

[0009] The first lane for the target vehicle to change lanes is determined based on the first expected lane change threshold.

[0010] Control the target vehicle to change lanes to the first lane.

[0011] Optionally, determining the desired distance between the target vehicle and the preceding vehicle includes:

[0012] Based on the current speed of the target vehicle, the current speed of the vehicle in front, and the following distance, the expected distance between the target vehicle and the vehicle in front is determined.

[0013] Optionally, the desired distance between the target vehicle and the preceding vehicle can be determined according to the following formula:

[0014] The desired distance between the target vehicle and the vehicle in front = [the current speed of the target vehicle + (the current speed of the target vehicle - the speed of the vehicle in front)] * the following distance.

[0015] Optionally, determining the first lane for the target vehicle to change lanes based on the first desired lane change threshold includes:

[0016] When the first expected lane change threshold is greater than the first threshold between the target vehicle and the vehicle in front, the second expected lane change threshold between the target vehicle and the vehicle to the left front, and the third expected lane change threshold between the target vehicle and the vehicle to the left rear are determined.

[0017] When the second desired lane change threshold is greater than the second threshold for the target vehicle and the vehicle to the left in front, and the third desired lane change threshold is greater than the third threshold for the target vehicle and the vehicle to the left in rear, the first lane for the target vehicle to change lanes is determined to be the left lane.

[0018] Optionally, the method further includes:

[0019] When the second expected lane change threshold is not greater than the second threshold between the target vehicle and the left front vehicle, and the third expected lane change threshold is not greater than the third threshold between the target vehicle and the left rear vehicle, the fourth expected lane change threshold between the target vehicle and the right front vehicle, and the fifth expected lane change threshold between the target vehicle and the right rear vehicle are determined.

[0020] When the fourth desired lane change threshold is greater than the fourth threshold of the target vehicle and the vehicle to the right in front, and the fifth desired lane change threshold is greater than the fifth threshold of the target vehicle and the vehicle to the right rear, the first lane for the target vehicle to change lanes is determined to be the right lane.

[0021] Optionally, the method further includes:

[0022] When the first desired lane change threshold is not greater than the first threshold between the target vehicle and the vehicle in front; or when the fourth desired lane change threshold is not greater than the fourth threshold between the target vehicle and the vehicle to the right front, and the fifth desired lane change threshold is not greater than the fifth threshold between the target vehicle and the vehicle to the right rear, the target vehicle shall continue to drive normally in the current lane.

[0023] Optionally, the method further includes:

[0024] Get the current speed and acceleration of the vehicle to the left front, the distance between the target vehicle and the vehicle to the left front, and the current speed and acceleration of the vehicle to the left rear, and the distance between the target vehicle and the vehicle to the left rear.

[0025] The second desired lane change threshold for determining the target vehicle and the vehicle to its left front includes:

[0026] Based on the current speed of the target vehicle, the current speed of the vehicle to the left front, and the following distance, the expected distance between the target vehicle and the vehicle to the left front is determined.

[0027] Based on the current speed and acceleration of the target vehicle, the current speed and acceleration of the vehicle to the left front, the distance between the target vehicle and the vehicle to the left front, and the expected distance between the target vehicle and the vehicle to the left front, a second expected lane change threshold between the target vehicle and the vehicle to the left front is determined.

[0028] The third desired lane change threshold for determining the target vehicle and the vehicle to the left rear includes:

[0029] Based on the current speed of the target vehicle, the current speed of the vehicle to the left rear, and the following distance, the expected distance between the target vehicle and the vehicle to the left rear is determined.

[0030] Based on the current speed and acceleration of the target vehicle, the current speed and acceleration of the left rear vehicle, the distance between the target vehicle and the left rear vehicle, and the expected distance between the target vehicle and the left rear vehicle, a third expected lane change threshold between the target vehicle and the left rear vehicle is determined.

[0031] Optionally, the desired distance between the target vehicle and the vehicle to the left front is determined according to the following formula: Desired distance between the target vehicle and the vehicle to the left front = [Current speed of the target vehicle + (Current speed of the target vehicle - Speed ​​of the vehicle to the left front)] * Following distance;

[0032] The desired distance between the target vehicle and the left rear vehicle is determined using the following formula:

[0033] The desired distance between the target vehicle and the vehicle to the left rear is equal to [the speed of the vehicle to the left rear + (the speed of the vehicle to the left rear - the current speed of the target vehicle)] * the following distance.

[0034] Optionally, the second desired lane change threshold between the target vehicle and the vehicle to the left front is determined according to the following formula:

[0035] The second expected lane change threshold = a1 * speed of the vehicle in front on the left / current speed of the target vehicle + a2 * distance between the target vehicle and the vehicle in front on the left / expected distance between the target vehicle and the vehicle in front on the left + a3 * acceleration of the vehicle in front on the left / acceleration of the target vehicle;

[0036] The third desired lane change threshold between the target vehicle and the vehicle to the left rear is determined using the following formula:

[0037] The third expected lane change threshold = a1 * current speed of the target vehicle / speed of the left rear vehicle + a2 * distance between the target vehicle and the left rear vehicle / expected distance between the target vehicle and the left rear vehicle + a3 * acceleration of the target vehicle / acceleration of the left rear vehicle.

[0038] Optionally, the method further includes:

[0039] Get the current speed and acceleration of the vehicle in front right, the distance between the target vehicle and the vehicle in front right, and the current speed and acceleration of the vehicle behind right, and the distance between the target vehicle and the vehicle behind right.

[0040] The fourth desired lane change threshold for determining the target vehicle and the vehicle to its right front is:

[0041] Based on the current speed of the target vehicle, the current speed of the vehicle to the right, and the following distance, the desired distance between the target vehicle and the vehicle to the right is determined.

[0042] Based on the current speed and acceleration of the target vehicle, the current speed and acceleration of the vehicle to the right, the distance between the target vehicle and the vehicle to the left, and the expected distance between the target vehicle and the vehicle to the right, the fourth expected lane change threshold between the target vehicle and the vehicle to the right is determined.

[0043] The fifth desired lane change threshold for determining the target vehicle and the vehicle to its right rear includes:

[0044] Based on the current speed of the target vehicle, the current speed of the vehicle to the right rear, and the following distance, the desired distance between the target vehicle and the vehicle to the right rear is determined.

[0045] Based on the current speed and acceleration of the target vehicle, the current speed and acceleration of the vehicle to the right rear, the distance between the target vehicle and the vehicle to the right rear, and the expected distance between the target vehicle and the vehicle to the right rear, the fifth expected lane change threshold between the target vehicle and the vehicle to the right rear is determined.

[0046] Optionally, the desired distance between the target vehicle and the vehicle to the right front can be determined according to the following formula:

[0047] The desired distance between the target vehicle and the vehicle to the right = [the current speed of the target vehicle + (the current speed of the target vehicle - the speed of the vehicle to the right)] * the following distance;

[0048] The desired distance between the target vehicle and the right rear vehicle is determined using the following formula:

[0049] The desired distance between the target vehicle and the vehicle to the right rear is equal to [the speed of the vehicle to the right rear + (the speed of the vehicle to the right rear - the current speed of the target vehicle)] * the following distance.

[0050] Optionally, the fourth desired lane change threshold between the target vehicle and the right-front vehicle is determined according to the following formula, including:

[0051] The fourth expected lane change threshold = a1 * speed of the vehicle in front on the right / current speed of the target vehicle + a2 * distance between the target vehicle and the vehicle in front on the right / expected distance between the target vehicle and the vehicle in front on the right + a3 * acceleration of the vehicle in front on the right / acceleration of the target vehicle;

[0052] The fifth desired lane change threshold between the target vehicle and the right rear vehicle is determined according to the following formula:

[0053] The fifth desired lane change threshold = a1 * current speed of the target vehicle / speed of the vehicle to the right rear + a2 * distance between the target vehicle and the vehicle to the right rear / desired distance between the target vehicle and the vehicle to the right rear + a3 * acceleration of the target vehicle / acceleration of the vehicle to the right rear.

[0054] According to a second aspect of the present invention, an automatic lane change control device is provided, comprising:

[0055] The first acquisition module is used to acquire lane change parameters of the target vehicle during the driving process of the target vehicle. The lane change parameters include: the current speed and acceleration of the target vehicle, the current speed and acceleration of the vehicle in front, the distance between the target vehicle and the vehicle in front, and the following distance.

[0056] A first determining module is used to determine a first expected lane change threshold between the target vehicle and the preceding vehicle based on the lane change parameters, including: determining the expected distance between the target vehicle and the preceding vehicle; the first expected lane change threshold = a1 * current speed of the target vehicle / current speed of the preceding vehicle + a2 * expected distance / distance between the target vehicle and the preceding vehicle + a3 * acceleration of the target vehicle / acceleration of the preceding vehicle; wherein, a1, a2 and a3 are weighting coefficients, and a1 + a2 + a3 = 1;

[0057] The second determining module is used to determine the first lane in which the target vehicle will change lanes based on the first desired lane change threshold.

[0058] The control module is used to control the target vehicle to change lanes to the first lane.

[0059] Optionally, the first determining module includes:

[0060] The first distance determination module is used to determine the expected distance between the target vehicle and the vehicle in front based on the current speed of the target vehicle, the current speed of the vehicle in front, and the following distance.

[0061] The first threshold determination module is used to determine a first expected lane change threshold between the target vehicle and the preceding vehicle based on the current speed and acceleration of the target vehicle, the current speed and acceleration of the preceding vehicle, the distance between the target vehicle and the preceding vehicle, and the expected distance between the target vehicle and the preceding vehicle. The first expected lane change threshold is defined as: a1 * (current speed of the target vehicle / current speed of the preceding vehicle) + a2 * (expected distance between the target vehicle and the preceding vehicle / distance between the target vehicle and the preceding vehicle) + a3 * (acceleration of the target vehicle / acceleration of the preceding vehicle); where a1, a2, and a3 are weighting coefficients, and a1 + a2 + a3 = 1.

[0062] Optionally, the first distance determination module is used to determine the desired distance between the target vehicle and the preceding vehicle according to the following formula:

[0063] The desired distance between the target vehicle and the vehicle in front = [the current speed of the target vehicle + (the current speed of the target vehicle - the speed of the vehicle in front)] * the following distance.

[0064] Optionally, the second determining module includes:

[0065] The second threshold determination module is used to determine the second expected lane change threshold between the target vehicle and the vehicle in front when the first expected lane change threshold is greater than the first threshold of the target vehicle and the vehicle in front.

[0066] The third threshold determination module is used to determine the third expected lane change threshold between the target vehicle and the left rear vehicle when the first expected lane change threshold is greater than the first threshold between the target vehicle and the vehicle in front.

[0067] The first lane determination module is used to determine the first lane for the target vehicle to change lanes as the left lane when the second expected lane change threshold is greater than the second threshold of the target vehicle and the vehicle to the left in front, and the third expected lane change threshold is greater than the third threshold of the target vehicle and the vehicle to the left rear.

[0068] Optionally, the device further includes:

[0069] The fourth threshold determination module is used to determine the fourth expected lane change threshold between the target vehicle and the right front vehicle when the second expected lane change threshold is not greater than the second threshold of the target vehicle and the left front vehicle, and the third expected lane change threshold is not greater than the third threshold of the target vehicle and the left rear vehicle.

[0070] The fifth threshold determination module is used to determine the fifth expected lane change threshold between the target vehicle and the right rear vehicle when the second expected lane change threshold is not greater than the second threshold of the target vehicle and the left front vehicle, and the third expected lane change threshold is not greater than the third threshold of the target vehicle and the left rear vehicle.

[0071] The second lane determination module is used to determine the first lane that the target vehicle is changing lanes to be the right lane when the fourth expected lane change threshold is greater than the fourth threshold of the target vehicle and the vehicle to the right in front, and the fifth expected lane change threshold is greater than the fifth threshold of the target vehicle and the vehicle to the right rear.

[0072] Optionally, the device further includes:

[0073] The lane keeping module is used to keep the target vehicle driving normally in the current lane when the first desired lane change threshold is not greater than the first threshold between the target vehicle and the vehicle in front; or when the fourth desired lane change threshold is not greater than the fourth threshold between the target vehicle and the vehicle to the right front, and the fifth desired lane change threshold is not greater than the fifth threshold between the target vehicle and the vehicle to the right rear.

[0074] Optionally, the device further includes:

[0075] The second acquisition module is used to acquire the current speed and acceleration of the left front vehicle, the distance between the target vehicle and the left front vehicle, and the current speed and acceleration of the left rear vehicle, and the distance between the target vehicle and the left rear vehicle.

[0076] The second threshold determination module is specifically used to determine the expected distance between the target vehicle and the vehicle in front of the left based on the current speed of the target vehicle, the current speed of the vehicle in front of the left, and the following distance; and to determine the second expected lane change threshold between the target vehicle and the vehicle in front of the left based on the current speed and acceleration of the target vehicle, the current speed and acceleration of the vehicle in front of the left, the distance between the target vehicle and the vehicle in front of the left, and the expected distance between the target vehicle and the vehicle in front of the left.

[0077] The third threshold determination module is specifically used to determine the expected distance between the target vehicle and the left rear vehicle based on the current speed of the target vehicle, the current speed of the left rear vehicle, and the following distance; and to determine the third expected lane change threshold between the target vehicle and the left rear vehicle based on the current speed and acceleration of the target vehicle, the current speed and acceleration of the left rear vehicle, the distance between the target vehicle and the left rear vehicle, and the expected distance between the target vehicle and the left rear vehicle.

[0078] Optionally, the second threshold determination module determines the desired distance between the target vehicle and the vehicle to the left front according to the following formula:

[0079] The desired distance between the target vehicle and the vehicle to the left front = [the current speed of the target vehicle + (the current speed of the target vehicle - the speed of the vehicle to the left front)] * the following distance;

[0080] The third threshold determination module determines the expected distance between the target vehicle and the left rear vehicle according to the following formula:

[0081] The desired distance between the target vehicle and the vehicle to the left rear is equal to [the speed of the vehicle to the left rear + (the speed of the vehicle to the left rear - the current speed of the target vehicle)] * the following distance.

[0082] Optionally, the second desired lane change threshold module determines the second desired lane change threshold between the target vehicle and the vehicle to the left front according to the following formula, including:

[0083] The second expected lane change threshold = a1 * speed of the vehicle in front on the left / current speed of the target vehicle + a2 * distance between the target vehicle and the vehicle in front on the left / expected distance between the target vehicle and the vehicle in front on the left + a3 * acceleration of the vehicle in front on the left / acceleration of the target vehicle;

[0084] The third desired lane change threshold module determines the third desired lane change threshold between the target vehicle and the left rear vehicle according to the following formula:

[0085] The expected distance between the target vehicle and the left rear vehicle = a1 * current speed of the target vehicle / speed of the left rear vehicle + a2 * distance between the target vehicle and the left rear vehicle / expected distance between the target vehicle and the left rear vehicle + a3 * acceleration of the target vehicle / acceleration of the left rear vehicle;

[0086] Wherein, a1, a2 and a3 are weighting coefficients, and a1+a2+a3=1.

[0087] Optionally, the device further includes:

[0088] The third acquisition module is used to acquire the current speed and acceleration of the right front vehicle, the distance between the target vehicle and the right front vehicle, the current speed and acceleration of the right rear vehicle, and the distance between the target vehicle and the right rear vehicle.

[0089] The fourth threshold determination module is used to determine the expected distance between the target vehicle and the right front vehicle based on the current speed of the target vehicle, the current speed of the right front vehicle, and the following distance; and to determine the fourth expected lane change threshold between the target vehicle and the right front vehicle based on the current speed and acceleration of the target vehicle, the current speed and acceleration of the right front vehicle, the distance between the target vehicle and the left front vehicle, and the expected distance between the target vehicle and the right front vehicle.

[0090] The fifth threshold determination module is specifically used to determine the expected distance between the target vehicle and the right rear vehicle based on the current speed of the target vehicle, the current speed of the right rear vehicle, and the following distance; and to determine the fifth expected lane change threshold between the target vehicle and the right rear vehicle based on the current speed and acceleration of the target vehicle, the current speed and acceleration of the right rear vehicle, the distance between the target vehicle and the right rear vehicle, and the expected distance between the target vehicle and the right rear vehicle.

[0091] Optionally, the fourth threshold determination module determines the expected distance between the target vehicle and the vehicle to the right in the following formula: Expected distance between the target vehicle and the vehicle to the right = [Current speed of the target vehicle + (Current speed of the target vehicle - Speed ​​of the vehicle to the right)] * Following distance;

[0092] The fifth threshold determination module determines the expected distance between the target vehicle and the right rear vehicle according to the following formula: Expected distance between the target vehicle and the right rear vehicle = [Speed ​​of the right rear vehicle + (Speed ​​of the right rear vehicle - Current speed of the target vehicle)] * Following distance.

[0093] Optionally, the fourth threshold determination module determines the fourth desired lane change threshold between the target vehicle and the vehicle to the right front according to the following formula:

[0094] The fourth expected lane change threshold = a1 * speed of the vehicle in front on the right / current speed of the target vehicle + a2 * distance between the target vehicle and the vehicle in front on the right / expected distance between the target vehicle and the vehicle in front on the right + a3 * acceleration of the vehicle in front on the right / acceleration of the target vehicle;

[0095] The fifth threshold determination module determines the fifth desired lane change threshold between the target vehicle and the right rear vehicle according to the following formula:

[0096] The fifth desired lane change threshold = a1 * current speed of the target vehicle / speed of the vehicle to the right rear + a2 * distance between the target vehicle and the vehicle to the right rear / desired distance between the target vehicle and the vehicle to the right rear + a3 * acceleration of the target vehicle / acceleration of the vehicle to the right rear.

[0097] According to a third aspect of the present invention, an electronic device is provided, comprising:

[0098] processor;

[0099] Memory used to store the processor's executable instructions;

[0100] The processor is configured to execute the instructions to implement the automatic lane change control method described above.

[0101] According to a fourth aspect of the present invention, a computer-readable storage medium is provided, wherein when the instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is enabled to perform the automatic lane change control method as described above.

[0102] According to a fifth aspect of the present invention, a computer program product is provided, comprising a computer program or instructions, characterized in that, when the computer program or instructions are executed by a processor of an electronic device, they implement the automatic lane change control method as described above.

[0103] The technical solutions provided by the embodiments of the present invention bring at least the following beneficial effects:

[0104] In this embodiment of the invention, during the driving of the target vehicle, lane-changing parameters of the target vehicle are acquired. These parameters include: the current speed and acceleration of the target vehicle, the current speed and acceleration of the preceding vehicle, the distance between the target vehicle and the preceding vehicle, and the following distance. Based on these lane-changing parameters, a first desired lane-changing threshold between the target vehicle and the preceding vehicle is determined. Based on the first desired lane-changing threshold, a first lane for the target vehicle to change lanes is determined. The target vehicle is then controlled to change lanes into the first lane. In other words, this embodiment of the invention comprehensively utilizes the current speed, acceleration, distance, and following distance of the target vehicle and the preceding vehicle to determine a reasonable first desired lane-changing threshold between the target vehicle and the preceding vehicle, and determines a safe first lane for lane changing based on this threshold, thereby improving the safety of automatic lane changing.

[0105] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit the invention. Attached Figure Description

[0106] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present invention and, together with the description, serve to explain the principles of the invention. They do not constitute an undue limitation of the invention. To more clearly illustrate the technical solutions in the embodiments of this application 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 some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0107] Figure 1 This is a flowchart of an automatic lane change control method provided in an embodiment of the present invention.

[0108] Figure 2 This is a flowchart illustrating an application example of an automatic lane change control method provided in an embodiment of the present invention.

[0109] Figure 3 This is a block diagram of an automatic lane change control device provided in an embodiment of the present invention.

[0110] Figure 4 This is a block diagram of the first determining module provided in an embodiment of the present invention.

[0111] Figure 5 This is a block diagram of the second determining module provided in an embodiment of the present invention.

[0112] Figure 6 This is another block diagram of an automatic lane change control device provided in an embodiment of the present invention.

[0113] Figure 7 This is a block diagram of an electronic device provided in an embodiment of the present invention.

[0114] Figure 8 This is a block diagram of a device for automatic lane change control provided in an embodiment of the present invention. Detailed Implementation

[0115] To enable those skilled in the art to better understand the technical solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0116] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this invention. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the invention as detailed in the appended claims.

[0117] For ease of explanation, the lane-changing parameters involved in the embodiments of the present invention are as follows:

[0118] Let the following distance be t_gap;

[0119] The current speed of the target vehicle (i.e., the vehicle itself or the vehicle itself, the same below) is v_self, and the acceleration of the target vehicle is a_self;

[0120] The speed of the vehicle in front of the left is v_lf, the acceleration of the vehicle in front of the left is a_lf, and the distance between the target vehicle and the vehicle in front of the left is s_lf;

[0121] The speed of the vehicle in front is v_f, the acceleration of the vehicle in front is a_f, and the actual distance between the target vehicle and the vehicle in front is s_f;

[0122] The speed of the vehicle in front of the right is v_rf, the acceleration of the vehicle in front of the right is a_rf, and the distance between the target vehicle and the vehicle in front of the right is s_rf;

[0123] The speed of the left rear vehicle is v_lr, the acceleration of the left rear vehicle is a_lr, and the distance between the target vehicle and the left rear vehicle is s_lr;

[0124] The speed of the vehicle behind the right is v_rr, the acceleration of the vehicle behind the right is a_rr, and the distance between the target vehicle and the vehicle behind the right is s_rr.

[0125] It should be noted that if there are no vehicles in the environment in front of the target vehicle, the speed, acceleration, and distance from the target vehicle are set to maximum values; if there are no vehicles in the environment behind the target vehicle, the distance is set to maximum values, and the speed and acceleration are set to 0.

[0126] Meanwhile, the first threshold between the calibrated target vehicle (i.e., the self-vehicle, the same below) and the preceding vehicle is set as threshold_f. The first threshold is a ratio, which is an adjustable constant, usually set to 1.0. Of course, it can also be adaptively adjusted according to actual needs, and can be any value between 0.8 and 1.2, or can be adaptively adjusted to other values. This embodiment does not impose any restrictions.

[0127] The second threshold between the calibrated target vehicle and the vehicle to the left front is threshold_lf, where the second threshold is a ratio, which is an adjustable constant, usually set to 1.2. Of course, it can also be adaptively adjusted according to actual needs, and can be any value between 1.2 and 1.5, or can be adaptively adjusted to other values. This embodiment does not impose any restrictions.

[0128] The third threshold between the calibrated target vehicle and the vehicle to the left rear is threshold_lr; where the third threshold is a ratio; it is an adjustable constant, usually set to 1.2. Of course, it can also be adaptively adjusted according to actual needs, and can be any value between 1.0 and 1.5, or can be adaptively adjusted to other values. This embodiment does not impose any restrictions.

[0129] The fourth threshold between the calibrated target vehicle and the vehicle to the right front is threshold_rf; where the fourth threshold is a ratio; is an adjustable constant, usually set to 1.3. Of course, it can also be adaptively adjusted according to actual needs, and can be any value between 1.0 and 1.6, or can be adaptively adjusted to other values. This embodiment does not impose any restrictions.

[0130] The fifth threshold between the calibrated target vehicle and the vehicle to the right rear is threshold_rr; where the fifth threshold is a ratio; is an adjustable constant, usually set to 1.3. Of course, it can also be adaptively adjusted according to actual needs, and can be any value between 1.0 and 1.6, or can be adaptively adjusted to other values. This embodiment does not impose any restrictions.

[0131] Please refer to the following: Figure 1 This is a flowchart of an automatic lane change control method provided in an embodiment of the present invention, such as... Figure 1 As shown, the automatic lane change control method includes the following steps:

[0132] Step 101: During the driving of the target vehicle, obtain the lane change parameters of the target vehicle. The lane change parameters include: the current speed and acceleration of the target vehicle, the current speed and acceleration of the vehicle in front, the distance between the target vehicle and the vehicle in front, and the following distance.

[0133] Step 102: Determine the first expected lane change threshold between the target vehicle and the preceding vehicle based on the lane change parameters, including: determining the expected distance between the target vehicle and the preceding vehicle; the first expected lane change threshold = a1 * current speed of the target vehicle / current speed of the preceding vehicle + a2 * expected distance between the target vehicle and the preceding vehicle / distance between the target vehicle and the preceding vehicle + a3 * acceleration of the target vehicle / acceleration of the preceding vehicle; wherein, a1, a2 and a3 are weighting coefficients, and a1 + a2 + a3 = 1.

[0134] Step 103: Determine the first lane for the target vehicle to change lanes based on the first desired lane change threshold.

[0135] Step 104: Control the target vehicle to change lanes to the first lane.

[0136] The automatic lane change control method described in this invention can be applied to terminals, servers, automatic lane change assistance systems in intelligent driving, automatic driving control systems, etc., without limitation. The terminal implementation device can be an in-vehicle terminal, a vehicle control platform, an industrial control computer, or other electronic equipment. The server can be an independent server, a server cluster, or a server that provides cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, content delivery networks, or big data and artificial intelligence platforms, etc., without limitation.

[0137] The following is combined Figure 1 The specific implementation steps of an automatic lane change control method provided in the embodiments of the present invention will be described in detail.

[0138] In step 101, during the driving of the target vehicle, the lane change parameters of the target vehicle are acquired. The lane change parameters include: the current speed and acceleration of the target vehicle, the current speed and acceleration of the vehicle in front, the distance between the target vehicle and the vehicle in front, and the following distance.

[0139] The "current vehicle" in this step can be the current vehicle or the vehicle itself, etc.

[0140] In this step, for the autonomous driving system of the target vehicle, relevant technologies can be used to obtain parameters such as the current speed and acceleration of the target vehicle, the current speed and acceleration of the vehicle in front, the distance between the target vehicle and the vehicle in front, and the following distance. Of course, the current speed and acceleration of the left front vehicle, left rear vehicle, right front vehicle, and right rear vehicle of the target vehicle, as well as the distance between the target vehicle and the left front vehicle, the distance between the target vehicle and the left rear vehicle, the distance between the target vehicle and the right front vehicle, and the distance between the target vehicle and the right rear vehicle can also be obtained in this way. These are well-known technologies to those skilled in the art and will not be elaborated here.

[0141] In step 102, determining the first expected lane change threshold between the target vehicle and the preceding vehicle based on the lane change parameters includes: determining the expected distance between the target vehicle and the preceding vehicle; the first expected lane change threshold = a1 * current speed of the target vehicle / current speed of the preceding vehicle + a2 * expected distance between the target vehicle and the preceding vehicle / distance between the target vehicle and the preceding vehicle + a3 * acceleration of the target vehicle / acceleration of the preceding vehicle; wherein, a1, a2 and a3 are weighting coefficients, and a1 + a2 + a3 = 1.

[0142] This step specifically includes:

[0143] 1) Based on the current speed of the target vehicle, the current speed of the vehicle in front, and the following distance, determine the expected distance between the target vehicle and the vehicle in front.

[0144] In this step, the desired distance (s_desire) between the target vehicle and the vehicle in front can be determined using the following formula:

[0145] s_desire = [target vehicle's current speed v_self + (target vehicle's current speed v_self - front vehicle's speed v_f)] * following distance t_gap.

[0146] In other words, the desired distance (s_desire) between the target vehicle and the vehicle in front is equal to the product of the target vehicle's current speed (v_self) and the following distance (t_gap), plus the speed difference between the target vehicle's current speed (v_self) and the vehicle in front's speed (v_f) multiplied by the following distance (t_gap).

[0147] 2) Based on the current speed and acceleration of the target vehicle, the current speed and acceleration of the preceding vehicle, the distance between the target vehicle and the preceding vehicle, and the expected distance between the target vehicle and the preceding vehicle, determine the first expected lane change threshold (desire_f) between the target vehicle and the preceding vehicle.

[0148] In this step, the first desired lane change threshold (desire_f) can be determined using the following formula:

[0149] desire_f = a1 * current speed of the target vehicle (v_self) / current speed of the vehicle in front (v_f) + a2 * desired distance between the target vehicle and the vehicle in front (s_desire) / distance between the target vehicle and the vehicle in front (s_f) + a3 * acceleration of the target vehicle (a_self) / acceleration of the vehicle in front (af);

[0150] Wherein, a1, a2, and a3 are weighting coefficients, and a1 + a2 + a3 = 1. The specific values ​​of a1, a2, and a3 can be set according to needs or experience; this embodiment does not impose any restrictions.

[0151] In step 103, the first lane for the target vehicle to change lanes is determined based on the first desired lane change threshold.

[0152] In this step, it is first determined whether the first desired lane change threshold (desire_f) is greater than the first threshold (threshold_f) between the target vehicle and the vehicle in front. If it is greater, the second desired lane change threshold (desire_lf) between the target vehicle and the vehicle to the left in front, and the third desired lane change threshold (desire_lr) between the target vehicle and the vehicle to the left in front are determined. If it is not greater than (i.e. less than or equal to), the target vehicle continues to drive normally in the current lane, that is, it does not change lanes and continues to drive in the same lane.

[0153] The system continues to determine whether the second desired lane change threshold (desire_lf) is greater than the second threshold (threshold_lf) between the target vehicle and the vehicle to the left front, and whether the third desired lane change threshold (desire_lr) is greater than the third threshold (threshold_lr) between the target vehicle and the vehicle to the left rear. If the second desired lane change threshold (desire_lf) is greater than the second threshold (threshold_lf) between the target vehicle and the vehicle to the left front, and the third desired lane change threshold (desire_lr) is greater than the third threshold (threshold_lr) between the target vehicle and the vehicle to the left rear, then the first lane for the target vehicle to change lanes is determined to be the left lane. Otherwise, if the fourth desired lane change threshold (desire_rf) is not greater than the fourth threshold (threshold_rf) between the target vehicle and the vehicle to the right front, and the fifth desired lane change threshold (desire_rr) is not greater than the fifth threshold (threshold_rr) between the target vehicle and the vehicle to the right rear, then the target vehicle continues to drive normally in the current lane without changing lanes.

[0154] In one embodiment, before determining the second desired lane change threshold (desire_lf) between the target vehicle and the vehicle to the left, it is necessary to obtain the current speed and acceleration of the vehicle to the left, and the distance between the target vehicle and the vehicle to the left; then, based on the obtained current speed of the target vehicle, the current speed of the vehicle to the left, and the following distance, the desired distance between the target vehicle and the vehicle to the left is determined; and based on the current speed and acceleration of the target vehicle, the current speed and acceleration of the vehicle to the left, the distance between the target vehicle and the vehicle to the left, and the desired distance between the target vehicle and the vehicle to the left, the second desired lane change threshold (desire_lf) between the target vehicle and the vehicle to the left is determined.

[0155] Specifically, the desired distance between the target vehicle and the vehicle to its left front is determined according to the following formula:

[0156] The desired distance between the target and the vehicle to the left is s_lf_desire = [target vehicle's current speed v_self + (target vehicle's current speed v_self - vehicle to the left speed v_lf)] * following distance t_gap.

[0157] Subsequently, based on the desired distance between the target vehicle and the vehicle to the left, the current speed and acceleration of the target vehicle, the current speed and acceleration of the vehicle to the left, and the distance between the target vehicle and the vehicle to the left, the second desired lane change threshold (desire_lf) between the target vehicle and the vehicle to the left is determined according to the following formula:

[0158] The second desired lane change threshold, desire_lf, is calculated as follows: a1 * speed of the vehicle in front (v_lf) / current speed of the target vehicle (v_self) + a2 * distance between the target vehicle and the vehicle in front (s_lf) / desired distance between the target vehicle and the vehicle in front (s_lf_desire) + a3 * acceleration of the vehicle in front (a_lf) / acceleration of the target vehicle (a_self).

[0159] Wherein, a1, a2 and a3 are weighting coefficients, and a1+a2+a3=1.

[0160] In one embodiment, before determining the third desired lane change threshold (desire_lr) between the target vehicle and the vehicle to the left rear, it is also necessary to obtain the current speed and acceleration of the vehicle to the left rear, and the distance between the target vehicle and the vehicle to the left rear: based on the current speed of the target vehicle, the current speed of the vehicle to the left rear, and the following distance, the desired distance between the target vehicle and the vehicle to the left rear is determined; and based on the current speed and acceleration of the target vehicle, the current speed and acceleration of the vehicle to the left rear, the distance between the target vehicle and the vehicle to the left rear, and the desired distance between the target vehicle and the vehicle to the left rear, the third desired lane change threshold (desire_lr) between the target vehicle and the vehicle to the left rear is determined.

[0161] Specifically, the desired distance between the target vehicle and the vehicle to the left rear is determined according to the following formula:

[0162] The desired distance between the target vehicle and the vehicle to the left rear is s_lr_desire = [vehicle speed to the left rear v_lr + (vehicle speed to the left rear v_lr - target vehicle current speed v_self)] * following distance t_gap.

[0163] Then, based on the determined desired distance s_lr_desire between the target vehicle and the left rear vehicle, as well as the current speed and acceleration of the target vehicle, the current speed and acceleration of the left rear vehicle, and the distance between the target vehicle and the left rear vehicle, the third desired lane change threshold (desire_lr) between the target vehicle and the left rear vehicle is determined according to the following formula:

[0164] The desired distance between the target vehicle and the vehicle to the left rear is calculated as follows: desired_lr = a1 * current speed of the target vehicle v_self / speed of the vehicle to the left rear v_lr + a2 * distance between the target vehicle and the vehicle to the left rear s_lr / desired distance between the target vehicle and the vehicle to the left rear s_lr_desire + a3 * acceleration of the target vehicle a_self / acceleration of the vehicle to the left rear a_lr.

[0165] Wherein, a1, a2 and a3 are weighting coefficients, and a1+a2+a3=1.

[0166] In one embodiment, before determining the fourth desired lane change threshold (desire_rf) between the target vehicle and the vehicle to the right, it is necessary to obtain the current speed and acceleration of the vehicle to the right, and the distance between the target vehicle and the vehicle to the right. Then, based on the current speed of the target vehicle, the current speed of the vehicle to the right, and the following distance, the desired distance between the target vehicle and the vehicle to the right is determined; and based on the current speed and acceleration of the target vehicle, the current speed and acceleration of the vehicle to the right, the distance between the target vehicle and the vehicle to the left, and the desired distance between the target vehicle and the vehicle to the right, the fourth desired lane change threshold between the target vehicle and the vehicle to the right is determined.

[0167] The desired distance between the target vehicle and the vehicle to its right front is determined according to the following formula;

[0168] The desired distance between the target vehicle and the vehicle to the right is s_rf_desire = [target vehicle's current speed v_self + (target vehicle's current speed v_self - right front vehicle's speed v_rf)]] * following distance t_gap;

[0169] Then, based on the expected distance between the target vehicle and the vehicle to the right, the current speed and acceleration of the target vehicle, the current speed and acceleration of the vehicle to the right, and the following distance, the fourth expected lane change threshold between the target vehicle and the vehicle to the right is determined according to the following formula:

[0170] The fourth desired lane change threshold between the target vehicle and the vehicle to the right is: desire_rf = a1 * speed of the vehicle to the right v_rf / current speed of the target vehicle v_self + a2 * distance between the target vehicle and the vehicle to the right s_rf / desired distance between the target vehicle and the vehicle to the right s_rf_desire + a3 * acceleration of the vehicle to the right a_rf / acceleration of the target vehicle a_self.

[0171] Wherein, a1, a2 and a3 are weighting coefficients, and a1+a2+a3=1.

[0172] In one embodiment, before determining the fifth desired lane change threshold (desire_rr (desire_lr) between the target vehicle and the right rear vehicle, it is also necessary to obtain the current speed and acceleration of the right rear vehicle and the distance between the target vehicle and the right rear vehicle; based on the current speed of the target vehicle, the current speed of the right rear vehicle, and the following distance, the desired distance between the target vehicle and the right rear vehicle is determined; then, based on the current speed and acceleration of the target vehicle, the current speed and acceleration of the right rear vehicle, the distance between the target vehicle and the right rear vehicle, and the desired distance between the target vehicle and the right rear vehicle, the fifth desired lane change threshold between the target vehicle and the right rear vehicle is determined.

[0173] The desired distance between the target vehicle and the vehicle to the right rear is determined according to the following formula;

[0174] The desired distance between the target vehicle and the vehicle to its right rear is s_rr_desire = [vehicle speed to its right rear v_rr + (vehicle speed to its right rear v_rr - target vehicle current speed v_self)] * following distance t_gap.

[0175] Then, based on the expected distance between the target vehicle and the vehicle to the right rear, the current speed and acceleration of the target vehicle, the current speed and acceleration of the vehicle to the right rear, and the following distance, the fifth expected lane change threshold between the target vehicle and the vehicle to the right rear is determined according to the following formula:

[0176] The fifth desired lane change threshold between the target vehicle and the vehicle to the right rear is: desire_rr = a1 * target vehicle's current speed v_self / vehicle to the right rear speed v_rr + a2 * target vehicle's distance from the vehicle to the right rear s_rr / desired distance between the target vehicle and the vehicle to the right rear s_rr_desire + a3 * target vehicle's acceleration a_self / vehicle to the right rear acceleration a_rr.

[0177] Where a1, a2, and a3 are weighting coefficients, and a1+a2+a3=1.

[0178] In step 104, the target vehicle is controlled to change lanes to the first lane.

[0179] In this step, when it is determined that the first lane the target vehicle is changing lanes to is the left lane, the left turn signal is activated, and the target vehicle is controlled to change lanes to the left lane; or

[0180] When it is determined that the first lane the target vehicle is changing lanes to is the right lane, the left turn signal is turned on, and the target vehicle is controlled to change lanes to the right lane.

[0181] In this embodiment of the invention, during the driving of the target vehicle, lane-changing parameters of the target vehicle are acquired. These parameters include: the current speed and acceleration of the target vehicle, the current speed and acceleration of the preceding vehicle, the distance between the target vehicle and the preceding vehicle, and the following distance. Based on these lane-changing parameters, a first desired lane-changing threshold between the target vehicle and the preceding vehicle is determined. Based on the first desired lane-changing threshold, a first lane for the target vehicle to change lanes is determined. The target vehicle is then controlled to change lanes into the first lane. In other words, this embodiment of the invention comprehensively utilizes the current speed, acceleration, distance, and following distance of the target vehicle and the preceding vehicle to determine a reasonable first desired lane-changing threshold between the target vehicle and the preceding vehicle, and determines a safe first lane for lane changing based on this threshold, thereby improving the safety of automatic lane changing.

[0182] Please also see Figure 2 The flowchart illustrates an application example of an automatic lane change control method provided in this embodiment of the invention; the method includes:

[0183] Step 201: During the driving of the target vehicle, obtain the lane change parameters of the target vehicle. The lane change parameters include: the current speed and acceleration of the target vehicle, the current speed and acceleration of the vehicle in front, the distance between the target vehicle and the vehicle in front, and the following distance.

[0184] Step 202: Determine the first desired lane change threshold between the target vehicle and the vehicle in front based on the lane change parameters;

[0185] Step 203: Determine whether the first desired lane change threshold desire_f is greater than the first threshold threshold_f between the target vehicle and the vehicle in front; if it is greater, proceed to step 204; otherwise, proceed to step 212.

[0186] Step 204: Determine the second desired lane change threshold (desire_lf) between the target vehicle and the vehicle to the left front, and the third desired lane change threshold (desire_lr) between the target vehicle and the vehicle to the left rear;

[0187] Step 205: Determine whether the second desired lane change threshold desire_lf is greater than the second threshold threshold_lf between the target vehicle and the vehicle to the left front, and whether the third desired lane change threshold desire_lr is greater than the third threshold threshold_lr between the target vehicle and the vehicle to the left rear; if both are greater, proceed to step 206; otherwise, proceed to step 208.

[0188] In this step, otherwise, it means that when the second desired lane change threshold (desire_lf) is not greater than the second threshold (threshold_lf) between the target vehicle and the vehicle to the left front, and the third desired lane change threshold (desire_lr) is not greater than the third threshold (threshold_lr) between the target vehicle and the vehicle to the left rear, step 208 should be executed.

[0189] Step 206: Determine that the first lane the target vehicle changes to is the left lane;

[0190] In this step, when the second desired lane change threshold (desire_lf) is greater than the second threshold (threshold_lf) between the target vehicle and the vehicle to the left in front, and the third desired lane change threshold (desire_lr) is greater than the third threshold (threshold_lr) between the target vehicle and the vehicle to the left rear, the first lane for the target vehicle to change lanes is determined to be the left lane.

[0191] Step 207: Control the target vehicle to change lanes to the left lane;

[0192] In this step, when it is determined that the first lane the target vehicle is changing to is the left lane, the left turn signal is activated to flash, and the target vehicle is controlled to change lanes to the left lane.

[0193] Step 208: Determine the fourth desired lane change threshold (desire_rf) between the target vehicle and the vehicle to the right front, and the fifth desired lane change threshold (desire_rr) between the target vehicle and the vehicle to the right rear;

[0194] Step 209: Determine whether the fourth desired lane change threshold `desire_rf` ​​is greater than the fourth threshold `threshold_rf` between the target vehicle and the vehicle to the right front, and whether the fifth desired lane change threshold `desire_rr` is greater than the fifth threshold `threshold_rr` between the target vehicle and the vehicle to the right rear; if both are greater, proceed to step 210; otherwise, proceed to step 212.

[0195] Step 210: Determine that the first lane the target vehicle changes to is the right lane;

[0196] Step 211: Control the target vehicle to change lanes to the right lane;

[0197] In this step, when it is determined that the first lane the target vehicle is changing to is the right lane, the right turn signal is activated to flash, and the target vehicle is controlled to change lanes to the right lane.

[0198] Step 212: Keep the target vehicle driving normally in the current lane without changing lanes.

[0199] In the embodiments of the present invention, the implementation process of each step is detailed in the implementation process corresponding to the above embodiments, and will not be repeated here.

[0200] In this embodiment of the invention, the speed, acceleration, distance to the target vehicle, and following distance of the target vehicle and the vehicle in front are comprehensively utilized to determine the first expected lane change threshold between the target vehicle and the vehicle in front. Based on the first expected lane change threshold, the first lane in which a safe lane change is possible is determined. When the first expected lane change threshold meets the calibrated threshold, the second expected lane change threshold between the target vehicle and the vehicle to the left front, and the third expected lane change threshold between the target vehicle and the vehicle to the left rear, or the fourth expected lane change threshold between the target vehicle and the vehicle to the right front, and the fifth expected lane change threshold between the target vehicle and the vehicle to the right rear, are further determined. The determined expected lane change thresholds are compared with the corresponding calibrated thresholds to determine the lanes in which the target vehicle can change lanes, thereby improving the safety of automatic lane changing.

[0201] It should be noted that, for the sake of simplicity, the method embodiments are all described as a series of actions. However, those skilled in the art should understand that this disclosure is not limited to the described order of actions, because according to the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions involved are not necessarily essential to the present invention.

[0202] Please also see Figure 3 This is a block diagram of an automatic lane change control device provided in an embodiment of the present invention. The device includes: a first acquisition module 301, a first determination module 302, a second determination module 303, and a control module 304, wherein...

[0203] The first acquisition module 301 is used to acquire lane change parameters of the target vehicle during the driving process of the target vehicle. The lane change parameters include: the current speed and acceleration of the target vehicle, the current speed and acceleration of the vehicle in front, the distance between the target vehicle and the vehicle in front, and the following distance.

[0204] The first determining module 302 is used to determine a first expected lane change threshold between the target vehicle and the preceding vehicle based on the lane change parameters, including: determining the expected distance between the target vehicle and the preceding vehicle; the first expected lane change threshold = a1 * current speed of the target vehicle / current speed of the preceding vehicle + a2 * expected distance between the target vehicle and the preceding vehicle / distance between the target vehicle and the preceding vehicle + a3 * acceleration of the target vehicle / acceleration of the preceding vehicle; wherein, a1, a2 and a3 are weighting coefficients, and a1 + a2 + a3 = 1;

[0205] The second determining module 303 is used to determine the first lane in which the target vehicle will change lanes based on the first desired lane change threshold.

[0206] The control module 304 is used to control the target vehicle to change lanes to the first lane.

[0207] Optionally, in another embodiment, based on the above embodiment, the first determining module 302 includes: a first distance determining module 401 and a first threshold determining module 402, the structural block diagram of which is shown below. Figure 4 As shown, where,

[0208] The first distance determination module 401 is used to determine the expected distance between the target vehicle and the vehicle in front based on the current speed of the target vehicle, the current speed of the vehicle in front, and the following distance.

[0209] The first threshold determination module 402 is used to determine a first expected lane change threshold between the target vehicle and the preceding vehicle based on the current speed and acceleration of the target vehicle, the current speed and acceleration of the preceding vehicle, the distance between the target vehicle and the preceding vehicle, and the expected distance between the target vehicle and the preceding vehicle. The first expected lane change threshold is defined as: a1 * current speed of the target vehicle / current speed of the preceding vehicle + a2 * expected distance between the target vehicle and the preceding vehicle / distance between the target vehicle and the preceding vehicle + a3 * acceleration of the target vehicle / acceleration of the preceding vehicle; wherein a1, a2, and a3 are weighting coefficients, and a1 + a2 + a3 = 1.

[0210] Optionally, in another embodiment, based on the above embodiment, the first distance determination module is used to determine the desired distance between the target vehicle and the preceding vehicle according to the following formula:

[0211] The desired distance between the target vehicle and the vehicle in front = [the current speed of the target vehicle + (the current speed of the target vehicle - the speed of the vehicle in front)] * following distance.

[0212] Optionally, in another embodiment, based on the above embodiment, the second determining module 303 includes: a second threshold determining module 501, a third threshold determining module 502, and a first lane determining module 503, the structural block diagram of which is shown below. Figure 5 As shown, where,

[0213] The second threshold determination module 501 is used to determine the second expected lane change threshold between the target vehicle and the vehicle in front when the first expected lane change threshold is greater than the first threshold of the target vehicle and the vehicle in front.

[0214] The third threshold determination module 502 is used to determine the third expected lane change threshold between the target vehicle and the left rear vehicle when the first expected lane change threshold is greater than the first threshold between the target vehicle and the vehicle in front.

[0215] The first lane determination module 503 is used to determine the first lane for the target vehicle to change lanes as the left lane when the second expected lane change threshold is greater than the second threshold of the target vehicle and the vehicle to the left in front, and the third expected lane change threshold is greater than the third threshold of the target vehicle and the vehicle to the left rear.

[0216] Optionally, in another embodiment, based on the above embodiments, the device further includes: a fourth threshold determination module 601, a fifth threshold determination module 602, and a second lane determination module 603, the structural block diagram of which is shown below. Figure 6 As shown, where,

[0217] The fourth threshold determination module 601 is used to determine the fourth expected lane change threshold between the target vehicle and the right front vehicle when the second expected lane change threshold is not greater than the second threshold of the target vehicle and the left front vehicle, and the third expected lane change threshold is not greater than the third threshold of the target vehicle and the left rear vehicle.

[0218] The fifth threshold determination module 602 is used to determine the fifth expected lane change threshold between the target vehicle and the right rear vehicle when the second expected lane change threshold is not greater than the second threshold of the target vehicle and the left front vehicle, and the third expected lane change threshold is not greater than the third threshold of the target vehicle and the left rear vehicle.

[0219] The second lane determination module 603 is used to determine the first lane that the target vehicle is changing lanes as the right lane when the fourth expected lane change threshold is greater than the fourth threshold of the target vehicle and the vehicle to the right in front, and the fifth expected lane change threshold is greater than the fifth threshold of the target vehicle and the vehicle to the right rear.

[0220] Optionally, in another embodiment, based on the above embodiments, the device further includes: a lane keeping module, wherein...

[0221] The lane keeping module is used to keep the target vehicle driving normally in the current lane when the first desired lane change threshold is not greater than the first threshold between the target vehicle and the vehicle in front; or when the fourth desired lane change threshold is not greater than the fourth threshold between the target vehicle and the vehicle to the right front, and the fifth desired lane change threshold is not greater than the fifth threshold between the target vehicle and the vehicle to the right rear.

[0222] Optionally, in another embodiment, based on the above embodiments, the apparatus further includes: a second acquisition module, wherein,

[0223] The second acquisition module is used to acquire the current speed and acceleration of the left front vehicle, the distance between the target vehicle and the left front vehicle, and the current speed and acceleration of the left rear vehicle, and the distance between the target vehicle and the left rear vehicle.

[0224] The second threshold determination module is specifically used to determine the expected distance between the target vehicle and the vehicle in front of the left based on the current speed of the target vehicle, the current speed of the vehicle in front of the left, and the following distance; and to determine the second expected lane change threshold between the target vehicle and the vehicle in front of the left based on the current speed and acceleration of the target vehicle, the current speed and acceleration of the vehicle in front of the left, the distance between the target vehicle and the vehicle in front of the left, and the expected distance between the target vehicle and the vehicle in front of the left.

[0225] The second threshold determination module is specifically used to determine the expected distance between the target vehicle and the left rear vehicle based on the current speed of the target vehicle, the current speed of the left rear vehicle, and the following distance; and to determine the third expected lane change threshold between the target vehicle and the left rear vehicle based on the current speed and acceleration of the target vehicle, the current speed and acceleration of the left rear vehicle, the distance between the target vehicle and the left rear vehicle, and the expected distance between the target vehicle and the left rear vehicle.

[0226] Optionally, in another embodiment, based on the above embodiment, the second threshold determination module determines the desired distance between the target vehicle and the vehicle to the left front according to the following formula:

[0227] The expected distance between the target and the vehicle to the left front = [target vehicle's current speed v_self + (target vehicle's current speed - vehicle to the left front speed v_lf)] * following distance;

[0228] The third threshold determination module determines the expected distance between the target vehicle and the left rear vehicle according to the following formula:

[0229] The desired distance between the target vehicle and the vehicle to the left rear is calculated as: [Speed ​​of the vehicle to the left rear + (Speed ​​of the vehicle to the left rear - Current speed of the target vehicle)] * following distance.

[0230] Optionally, in another embodiment, this embodiment is based on the above embodiment,

[0231] The second threshold determination module determines the second desired lane change threshold between the target vehicle and the vehicle to the left front according to the following formula, including:

[0232] Second expected lane change threshold = a1 * speed of the vehicle in front of the left / current speed of the target vehicle + a2 * distance between the target vehicle and the vehicle in front of the left / expected distance between the target vehicle and the vehicle in front of the left + a3 * acceleration of the vehicle in front of the left / acceleration of the target vehicle;

[0233] The third threshold determination module determines the third desired lane change threshold between the target vehicle and the left rear vehicle according to the following formula:

[0234] The expected distance between the target vehicle and the vehicle to the left rear = a1 * current speed of the target vehicle / speed of the vehicle to the left rear + a2 * distance between the target vehicle and the vehicle to the left rear / expected distance between the target vehicle and the vehicle to the left rear + a3 * acceleration of the target vehicle / acceleration of the vehicle to the left rear;

[0235] Wherein, a1, a2 and a3 are weighting coefficients, and a1+a2+a3=1.

[0236] Optionally, in another embodiment, based on the above embodiments, the apparatus further includes: a third acquisition module, wherein,

[0237] The third acquisition module is used to acquire the current speed and acceleration of the vehicle in front right, the distance between the target vehicle and the vehicle in front right, and the current speed and acceleration of the vehicle behind right, as well as the distance between the target vehicle and the vehicle behind right.

[0238] The fourth threshold determination module is used to determine the expected distance between the target vehicle and the right front vehicle based on the current speed of the target vehicle, the current speed of the right front vehicle, and the following distance; and to determine the fourth expected lane change threshold between the target vehicle and the right front vehicle based on the current speed and acceleration of the target vehicle, the current speed and acceleration of the right front vehicle, the distance between the target vehicle and the left front vehicle, and the expected distance between the target vehicle and the right front vehicle.

[0239] The fifth threshold determination module is specifically used to determine the expected distance between the target vehicle and the right rear vehicle based on the current speed of the target vehicle, the current speed of the right rear vehicle, and the following distance; and to determine the fifth expected lane change threshold between the target vehicle and the right rear vehicle based on the current speed and acceleration of the target vehicle, the current speed and acceleration of the right rear vehicle, the distance between the target vehicle and the right rear vehicle, and the expected distance between the target vehicle and the right rear vehicle.

[0240] Optionally, in another embodiment, based on the above embodiment, the fourth threshold determination module determines the desired distance between the target vehicle and the vehicle to the right front according to the following formula:

[0241] The desired distance between the target vehicle and the vehicle to the right is s_rf_desire = [target vehicle's current speed + (target vehicle's current speed - vehicle to the right speed)] * ​​following distance;

[0242] The fifth threshold determination module determines the desired distance between the target vehicle and the vehicle to the right rear according to the following formula:

[0243] The desired distance between the target vehicle and the vehicle to its right rear is calculated as: [Speed ​​of the vehicle to its right rear + (Speed ​​of the vehicle to its right rear - Current speed of the target vehicle)] * following distance.

[0244] Optionally, in another embodiment, this embodiment is based on the above embodiment,

[0245] The fourth threshold determination module determines the fourth desired lane change threshold between the target vehicle and the vehicle to the right front according to the following formula:

[0246] Fourth expected lane change threshold = a1 * speed of the vehicle in front right / current speed of the target vehicle + a2 * distance between the target vehicle and the vehicle in front right / expected distance between the target vehicle and the vehicle in front right + a3 * acceleration of the vehicle in front right / acceleration of the target vehicle;

[0247] The fifth threshold determination module determines the fifth desired lane change threshold between the target vehicle and the right rear vehicle according to the following formula:

[0248] Fifth expected lane change threshold = a1 * target vehicle's current speed / right rear vehicle's speed + a2 * target vehicle's distance from the right rear vehicle / expected distance between the target vehicle and the right rear vehicle + a3 * target vehicle's acceleration / right rear vehicle's acceleration.

[0249] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0250] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0251] Optionally, embodiments of the present invention also provide an electronic device, comprising:

[0252] processor;

[0253] Memory used to store the processor's executable instructions;

[0254] The processor is configured to execute the instructions to implement the automatic lane change control method described above.

[0255] Optionally, embodiments of the present invention also provide a computer-readable storage medium, wherein when the instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is able to perform the automatic lane change control method as described above.

[0256] Optionally, embodiments of the present invention also provide a computer program product, including a computer program or instructions, which, when executed by a processor of an electronic device, implement the automatic lane change control method as described above.

[0257] Please also see Figure 7 This is a block diagram of an electronic device provided in an embodiment of the present invention, such as... Figure 7 As shown, it includes a processor 701, a communication interface 702, a memory 703, and a communication bus 704, wherein the processor 701, the communication interface 702, and the memory 703 communicate with each other through the communication bus 704.

[0258] Memory 703 is used to store the processor-executable instructions;

[0259] The processor 701 is used to implement the automatic lane change control method described above when executing executable instructions on the memory 703.

[0260] In this embodiment, the communication bus can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is used to represent it in the figure, but this does not mean that there is only one bus or one type of bus.

[0261] The communication interface is used for communication between the aforementioned electronic devices and other devices.

[0262] The memory may include random access memory (RAM) or non-volatile memory, such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0263] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0264] In another embodiment of the present invention, a computer-readable storage medium is also provided, which, when the instructions in the computer-readable storage medium are executed by the processor of an electronic device, enables the electronic device to perform the automatic lane change control method as described above.

[0265] In another embodiment of the present invention, a computer program product including a computer program or instructions is also provided, wherein the computer program or instructions, when executed by a processor of an electronic device, implement the automatic lane change control method as described above.

[0266] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present invention are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid state disk (SSD)).

[0267] Figure 8 This is a block diagram illustrating an apparatus 800 for automatic lane change control according to an exemplary embodiment. For example, apparatus 800 may be provided as a server. (Refer to...) Figure 8 The apparatus 800 includes a processing component 822, which further includes one or more processors, and memory resources represented by memory 832 for storing instructions, such as application programs, that can be executed by the processing component 822. The application programs stored in memory 832 may include one or more modules, each corresponding to a set of instructions. Furthermore, the processing component 822 is configured to execute instructions to perform the methods described above.

[0268] Device 800 may also include a power supply component 826 configured to perform power management of device 800, a wired or wireless network interface 850 configured to connect device 800 to a network, and an input / output (I / O) interface 858. Device 800 may operate on an operating system stored in memory 832, such as Windows Server™, Mac OS X™, Unix™, Linux™, FreeBSD™, or similar.

[0269] Other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of the invention are indicated by the following claims.

[0270] It should be understood that the present invention is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. An automatic lane change control method, characterized in that, include: During the driving of the target vehicle, the lane-changing parameters of the target vehicle are obtained. The lane-changing parameters include: the current speed and acceleration of the target vehicle, the current speed and acceleration of the vehicle in front, the distance between the target vehicle and the vehicle in front and the following distance, the current speed and acceleration of the vehicle to the left front, the distance between the target vehicle and the vehicle to the left front, and the current speed and acceleration of the vehicle to the left rear, and the distance between the target vehicle and the vehicle to the left rear. Determining the first expected lane change threshold between the target vehicle and the preceding vehicle based on the lane change parameters includes: determining the expected distance between the target vehicle and the preceding vehicle; the first expected lane change threshold = a1 * current speed of the target vehicle / current speed of the preceding vehicle + a2 * expected distance between the target vehicle and the preceding vehicle / distance between the target vehicle and the preceding vehicle + a3 * acceleration of the target vehicle / acceleration of the preceding vehicle; wherein, a1, a2, and a3 are weighting coefficients, and a1 + a2 + a3 = 1; Determining the first lane for the target vehicle to change lanes based on the first expected lane change threshold includes: when the first expected lane change threshold is greater than a first threshold between the target vehicle and the vehicle in front, determining a second expected lane change threshold between the target vehicle and the vehicle to the left front, and a third expected lane change threshold between the target vehicle and the vehicle to the left rear; when the second expected lane change threshold is greater than a second threshold between the target vehicle and the vehicle to the left front, and the third expected lane change threshold is greater than a third threshold between the target vehicle and the vehicle to the left rear, determining the first lane for the target vehicle to change lanes as the left lane; Control the target vehicle to change lanes to the first lane; The determination of the second expected lane change threshold between the target vehicle and the vehicle to the left front includes: determining the expected distance between the target vehicle and the vehicle to the left front based on the current speed of the target vehicle, the current speed of the vehicle to the left front, and the following distance; determining the second expected lane change threshold between the target vehicle and the vehicle to the left front based on the current speed and acceleration of the target vehicle, the current speed and acceleration of the vehicle to the left front, the distance between the target vehicle and the vehicle to the left front, and the expected distance between the target vehicle and the vehicle to the left front, wherein the second expected lane change threshold = a1 * speed of the vehicle to the left front / current speed of the target vehicle + a2 * distance between the target vehicle and the vehicle to the left front / expected distance between the target vehicle and the vehicle to the left front + a3 * acceleration of the vehicle to the left front / acceleration of the target vehicle; The determination of the third expected lane change threshold between the target vehicle and the vehicle to the left rear includes: determining the expected distance between the target vehicle and the vehicle to the left rear based on the current speed of the target vehicle, the current speed of the vehicle to the left rear, and the following distance; determining the third expected lane change threshold between the target vehicle and the vehicle to the left rear based on the current speed and acceleration of the target vehicle, the current speed and acceleration of the vehicle to the left rear, the distance between the target vehicle and the vehicle to the left rear, and the expected distance between the target vehicle and the vehicle to the left rear, wherein the third expected lane change threshold = a1 * current speed of the target vehicle / speed of the vehicle to the left rear + a2 * distance between the target vehicle and the vehicle to the left rear / expected distance between the target vehicle and the vehicle to the left rear + a3 * acceleration of the target vehicle / acceleration of the vehicle to the left rear.

2. The automatic lane change control method according to claim 1, characterized in that, Determining the desired distance between the target vehicle and the vehicle in front includes: Based on the current speed of the target vehicle, the current speed of the vehicle in front, and the following distance, the expected distance between the target vehicle and the vehicle in front is determined.

3. The automatic lane change control method according to claim 2, characterized in that, The desired distance between the target vehicle and the vehicle in front is determined using the following formula: The desired distance between the target vehicle and the vehicle in front is calculated as: [the current speed of the target vehicle + (the current speed of the target vehicle - the speed of the vehicle in front)] * the following distance.

4. The automatic lane change control method according to claim 1, characterized in that, The method further includes: When the second expected lane change threshold is not greater than the second threshold between the target vehicle and the left front vehicle, and the third expected lane change threshold is not greater than the third threshold between the target vehicle and the left rear vehicle, the fourth expected lane change threshold between the target vehicle and the right front vehicle, and the fifth expected lane change threshold between the target vehicle and the right rear vehicle are determined. When the fourth desired lane change threshold is greater than the fourth threshold of the target vehicle and the vehicle to the right in front, and the fifth desired lane change threshold is greater than the fifth threshold of the target vehicle and the vehicle to the right rear, the first lane for the target vehicle to change lanes is determined to be the right lane.

5. The automatic lane change control method according to claim 4, characterized in that, The method further includes: When the first desired lane change threshold is not greater than the first threshold between the target vehicle and the vehicle in front; or when the fourth desired lane change threshold is not greater than the fourth threshold between the target vehicle and the vehicle to the right front, and the fifth desired lane change threshold is not greater than the fifth threshold between the target vehicle and the vehicle to the right rear, the target vehicle shall continue to drive normally in the current lane.

6. The automatic lane change control method according to claim 1, characterized in that, The desired distance between the target vehicle and the vehicle to the left front is determined using the following formula: The desired distance between the target vehicle and the vehicle to the left front = [the current speed of the target vehicle + (the current speed of the target vehicle - the speed of the vehicle to the left front)] * the following distance; The desired distance between the target vehicle and the left rear vehicle is determined using the following formula: The desired distance between the target vehicle and the vehicle to the left rear is = [the speed of the vehicle to the left rear + (the speed of the vehicle to the left rear - the current speed of the target vehicle)] * the following distance.

7. The automatic lane change control method according to claim 4, characterized in that, The method further includes: Get the current speed and acceleration of the vehicle in front right, the distance between the target vehicle and the vehicle in front right, and the current speed and acceleration of the vehicle behind right, and the distance between the target vehicle and the vehicle behind right. The fourth desired lane change threshold for determining the target vehicle and the vehicle to its right front includes: Based on the current speed of the target vehicle, the current speed of the vehicle to the right, and the following distance, the desired distance between the target vehicle and the vehicle to the right is determined. Based on the current speed and acceleration of the target vehicle, the current speed and acceleration of the right front vehicle, the distance between the target vehicle and the left front vehicle, and the expected distance between the target vehicle and the right front vehicle, the fourth expected lane change threshold between the target vehicle and the right front vehicle is determined. The fifth desired lane change threshold for determining the target vehicle and the vehicle to its right rear includes: Based on the current speed of the target vehicle, the current speed of the vehicle to the right rear, and the following distance, the desired distance between the target vehicle and the vehicle to the right rear is determined. Based on the current speed and acceleration of the target vehicle, the current speed and acceleration of the right rear vehicle, the distance between the target vehicle and the right rear vehicle, and the expected distance between the target vehicle and the right rear vehicle, the fifth expected lane change threshold between the target vehicle and the right rear vehicle is determined.

8. The automatic lane change control method according to claim 7, characterized in that, The desired distance between the target vehicle and the vehicle to the right front is determined using the following formula: The desired distance between the target vehicle and the vehicle to the right front is calculated as: [the current speed of the target vehicle + (the current speed of the target vehicle - the speed of the vehicle to the right front)] * the following distance. The desired distance between the target vehicle and the right rear vehicle is determined using the following formula: The desired distance between the target vehicle and the vehicle to the right rear is calculated as: [Speed ​​of the vehicle to the right rear + (Speed ​​of the vehicle to the right rear - Current speed of the target vehicle)] * Following distance.

9. The automatic lane change control method according to claim 7, characterized in that, The fourth desired lane change threshold between the target vehicle and the vehicle to the right is determined according to the following formula: The fourth expected lane change threshold = a1 * speed of the vehicle in front right / current speed of the target vehicle + a2 * distance between the target vehicle and the vehicle in front right / expected distance between the target vehicle and the vehicle in front right + a3 * acceleration of the vehicle in front right / acceleration of the target vehicle; The fifth desired lane change threshold between the target vehicle and the right rear vehicle is determined according to the following formula: The fifth desired lane change threshold = a1 * current speed of the target vehicle / speed of the vehicle behind on the right + a2 * distance between the target vehicle and the vehicle behind on the right / desired distance between the target vehicle and the vehicle behind on the right + a3 * acceleration of the target vehicle / acceleration of the vehicle behind on the right.

10. An automatic lane change control device, used to execute the automatic lane change control method according to any one of claims 1 to 9, characterized in that, include: The first acquisition module is used to acquire lane change parameters of the target vehicle during the driving process of the target vehicle. The lane change parameters include: the current speed and acceleration of the target vehicle, the current speed and acceleration of the vehicle in front, the distance between the target vehicle and the vehicle in front, and the following distance. The first determining module is used to determine a first expected lane change threshold between the target vehicle and the preceding vehicle based on the lane change parameters, including: determining the expected distance between the target vehicle and the preceding vehicle; the first expected lane change threshold = a1 * current speed of the target vehicle / current speed of the preceding vehicle + a2 * expected distance between the target vehicle and the preceding vehicle / distance between the target vehicle and the preceding vehicle + a3 * acceleration of the target vehicle / acceleration of the preceding vehicle; wherein, a1, a2 and a3 are weighting coefficients, and a1 + a2 + a3 = 1; The second determining module is used to determine the first lane in which the target vehicle will change lanes based on the first desired lane change threshold. The control module is used to control the target vehicle to change lanes to the first lane.

11. An electronic device, characterized in that, include: processor; Memory used to store the processor's executable instructions; The processor is configured to execute the instructions to implement the automatic lane change control method as described in any one of claims 1 to 9.

12. A computer-readable storage medium, characterized in that, When the instructions in the computer-readable storage medium are executed by the processor of the electronic device, the electronic device is able to perform the automatic lane change control method as described in any one of claims 1 to 9.

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