Lane changing control method and device, electronic equipment, storage medium and vehicle

Abstract

The application provides a lane changing control method and device, electronic equipment, a storage medium and a vehicle. The lane changing control method comprises: acquiring line-of-sight area change information representing a change in a line-of-sight attention area of a driver when the vehicle is in an automatic driving state; and controlling the vehicle to perform a lane changing operation corresponding to a lane changing intention of the driver when it is determined that the driver has the lane changing intention based on the line-of-sight area change information and road environment information meets a lane changing condition corresponding to the lane changing intention. The application controls the vehicle to perform the lane changing operation when it is determined that the driver has the lane changing intention based on the line-of-sight area change information representing the change in the line-of-sight attention area of the driver and the road environment information meets the lane changing condition corresponding to the lane changing intention, so that the driver can trigger the lane changing function in a touchless manner, and the vehicle can perform the lane changing operation according to the lane changing intention of the driver in the automatic driving state, thereby improving the use experience of the driver on the automatic lane changing function.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automobiles, in particular to a lane changing control method and device, an electronic device, a storage medium and a vehicle. BACKGROUND

[0002] With the continuous development and maturity of automatic driving technology, more and more vehicles are equipped with automatic driving technology, and some high-end vehicles have already been equipped with automatic lane changing function. The triggering modes corresponding to the automatic lane changing function of the vehicle include system active triggering and driver instruction triggering. After the automatic lane changing function is triggered, the vehicle autonomously performs lane changing operation. System active triggering refers to detecting the driving environment around the vehicle according to the environmental perception sensors arranged on the vehicle, and when it is judged that the driving environment around the vehicle meets the vehicle lane changing condition, the lane changing function is actively triggered to control the vehicle to perform lane changing operation. In this way, the driver does not need to participate in the whole process. SUMMARY

[0003] The present application provides a lane changing control method, device, electronic device, storage medium and vehicle to solve the problem that the existing automatic lane changing function does not consider the lane changing intention of the driver.

[0004] In a first aspect, the present application provides a lane changing control method, which comprises:

[0005] In the case that the vehicle is in an automatic driving state, acquiring line-of-sight area change information representing the change of the line-of-sight attention area of the driver;

[0006] When it is determined based on the line-of-sight area change information that the driver has a lane changing intention and the road environment information meets the lane changing condition corresponding to the lane changing intention, controlling the vehicle to perform the lane changing operation corresponding to the lane changing intention.

[0007] In a second aspect, the present application also provides a lane changing control device, which comprises:

[0008] An acquisition module, configured to acquire, in the case that the vehicle is in an automatic driving state, line-of-sight area change information representing the change of the line-of-sight attention area of the driver;

[0009] A control module, configured to, when it is determined based on the line-of-sight area change information that the driver has a lane changing intention and the road environment information meets the lane changing condition corresponding to the lane changing intention, control the vehicle to perform the lane changing operation corresponding to the lane changing intention.

[0010] In a third aspect, an electronic device is provided, which includes a processor, a memory, and a computer program stored in the memory and executable on the processor, and the computer program, when executed by the processor, implements the lane changing control method described above.

[0011] In a fourth aspect, a computer readable storage medium is provided, which stores a computer program, and the computer program, when executed by a processor, implements the lane changing control method described above.

[0012] In a fifth aspect, a vehicle is provided, which includes the lane changing control device described above.

[0013] The embodiments of the present application at least have the following technical effects:

[0014] The technical scheme of the embodiments of the present application, by acquiring the line-of-sight area change information representing the change of the driver's line-of-sight attention area in the case that the vehicle is in an automatic driving state, and controlling the vehicle to perform the lane changing operation corresponding to the lane changing intention of the driver when it is determined that the driver has the lane changing intention based on the line-of-sight area change information and the road environment information meets the lane changing condition corresponding to the lane changing intention, so that the driver can trigger the lane changing function without contact, and the vehicle can perform the lane changing operation according to the lane changing intention of the driver in the automatic driving state, thereby improving the use experience of the driver on the automatic lane changing function. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical schemes in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced.

[0016] Figure 1 is a flowchart of the lane changing control method provided by the embodiments of the present application;

[0017] Figure 2 is a structural schematic diagram of the line-of-sight area corresponding to the driver in the embodiments of the present application;

[0018] Figure 3 is a structural schematic diagram of the automatic driving control system applying the lane changing control method provided by the embodiments of the present application;

[0019] Figure 4 is a structural schematic diagram of the lane changing control device provided by the embodiments of the present application;

[0020] Figure 5 is a block diagram of the electronic device provided by the embodiments of the present application. DETAILED DESCRIPTION

[0021] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts should fall within the scope of the present application.

[0022] It should be understood that the "one embodiment" or "an embodiment" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner.

[0023] In various embodiments of the present application, it should be understood that the size of the serial number of the following processes does not mean the order of execution, and the execution order of the processes should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0024] After the driver sets the driving state of the vehicle to the automatic driving state and sets the destination, the automatic driving control system can generate a planned path according to the destination input by the driver, and control the vehicle to drive to the destination according to the planned path. During the automatic driving state of the vehicle, the lane changing operation of the vehicle can be controlled by the automatic driving control system in the case that the automatic driving control system determines that there is a lane changing demand and determines that the lane changing condition is met according to the specific road environment, or the automatic driving control system controls the vehicle to perform the lane changing operation after receiving the lane changing instruction triggered by the driver through a certain operation (such as pulling the turn signal lever), and determines that the lane changing condition is met according to the specific road environment. Compared with the latter way of triggering the lane changing operation, in the former way of triggering the lane changing operation, the lane changing of the vehicle does not take the lane changing intention of the driver into account.

[0025] The embodiments of the present application provide a lane changing control method applied to an automatic driving control system, as shown in the figure, the method comprises the steps of: Figure 1

[0026] Step 101, in the case that the vehicle is in an automatic driving state, acquiring line-of-sight area change information representing the change of the line-of-sight attention area of the driver.

[0027] ​When the vehicle is in an automatic driving state, the vehicle is controlled by an automatic driving control system, and when the automatic driving control system needs to obtain a lane changing intention of the driver, the lane changing intention of the driver can be determined by obtaining line-of-sight area change information representing a change condition of a line-of-sight area of the driver. Specifically, the orientation of the eyeball of the driver determines the line-of-sight area of the driver, and by obtaining the orientation of the eyeball of the driver in real time, the change condition of the line-of-sight area of the driver, that is, the line-of-sight area change information, can be analyzed.

[0028] Step 102, when it is determined that the driver has a lane changing intention based on the line-of-sight area change information, and the road environment information meets a lane changing condition corresponding to the lane changing intention, the vehicle is controlled to perform a lane changing operation corresponding to the lane changing intention.

[0029] The automatic driving control system can determine whether the driver has a lane changing intention through the line-of-sight area change information, and in the case where it is determined that the driver has a lane changing intention, the automatic driving control system also needs to determine whether the current road environment is suitable for the vehicle to perform a lane changing operation matched with the lane changing intention according to the current road environment information, so as to avoid traffic accidents.

[0030] The automatic driving control system controls the vehicle to perform a corresponding lane changing operation in the case where it is determined that the road environment information meets a lane changing condition corresponding to the lane changing intention of the driver. For example, when the lane changing intention of the driver is to change lanes to the left, and the road environment is suitable for the vehicle to change lanes to the left, the automatic driving control system controls the vehicle to perform a lane changing operation to the left.

[0031] It should be noted that the road environment information described above can be obtained before or at the same time as the line-of-sight area change information is obtained, or can be obtained when it is determined that the driver has a lane changing intention based on the line-of-sight area change information.

[0032] In the embodiments of the present application, the line-of-sight area change information representing the change condition of the line-of-sight area of the driver is obtained when the vehicle is in an automatic driving state, and the vehicle is controlled to perform a lane changing operation corresponding to a lane changing intention of the driver when it is determined that the driver has the lane changing intention based on the line-of-sight area change information and the road environment information meets a lane changing condition corresponding to the lane changing intention, so that the driver can trigger a lane changing function without contact, and the vehicle can perform a lane changing operation according to the lane changing intention of the driver in an automatic driving state, thereby improving the use experience of the driver on the automatic lane changing function.

[0033] In an optional embodiment of the present application, the line-of-sight area change information representing the change condition of the line-of-sight area of the driver is obtained by:

[0034] The orientation of the eyeball of the driver is obtained in real time by a collection device.

[0035] Determine the driver's visual field based on the direction of the driver's eyes;

[0036] Based on the driver's corresponding line of sight area, determine the information on changes in the line of sight area.

[0037] Specifically, the data acquisition device can be a camera installed inside the vehicle and fixed in front of the driver's seat. The camera can capture images including the driver's eye position, and by analyzing these images, the driver's eye orientation can be determined. Based on pre-stored relationships between eye orientation and gaze area, the driver's focused gaze area can be determined. This gaze area is one of the following: left front gaze area, right front gaze area, left rear gaze area, right rear gaze area, and an invalid area. The invalid area is the area outside the vehicle excluding the left front gaze area, right front gaze area, left rear gaze area, and right rear gaze area.

[0038] Specifically, considering the differences between different drivers, the relationship between stored eye orientation and visual field can be corrected before the vehicle enters autonomous driving mode. During the correction, the driver can be prompted to change their eye orientation multiple times via voice prompts. The control system outputs the visual field determined by the driver's eye orientation each time the driver changes their eye orientation. The driver then judges whether the visual field output by the system is correct. If it is correct, the driver is prompted to adjust their eye orientation and repeat the above operation. If it is incorrect, the correct visual field provided by the driver is saved, and the relationship between eye orientation and visual field stored in the system is adjusted, thereby realizing the correction operation of the relationship between eye orientation and visual field stored in the vehicle.

[0039] like Figure 2 As shown, taking a three-lane road environment with the current vehicle in the middle lane as an example, the driver's visual field in this embodiment is explained. The left front visual field refers to the area in front of the left side of the vehicle, corresponding to... Figure 2 The leftmost lane in the diagram refers to the area in front of the vehicle on its right front side. The right front visibility area is the area in front of the vehicle on its right side, corresponding to... Figure 2 The rightmost lane in front of the vehicle, the left rearward visibility area refers to the area to the left rear of the vehicle, corresponding to... Figure 2 The leftmost lane is behind the vehicle; the right rear view area refers to the area to the right rear of the vehicle, corresponding to... Figure 2 The invalid area refers to the area outside the vehicle, excluding the left front view area, right front view area, left rear view area, and right rear view area, including the area directly in front of the vehicle, the area directly behind the vehicle, and the areas on both sides. Specifically, the driver's eye direction indicates that when the driver is looking at the left rearview mirror, the corresponding visual area is the left rear view area; similarly, when the driver is looking at the right rearview mirror, the corresponding visual area is the right rear view area.

[0040] The eye direction of the driver is acquired in real time to determine the line-of-sight area change information.

[0041] The above embodiments of the present application acquire the eye direction of the driver in real time through the acquisition device, and determine the line-of-sight area change information based on the eye direction of the driver. In the process of automatic driving of the vehicle, the line-of-sight area change information of the driver can be acquired in real time, so that the lane changing intention of the driver can be understood in time based on the line-of-sight area change information.

[0042] In an optional embodiment of the present application, the line-of-sight area change information is determined according to the line-of-sight area corresponding to the driver, and includes:

[0043] The line-of-sight area change information is determined according to whether the line-of-sight of the driver stays in each line-of-sight area, a target stay duration in each line-of-sight area, and a switching interval duration of the line-of-sight of the driver from a previous line-of-sight area to a next line-of-sight area. When the actual stay duration of the line-of-sight of the driver in the line-of-sight area is less than or equal to a first time threshold, the target stay duration is the actual stay duration. When the actual stay duration is greater than the first time threshold, the target stay duration is a remainder obtained by dividing the actual stay duration by the first time threshold.

[0044] The line-of-sight area change information is determined according to whether the line-of-sight of the driver stays in each line-of-sight area, a target stay duration in each line-of-sight area, and a switching interval duration of the line-of-sight of the driver from a previous line-of-sight area to a next line-of-sight area.

[0045] In the process of automatic driving of the vehicle, the automatic driving system needs to acquire the line-of-sight area change of the driver in real time. Specifically, the automatic driving control system can determine line-of-sight area change information representing the line-of-sight area change of the driver according to the line-of-sight area corresponding to the driver. The line-of-sight area change information includes whether the line-of-sight of the driver stays in each line-of-sight area, a target stay duration in each line-of-sight area, and a switching interval duration of the line-of-sight of the driver from a previous line-of-sight area to a next line-of-sight area.

[0046] Specifically, the timing can be started at each line-of-sight area switching, so that the actual stay duration corresponding to the previous line-of-sight area and the next line-of-sight area before and after the switching, and the switching interval duration corresponding to the switching from the previous line-of-sight area to the next line-of-sight area can be acquired.

[0047] It should be noted that when it is determined whether the driver has a lane changing intention based on the line-of-sight area change information, the sum of the target stay duration of the previous line-of-sight area and the switching interval duration corresponding to the switching from the previous line-of-sight area to the next line-of-sight area is compared with the second time threshold to determine whether there is a lane changing intention. If it is less than the second time threshold, there is a lane changing intention. At this time, if the actual stay duration of the previous line-of-sight area exceeds the first time threshold, there is a misjudgment, and the actual stay duration needs to be processed to obtain the target stay duration to ensure that it does not affect the subsequent lane changing intention determination. When the target stay duration is determined according to the actual stay duration, the relationship between the actual stay duration and the first time threshold needs to be determined. When the actual stay duration is less than or equal to the first time threshold, the target stay duration is the actual stay duration. When the actual stay duration is greater than the first time threshold, the target stay duration is the remainder obtained by dividing the actual stay duration by the first time threshold. For example, when the first time threshold is 5 seconds, if the actual stay duration of the line-of-sight area is 18 seconds, the target stay duration of the line-of-sight area is the remainder obtained by dividing 18 by 5, that is, 3 seconds. If the actual stay duration of the line-of-sight area is 4 seconds, the target stay duration of the line-of-sight area is 4 seconds. Specifically, the first time threshold can be determined by empirical analysis or experimental analysis, which is not limited in the present application.

[0048] According to the above-mentioned embodiments of the present application, the line-of-sight area change information can be determined according to the line-of-sight area corresponding to the driver, so that the automatic driving control system can obtain the previous line-of-sight area and the next line-of-sight area when the driver's line-of-sight area switches each time, the target stay duration corresponding to the previous line-of-sight area, the target stay duration corresponding to the next line-of-sight area, and the switching interval duration corresponding to the switching from the previous line-of-sight area to the next line-of-sight area, and then the time when the driver has a lane changing intention can be determined according to the line-of-sight area change information.

[0049] In an optional embodiment of the present application, after obtaining the line-of-sight area change information representing the change of the driver's line-of-sight attention area, the method further comprises:

[0050] Based on the line-of-sight area change information, it is determined whether the driver has a lane changing intention.

[0051] Specifically, the automatic driving control system can determine whether the driver has a lane changing intention by acquiring the line-of-sight region change information in real time. If the driver has a lane changing intention, the vehicle performs a lane changing operation corresponding to the lane changing intention when the road environment information meets the lane changing condition corresponding to the lane changing intention. Correspondingly, if it is determined that the driver does not have a lane changing intention, the lane changing operation is not performed. For example, the automatic driving control system detects that the driver's line-of-sight region has changed based on the line-of-sight region change information, and determines that the driver has a right lane changing intention based on the line-of-sight region change. Then, it is determined whether the road environment indicated by the current road environment information allows the vehicle to change lanes to the right. If so, the vehicle is controlled to change lanes to the right. Otherwise, the lane changing intention is ignored.

[0052] In the above embodiments of the present application, the driver's lane changing intention is determined based on the line-of-sight region change information, and when the lane changing intention exists, it is determined whether the road environment information meets the lane changing condition corresponding to the lane changing intention. Thus, the automatic driving control system can determine the driver's lane changing intention at the moment when the driver's line-of-sight region changes, recognize the driver's non-contact behavior (i.e., the change in eye direction) in a timely manner, and thus improve the user experience of the driver.

[0053] In an optional embodiment of the present application, the determination of whether the driver has a lane changing intention based on the line-of-sight region change information comprises:

[0054] When the region relationship between the first line-of-sight region and the second line-of-sight region meets the lane changing requirement, and the sum of the target dwell time corresponding to the first line-of-sight region and the first switching interval time is less than the second time threshold, it is determined that the driver has a lane changing intention; or

[0055] When the region relationship between the first line-of-sight region, the second line-of-sight region and the third line-of-sight region meets the lane changing requirement, and the sum of the target dwell time corresponding to the third line-of-sight region, the second switching interval time, the target switching interval time corresponding to the first line-of-sight region and the first switching interval time is less than the second time threshold, it is determined that the driver has a lane changing intention.

[0056] The third line-of-sight region, the first line-of-sight region and the second line-of-sight region are three line-of-sight regions in which the driver's line-of-sight dwells in time sequence. The first switching interval time is the switching interval time corresponding to the switching from the first line-of-sight region to the second line-of-sight region. The second switching interval time is the switching interval time corresponding to the switching from the third line-of-sight region to the first line-of-sight region.

[0057] Specifically, when determining whether the driver has a lane changing intention, the driver can be determined to have a lane changing intention through the combination of the two determination manners. If the driver is determined not to have a lane changing intention through the two determination manners, the vehicle is not executed a lane changing operation. If the driver is determined to have a lane changing intention through one of the two determination manners, it is determined that the driver has a lane changing intention, and it is further determined whether the road environment information meets the lane changing condition corresponding to the lane changing intention. Specifically, the second time threshold can be determined through empirical analysis or experimental analysis, which is not limited in the present application.

[0058] The two determination manners will be introduced below.

[0059] The first manner is to determine based on the first line of sight region and the second line of sight region. The first line of sight region and the second line of sight region are two line of sight regions in which the driver's line of sight stays in time sequence. When the region relationship between the first line of sight region and the second line of sight region meets the lane changing requirement, i.e., the region relationship between the first line of sight region and the second line of sight region is one of the cases listed in Table 1, and the sum of the target staying time length corresponding to the first line of sight region and the first switching interval time length is less than the second time threshold, it is determined that the driver has a lane changing intention. The first switching interval time length is the switching time interval corresponding to the switching from the first line of sight region to the second line of sight region. For example, if the first line of sight region is the left front view region, and the second line of sight region is the left rear view region, which belongs to the case listed in Table 1 with serial number 1, and the sum of the target staying time length corresponding to the left front view region and the switching time interval corresponding to the switching from the left front view region to the left rear view region is less than the second time threshold, it is determined that the driver has a lane changing intention.

[0060] Table 1

[0061] Number First view region Second view region 1 Left front view zone Left rear view zone 2 Left rear view zone Left front view zone 3 Right front view zone Right rear view zone 4 Right rear view zone Right front view zone 5 Invalid region Left rear view zone 6 Invalid region Right rear view zone

[0062] Table 1 will be introduced below. When the driver observes the front and rear view regions on the same side in time sequence, and the sum of the target staying time length corresponding to the view region observed first and the switching time interval corresponding to the two view regions observed in time sequence is less than the second time threshold, it is determined that the driver has a lane changing intention, which corresponds to the cases with serial numbers 1 to 4 in Table 1. In the case where there is no other vehicle in front of the vehicle, when the driver has a lane changing intention, the driver does not need to confirm whether there is a vehicle in front of the vehicle, and does not need to observe the left front view region or the right front view region, but directly observes a rear view region to express the lane changing intention, which corresponds to the cases with serial numbers 5 to 6 in Table 1.

[0063] The second way is to judge based on the first line of sight region, the second line of sight region and the third line of sight region. The third line of sight region, the first line of sight region and the second line of sight region are three line of sight regions in which the line of sight of the driver successively stays in time order. When the region relationship among the first line of sight region, the second line of sight region and the third line of sight region meets the lane changing requirement, that is, the region relationship among the first line of sight region, the second line of sight region and the third line of sight region is one of the cases listed in Table 2, and the target stay time corresponding to the third line of sight region, the second switching time interval and the sum of the target stay time corresponding to the first line of sight region and the first switching time interval are less than the second time threshold, it is determined that the driver has a lane changing intention. The first switching time interval is the time interval corresponding to the switching from the first line of sight region to the second line of sight region, and the second switching time interval is the time interval corresponding to the switching from the third line of sight region to the first line of sight region. For example, the third line of sight region is the right front view area, the first line of sight region is the left rear view area, and the second line of sight region is the left front view area, which belongs to the case listed in Table 2 with serial number 1, and the sum of the target stay time corresponding to the left front view area and the switching time interval corresponding to the switching from the left front view area to the right front view area, and the target stay time corresponding to the left rear view area and the switching time interval corresponding to the switching from the right front view area to the left rear view area is less than the second time threshold, it can be determined that the driver has a lane changing intention.

[0064] Table 2

[0065] Number Third view region First view region Second view region 1 Left front view zone Right front view zone Left rear view zone 2 Left front view zone Right rear view zone Left rear view zone 3 Left rear view zone Right front view zone Left front view zone 4 Left rear view zone Right rear view zone Left front view zone 5 Right front view zone Left front view zone Right rear view zone 6 Right front view zone Left rear view zone Right rear view zone 7 Right rear view zone Left front view zone Right front view zone 8 Right rear view zone Left rear view zone Right front view zone 9 Invalid region Right rear view zone Left rear view zone 10 Invalid region Left rear view zone Right rear view zone

[0066] The following describes Table 2. When the driver first observes two front view areas and then observes one rear view area, or first observes one front view area and then observes two rear view areas, and the first observed view area and the third observed view area are located on the same side and are both located on different sides from the second observed view area, and the sum of the target stay time of the first two observed view areas, the switching interval time from the first observed view area to the second observed view area, and the switching interval time from the second observed view area to the third observed view area is less than the second time threshold, it can be determined that the driver has a lane changing intention, which corresponds to the cases with serial numbers 1 to 8 in Table 2. When there is no vehicle in front of the vehicle, the driver does not need to confirm whether there is a vehicle in front of the vehicle when intending to change lanes, and does not need to observe the left front view area or the right front view area, but can express the lane changing intention by observing two rear view areas respectively, which corresponds to the cases with serial numbers 9 to 10 in Table 1.

[0067] The above-mentioned embodiments of the present application determine whether the lane changing intention exists by combining two ways in the process of determining whether the lane changing intention exists based on the line-of-sight area change information, and consider various situations in which the driver may have the lane changing intention, so that the automatic driving control system can more accurately capture the lane changing intention of the driver and avoid the situation that the lane changing intention of the driver cannot be discovered in time.

[0068] In an optional embodiment of the present application, the method further comprises:

[0069] After determining that the driver has the lane changing intention, the target lane changing direction corresponding to the lane changing intention is determined based on the area relationship between the line-of-sight areas, and the target lane changing direction is left lane changing or right lane changing.

[0070] The control of the vehicle to perform the lane changing operation corresponding to the lane changing intention comprises:

[0071] The vehicle is controlled to perform the lane changing operation based on the target lane changing direction.

[0072] After determining that the driver has the lane changing intention, the target lane changing direction corresponding to the lane changing intention is determined, so that the automatic driving control system controls the vehicle to perform the lane changing operation corresponding to the target lane changing direction. The area relationship between the line-of-sight areas here refers to the area relationship between the line-of-sight areas when determining that the driver has the lane changing intention.

[0073] The above-mentioned embodiments of the present application determine the target lane changing direction based on the area relationship between the line-of-sight areas, so that the automatic driving control system can control the vehicle to perform the lane changing operation based on the target lane changing direction.

[0074] In an optional embodiment of the present application, the determination of the target lane changing direction corresponding to the lane changing intention based on the area relationship between the line-of-sight areas comprises:

[0075] The target lane changing direction corresponding to the lane changing intention is determined according to a preset corresponding relationship between the area relationship between the line-of-sight areas and the lane changing direction.

[0076] Specifically, the relationship between the area relationship between the line-of-sight areas and the lane changing direction is listed in Table 3 and Table 4. After the area relationship between the line-of-sight areas is determined, the corresponding target lane changing direction can be determined by table lookup. When the lane changing intention is determined based on the first line-of-sight area and the second line-of-sight area, Table 3 is used for table lookup when the target lane changing direction is determined. When the lane changing intention is determined based on the first line-of-sight area, the second line-of-sight area and the third line-of-sight area, Table 4 is used for table lookup when the target lane changing direction is determined.

[0077] Table 3

[0078]

[0079]

[0080] Table 4

[0081] Number Third view region First view region Second view region Target direction of lane change 1 Left front view zone Right front view zone Left rear view zone Left lane change 2 Left front view zone Right rear view zone Left rear view zone Left lane change 3 Left rear view zone Right front view zone Left front view zone Left lane change 4 Left rear view zone Right rear view zone Left front view zone Left lane change 5 Right front view zone Left front view zone Right rear view zone Right lane change 6 Right front view zone Left rear view zone Right rear view zone Right lane change 7 Right rear view zone Left front view zone Right front view zone Right lane change 8 Right rear view zone Left rear view zone Right front view zone Right lane change 9 Invalid region Right rear view zone Left rear view zone Left lane change 10 Invalid region Left rear view zone Right rear view zone Right lane change

[0082] The above-described implementation scheme of this application obtains the regional relationship between the visual areas used to determine the lane change intention, and determines the target lane change direction corresponding to the lane change intention based on the preset correspondence between the regional relationship between the visual areas and the lane change direction. Thus, after judging that the driver has the intention to change lanes, the target lane change direction corresponding to the lane change intention can be quickly determined by looking up a table.

[0083] The lane change control method provided in this application is applied to an autonomous driving control system, such as... Figure 3 As shown, the autonomous driving control system includes: a gaze tracking processing module 301, a time module 302, a lane change intention detection module 303, and a lane change intention decision module 304. The gaze tracking processing module 301 acquires the driver's gaze area in real time. The time module 302 determines the dwell time of the gaze area acquired by the gaze tracking processing module 301 and acquires the switching interval time when the gaze area changes. The lane change intention detection module 303 receives the gaze area sent by the gaze tracking processing module 301 and the corresponding dwell time and switching interval time of the gaze area sent by the time module 302, thereby obtaining the driver's gaze area change information. By analyzing and processing the gaze area change information, the driver's lane change intention is detected. The lane change intention decision module 304 receives the lane change intention detected by the lane change intention detection module 303 and judges whether the road environment where the vehicle is located meets the lane change conditions corresponding to the lane change intention. If the conditions are met, the vehicle is controlled to execute the corresponding lane change operation.

[0084] In this embodiment, the autonomous driving control system acquires line-of-sight change information, which represents changes in the area of ​​the driver's line of sight, when the vehicle is in autonomous driving mode. When it is determined that the driver intends to change lanes based on the line-of-sight change information and the road environment information meets the lane change conditions corresponding to the lane change intention, the system controls the vehicle to execute the lane change operation corresponding to the lane change intention. This allows the driver to trigger the lane change function without contact, and enables the vehicle to execute the lane change operation according to the driver's lane change intention while in autonomous driving mode, thereby improving the driver's experience of using the automatic lane change function.

[0085] The lane change control method provided by the embodiments of this application has been described above. The lane change control device provided by the embodiments of this application will be described below with reference to the accompanying drawings.

[0086] As Figure 4 shown in the embodiments of the present application, a lane changing control device is also provided, comprising:

[0087] The acquisition module 401 is configured to acquire line-of-sight area change information representing a change in a line-of-sight area of a driver when the vehicle is in an automatic driving state.

[0088] The control module 402 is configured to control the vehicle to perform a lane changing operation corresponding to the lane changing intention of the driver when it is determined that the driver has the lane changing intention based on the line-of-sight area change information and that road environment information meets a lane changing condition corresponding to the lane changing intention.

[0089] Optionally, the acquisition module 401 comprises:

[0090] The first acquisition sub-module is configured to acquire the eye direction of the driver in real time through a collection device.

[0091] The first determination sub-module is configured to determine the line-of-sight area corresponding to the driver according to the eye direction of the driver, wherein the line-of-sight area is one of a left front view area, a right front view area, a left rear view area, a right rear view area, and an invalid area, and the invalid area is an area outside the vehicle other than the left front view area, the right front view area, the left rear view area, and the right rear view area.

[0092] The second determination sub-module is configured to determine the line-of-sight area change information according to the line-of-sight area corresponding to the driver.

[0093] Optionally, the second determination sub-module comprises:

[0094] The first determination unit is configured to determine whether the line of sight of the driver stays in each line-of-sight area, a target stay duration in each line-of-sight area, and a switching interval duration of the line of sight of the driver from a previous line-of-sight area where the line of sight stays to a next line-of-sight area where the line of sight stays according to the line-of-sight area corresponding to the driver, wherein when an actual stay duration of the line of sight of the driver in a line-of-sight area is less than or equal to a first time threshold, the target stay duration is the actual stay duration; and when the actual stay duration is greater than the first time threshold, the target stay duration is a remainder obtained by dividing the actual stay duration by the first time threshold.

[0095] The second determination unit is configured to determine the line-of-sight area change information according to whether the line of sight of the driver stays in each line-of-sight area, the target stay duration in each line-of-sight area, and the switching interval duration of the line of sight of the driver from the previous line-of-sight area where the line of sight stays to the next line-of-sight area where the line of sight stays.

[0096] Optionally, after obtaining the line-of-sight region change information representing a change of a line-of-sight focus region of the driver, the apparatus further comprises:

[0097] a judgment module configured to judge whether the driver has a lane-changing intention based on the line-of-sight region change information.

[0098] Optionally, the judgment module comprises:

[0099] a third determination sub-module configured to determine that the driver has the lane-changing intention when a region relationship between a first line-of-sight region and a second line-of-sight region meets a lane-changing requirement, and a sum of a target dwell time length corresponding to the first line-of-sight region and a first switching interval time length is less than a second time threshold; or

[0100] a third determination sub-module configured to determine that the driver has the lane-changing intention when a region relationship between the first line-of-sight region, the second line-of-sight region and a third line-of-sight region meets the lane-changing requirement, and a sum of a target dwell time length corresponding to the third line-of-sight region, a second switching interval time length, a target switching interval time length corresponding to the first line-of-sight region and the first switching interval time length is less than the second time threshold.

[0101] wherein the third line-of-sight region, the first line-of-sight region and the second line-of-sight region are three line-of-sight regions in which a line-of-sight of the driver dwells in sequence according to time, the first switching interval time length is a switching interval time length corresponding to a switching from the first line-of-sight region to the second line-of-sight region, and the second switching interval time length is a switching interval time length corresponding to a switching from the third line-of-sight region to the first line-of-sight region.

[0102] Optionally, the apparatus further comprises:

[0103] a determination module configured to determine a target lane-changing direction corresponding to the lane-changing intention based on a region relationship between line-of-sight regions after determining that the driver has the lane-changing intention, the target lane-changing direction being left lane-changing or right lane-changing.

[0104] the control module is further configured to:

[0105] control the vehicle to perform a lane-changing operation based on the target lane-changing direction.

[0106] Optionally, the determination module comprises:

[0107] a fifth determination sub-module configured to determine the target lane-changing direction corresponding to the lane-changing intention according to a preset correspondence between a region relationship between line-of-sight regions and a lane-changing direction.

[0108] The lane changing control device provided in the application can make the driver trigger the lane changing function in a contactless manner, and can make the vehicle perform the lane changing operation according to the lane changing intention of the driver in the automatic driving state, thereby improving the use experience of the driver on the automatic lane changing function.

[0109] The application further provides an electronic device, including a processor, a memory, a computer program stored in the memory and executable on the processor, which, when executed by the processor, implements each process of the lane changing control method embodiments described above and achieves the same technical effects. To avoid repetition, details are not described here.

[0110] For example, Figure 5 An entity structure diagram of an electronic device is shown. As Figure 5 As shown, the electronic device can include a processor 510, a communications interface 520, a memory 530, and a communications bus 540, wherein the processor 510, the communications interface 520, and the memory 530 communicate with each other through the communications bus 540. The processor 510 can call logical instructions in the memory 530, and the processor 510 is configured to perform the following steps: in the case that a vehicle is in an automatic driving state, obtaining line-of-sight area change information representing a change in a line-of-sight attention area of a driver; and in the case that it is determined based on the line-of-sight area change information that the driver has a lane changing intention and road environment information meets a lane changing condition corresponding to the lane changing intention, controlling the vehicle to perform a lane changing operation corresponding to the lane changing intention.

[0111] In addition, the logic instructions in the memory 530 described above can be implemented in the form of a software function unit and sold or used as an independent product, and can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the parts that make contributions to the prior art or parts of the technical solutions can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the method described in various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0112] The embodiment of the present application also provides a computer readable storage medium, and the computer readable storage medium stores a computer program. The computer program is executed by a processor to implement various processes of the lane changing control method embodiment described above, and the same technical effects can be achieved. To avoid repetition, details are not described here.

[0113] The embodiment of the present application also provides a vehicle, which includes the lane changing control device described above, and the same technical effects can be achieved. To avoid repetition, details are not described here.

[0114] In the above embodiments, all or part of the embodiments can be implemented by software, hardware, firmware or any combination thereof. When implemented by software, all or part of the embodiments can be implemented 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 application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network or other programmable devices. 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 through wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) mode. The computer readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. integrated with one or more available media. The available media can be magnetic media (such as floppy disk, hard disk, magnetic tape), optical media (such as DVD), or semiconductor media (such as solid state disk (SSD)) and the like.

[0115] It is to be noted that, in the present document, relational terms such as first and second and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the presence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0116] Various embodiments of the present document are described in related manner, and the same or similar parts among various embodiments refer to each other, and each embodiment focuses on the difference from other embodiments. In particular, for system embodiments, since they are basically similar to method embodiments, the description is relatively simple, and the relevant parts refer to the part of the description of the method embodiments.

[0117] The preferred embodiments of the present application have been described above with the aid of drawing figures, and are not intended to limit the scope of the present application. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present application shall fall within the scope of the present application.

Claims

1. A lane change control method characterized by, The method comprises: In the case that the vehicle is in an automatic driving state, acquiring line-of-sight area change information representing a change in a line-of-sight focus area of a driver; Based on the line-of-sight area change information, determining whether the driver has a lane-changing intention; When it is determined based on the line-of-sight area change information that the driver has a lane-changing intention and road environment information meets a lane-changing condition corresponding to the lane-changing intention, controlling the vehicle to perform a lane-changing operation corresponding to the lane-changing intention; Wherein, based on the line-of-sight area change information, determining whether the driver has a lane-changing intention comprises: When the area relationship between the first line-of-sight area and the second line-of-sight area meets the lane-changing requirement, and the sum of the target stay duration corresponding to the first line-of-sight area and the first switching interval duration is less than a second time threshold, it is determined that the driver has a lane-changing intention; The third line-of-sight area, the first line-of-sight area and the second line-of-sight area are three line-of-sight areas in which the line-of-sight of the driver stays in chronological order, and the first switching interval duration is the switching interval duration corresponding to the switching from the first line-of-sight area to the second line-of-sight area; Wherein, the target stay duration of a line-of-sight area is determined according to the actual stay duration of the line-of-sight area and a first time threshold; when the actual stay duration is less than or equal to the first time threshold, the target stay duration is the actual stay duration; when the actual stay duration is greater than the first time threshold, the target stay duration is the remainder obtained by dividing the actual stay duration by the first time threshold.

2. The lane change control method according to claim 1, characterized by The acquisition of the line-of-sight area change information representing the change in the line-of-sight focus area of the driver comprises: Real-time acquisition of the eye direction of the driver through a collection device; Determination of the line-of-sight area corresponding to the driver according to the eye direction of the driver; Determination of the line-of-sight area change information according to the line-of-sight area corresponding to the driver.

3. The lane change control method according to claim 2, characterized by Determination of the line-of-sight area change information according to the line-of-sight area corresponding to the driver comprises: Determination of whether the line-of-sight of the driver stays in each line-of-sight area, the target stay duration in each line-of-sight area, and the switching interval duration of the line-of-sight of the driver from the previous line-of-sight area to the next line-of-sight area according to the line-of-sight area corresponding to the driver, wherein, when the actual stay duration of the line-of-sight of the driver in the line-of-sight area is less than or equal to a first time threshold, the target stay duration is the actual stay duration; when the actual stay duration is greater than the first time threshold, the target stay duration is the remainder obtained by dividing the actual stay duration by the first time threshold; Determination of the line-of-sight area change information according to whether the line-of-sight of the driver stays in each line-of-sight area, the target stay duration in each line-of-sight area, and the switching interval duration of the line-of-sight of the driver from the previous line-of-sight area to the next line-of-sight area.

4. The lane change control method according to claim 1, characterized by, The determination of whether the driver has a lane-changing intention based on the line-of-sight area change information comprises: When the area relationship among the first line-of-sight area, the second line-of-sight area and the third line-of-sight area meets the lane changing requirement, and the sum of the target stay duration corresponding to the third line-of-sight area, the second switching interval duration and the target switching interval duration corresponding to the first line-of-sight area is less than the second time threshold, it is determined that the driver has the lane changing intention. The second switching interval duration is a switching interval duration corresponding to switching from the third line-of-sight area to the first line-of-sight area.

5. The lane change control method according to claim 4, characterized by The method further comprises: After determining that the driver has the lane changing intention, a target lane changing direction corresponding to the lane changing intention is determined based on the area relationship among the line-of-sight areas, the target lane changing direction being left lane changing or right lane changing. The control of the vehicle to perform the lane changing operation corresponding to the lane changing intention comprises: The vehicle is controlled to perform the lane changing operation based on the target lane changing direction.

6. The lane change control method according to claim 5, characterized by The determination of the target lane changing direction corresponding to the lane changing intention based on the area relationship among the line-of-sight areas comprises: The target lane changing direction corresponding to the lane changing intention is determined according to a preset correspondence between the area relationship among the line-of-sight areas and the lane changing direction.

7. The lane change control method according to claim 2, characterized by, The line-of-sight area is one of a left front view area, a right front view area, a left rear view area, a right rear view area and an invalid area, the invalid area being an area outside the vehicle other than the left front view area, the right front view area, the left rear view area and the right rear view area.

8. A lane change control device characterized by comprising: It comprises: An acquisition module is configured to acquire line-of-sight area change information representing a change in a driver's line-of-sight focus area when the vehicle is in an automatic driving state; A judgment module is configured to determine whether the driver has a lane changing intention based on the line-of-sight area change information; A control module is configured to control the vehicle to perform a lane changing operation corresponding to the lane changing intention when it is determined based on the line-of-sight area change information that the driver has the lane changing intention and road environment information meets a lane changing condition corresponding to the lane changing intention; The judgment module comprises: A third determination sub-module is configured to determine that the driver has the lane changing intention when the area relationship between the first line-of-sight area and the second line-of-sight area meets the lane changing requirement and the sum of the target stay duration corresponding to the first line-of-sight area and the first switching interval duration is less than the second time threshold. The third line-of-sight area, the first line-of-sight area and the second line-of-sight area are three line-of-sight areas in which the driver's line-of-sight stays in chronological order, and the first switching interval duration is a switching interval duration corresponding to switching from the first line-of-sight area to the second line-of-sight area. The target stay duration corresponding to a line-of-sight area is determined according to an actual stay duration corresponding to the line-of-sight area and a first time threshold. When the actual stay duration is less than or equal to the first time threshold, the target stay duration is the actual stay duration. When the actual stay duration is greater than the first time threshold, the target stay duration is a remainder obtained by dividing the actual stay duration by the first time threshold.

9. An electronic device, comprising: A computer program product comprising a processor, a memory, and a computer program stored on the memory and loadable on the processor, the computer program implementing the steps of the lane change control method according to any one of claims 1 to 7 when executed by the processor.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that, The program implements the steps of the lane change control method according to any one of claims 1 to 7 when executed by the processor.

11. A vehicle characterized by comprising: A computer program product comprising a processor, a memory, and a computer program stored on the memory and loadable on the processor, the computer program implementing the steps of the lane change control method according to any one of claims 1 to 7 when executed by the processor.

Images