Lane selection method, device, equipment and storage medium

Abstract

The present invention discloses a lane selection method, device, equipment and storage medium, belonging to the field of vehicle control technology. The present invention obtains the lane weight of each lane on the current road; calculates the speed of each lane through the dynamic traffic participation equipment on the current road; calculates the lane score according to the lane weight and the speed; selects the target lane according to the lane score, and controls the vehicle to drive on the target lane. By comprehensively considering the lane information of the vehicle, the optimal driving lane is selected in real time, the driving efficiency and user experience are improved, the limitations of vehicle lane change are reduced, and the needs of different intelligent driving scenarios are met.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a lane selection method, device, equipment and storage medium. Background Art

[0002] Lane changing is an extremely frequent driving behavior during vehicle driving and is also an important factor affecting road traffic safety. In the traditional vehicle driving process, the entry and end points of lane changing behavior depend on the driver's own driving experience and the assessment of road traffic conditions. However, due to the limitations of subjective factors such as the driver's driving experience and observation ability, as well as external factors such as the complexity of road traffic conditions, lane changing behavior cannot be performed accurately.

[0003] Current vehicle lane changing does not take into account the various complex factors of the road, has great limitations, and cannot meet the needs of intelligent driving on actual highways or urban expressways. Summary of the invention

[0004] The main purpose of the present invention is to provide a lane selection method, device, equipment and storage medium, aiming to solve the technical problem of large limitations of vehicle lane changing in the prior art.

[0005] To achieve the above object, the present invention provides a lane selection method, which comprises the following steps:

[0006] Get the lane weight of each lane on the current road;

[0007] Calculating the traffic speed of each lane by using the dynamic traffic participation equipment on the current road;

[0008] Calculating a lane score according to the lane weight and the travel speed;

[0009] A target lane is selected according to the lane score, and the vehicle is controlled to travel in the target lane.

[0010] Optionally, selecting a target lane according to the lane score includes:

[0011] Obtaining a target score in the lane score;

[0012] Determining whether the lane corresponding to the target score is consistent with the current driving lane of the vehicle;

[0013] When the lane corresponding to the target score is inconsistent with the current driving lane, taking the lane corresponding to the target score as a potential target lane;

[0014] A target lane is determined based on the potential target lane, and the vehicle is controlled to travel on the target lane.

[0015] Optionally, determining a target lane based on the potential target lane and controlling the vehicle to travel on the target lane includes:

[0016] Obtaining a current score of a current driving lane of the vehicle through the lane score;

[0017] Calculating a first cumulative score difference between the target score and the current score within a preset period;

[0018] When the first accumulated score difference is greater than a preset lane change threshold, the potential target lane is used as a target lane, and the vehicle is controlled to travel in the target lane.

[0019] Optionally, when the first accumulated score difference is greater than a preset lane change threshold, taking the potential target lane as a target lane and controlling the vehicle to travel in the target lane includes:

[0020] When the first accumulated score difference is greater than a preset lane change threshold, taking the potential target lane as a target lane, and obtaining the number of lanes between the current driving lane and the target lane;

[0021] When the number of lanes between the target lane and the current driving lane is multiple, controlling the vehicle to change lanes;

[0022] Obtaining an interval score of the vehicle in an interval lane when changing lanes;

[0023] Calculate a second cumulative score difference using the interval score and the target score;

[0024] When the second accumulated score difference is less than or equal to the preset lane change threshold, the interval lane is used as a target lane, and the vehicle is controlled to travel in the target lane.

[0025] Optionally, after determining whether the lane corresponding to the target score is consistent with the current driving lane of the vehicle, the method further includes:

[0026] When the lane corresponding to the target score is consistent with the current driving lane, the current driving lane is used as the target lane, and the vehicle is controlled to travel on the target lane.

[0027] Optionally, obtaining a lane weight of each lane on the current road includes:

[0028] Get the information of the inlet and outlet intersections on the current road;

[0029] Obtain the corresponding relationship between the merging and exiting intersections, lanes and weights;

[0030] The lane weight of each lane on the current road is obtained through the corresponding relationship and the merging and outgoing intersection information.

[0031] Optionally, the calculating the traffic speed of each lane by using the dynamic traffic participating equipment on the current road includes:

[0032] The number of lanes on the current driving section, the current driving lane and the real-time driving speed of the vehicle on each lane are obtained through the dynamic traffic participation equipment on the current road;

[0033] Selecting a target vehicle on each lane within a preset range of the current driving lane based on the number of lanes;

[0034] The real-time traveling speed of the target vehicle on each lane is used as the passing speed of each lane based on the real-time traveling speed.

[0035] In addition, to achieve the above object, the present invention further provides a lane selection device, the lane selection device comprising:

[0036] An acquisition module is used to obtain the lane weight of each lane on the current road;

[0037] A calculation module, used for calculating the passing speed of each lane through the dynamic traffic participating equipment on the current road;

[0038] The calculation module is further used to calculate a lane score according to the lane weight and the travel speed;

[0039] The selection module is used to select a target lane according to the lane score and control the vehicle to travel on the target lane.

[0040] In addition, to achieve the above-mentioned purpose, the present invention also proposes a lane selection device, which includes: a memory, a processor, and a lane selection program stored in the memory and executable on the processor, and the lane selection program is configured to implement the steps of the lane selection method described above.

[0041] In addition, to achieve the above-mentioned purpose, the present invention also proposes a storage medium, on which a lane selection program is stored, and when the lane selection program is executed by a processor, the steps of the lane selection method described above are implemented.

[0042] The present invention obtains the lane weight of each lane on the current road; calculates the travel speed of each lane through the dynamic traffic participating equipment on the current road; calculates the lane score according to the lane weight and the travel speed; selects the target lane according to the lane score, and controls the vehicle to travel on the target lane. By comprehensively considering the lane information of the vehicle, the optimal driving lane is selected in real time, the driving efficiency and user experience are improved, the limitation of vehicle lane changing is reduced, and the needs of different intelligent driving scenarios are met. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is a structural diagram of a lane selection device in a hardware operating environment involved in an embodiment of the present invention;

[0044] Figure 2 A schematic diagram of a flow chart of a first embodiment of a lane selection method of the present invention;

[0045] Figure 3 A schematic diagram of the corresponding relationship between the merging and exiting intersections, lanes and weights in an embodiment of the lane selection method of the present invention;

[0046] Figure 4 A schematic diagram of a flow chart of a second embodiment of a lane selection method of the present invention;

[0047] Figure 5 A schematic diagram of a flow chart of a third embodiment of a lane selection method according to the present invention;

[0048] Figure 6 This is a structural block diagram of the first embodiment of the lane selection device of the present invention.

[0049] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0050] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0051] Reference Figure 1 , Figure 1 A schematic diagram of the lane selection device structure of the hardware operating environment involved in the embodiment of the present invention.

[0052] like Figure 1As shown, the lane selection device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (Wireless-Fidelity, Wi-Fi) interface). The memory 1005 may be a high-speed random access memory (Random Access Memory, RAM) or a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk storage. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0053] Those skilled in the art will understand that Figure 1 The structure shown in the figure does not constitute a limitation on the lane selection device, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0054] like Figure 1 As shown, the memory 1005 as a storage medium may include an operating system, a network communication module, a user interface module, and a lane selection program.

[0055] exist Figure 1 In the lane selection device shown, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the lane selection device of the present invention can be set in the lane selection device, and the lane selection device calls the lane selection program stored in the memory 1005 through the processor 1001, and executes the lane selection method provided in an embodiment of the present invention.

[0056] The embodiment of the present invention provides a lane selection method, referring to Figure 2 , Figure 2 Schematic diagram of the process of the first embodiment of the lane selection method of the present invention.

[0057] In this embodiment, the lane selection method includes the following steps:

[0058] Step S10: Obtain the lane weight of each lane on the current road.

[0059] It should be noted that the execution subject of this embodiment may be a lane selection device, or other devices that can achieve the same or similar functions. This embodiment does not limit this. This embodiment is described by taking the lane selection device as an example.

[0060] The existing solution only determines whether to change lanes and in which direction to change lanes based on the traffic flow on the current road and the movement information of the vehicle in front of the vehicle. However, it is not compatible with scenarios such as merging into and out of intersections and changing lanes on navigation paths. It can only mechanically execute certain logics and cannot simulate the operations of a person driving a car (for example, if you need to exit the main road and enter the ramp about 1 km ahead, you can first change lanes to the left to overtake when the vehicle in front of you is moving slower, and then change lanes to the right to enter the ramp; for another example: if there is a right-side merging flow 1 km ahead, even if the speed of the vehicles in the left lane is close to that of the current lane, you will change lanes to the lane away from the merging flow, thereby improving potential traffic efficiency).

[0061] In a specific implementation, the lane weight of each lane may be determined according to the conditions of each lane on the current road.

[0062] The conditions of each lane may be the presence of a merging or exiting intersection on the lane, the presence of an exiting intersection on the navigation path, or the absence of a merging or exiting intersection. The lane weights corresponding to different lane conditions may be the same or different.

[0063] Furthermore, obtaining the lane weight of each lane on the current road specifically includes: obtaining the merging intersection information on the current road; obtaining the correspondence between the merging intersection, the lane and the weight; and obtaining the lane weight of each lane on the current road through the corresponding relationship and the merging intersection information.

[0064] like Figure 3 As shown, Figure 3 It is a schematic diagram of the corresponding relationship between the merging and outgoing intersections, each lane and the weight. Therefore, by obtaining the merging and outgoing intersection information on the current road, the lane weight of each lane on the current road can be obtained according to the merging and outgoing intersection information and the corresponding relationship.

[0065] For example, if the merging-in and merging-out intersection information indicates that there is no merging-in and merging-out intersection, the lane weight of the leftmost lane in each lane is 1.5, the lane weight of the middle lane (if any) is 2, and the lane weight of the rightmost lane is 1. If the merging-in and merging-out intersection information indicates a preset distance threshold, for example, there is a right merging-in at 1km, the lane weight of the leftmost lane in each lane is 1.5, the lane weight of the middle lane (if any) is 1, and the lane weight of the rightmost lane is 0.5. If the merging-in and merging-out intersection information indicates a preset distance threshold, for example, there is a right merging-in at 1km but it is not a navigation path, the lane weight of the leftmost lane in each lane is 1.5, the lane weight of the middle lane (if any) is 1.5, and the lane weight of the rightmost lane is 1. If the merging intersection information is an exit on the navigation path, the lane weight of each lane can be selected according to the specific exit distance. For example, if the exit distance is 1.5km, the lane weight of the leftmost lane in each lane is 1, the lane weight of the middle lane (if any) is 1.5, and the lane weight of the rightmost lane is 2. If the exit distance is 1km, the lane weight of the leftmost lane in each lane is 1, the lane weight of the middle lane (if any) is 1, and the lane weight of the rightmost lane is 2. If the exit distance is 0.5km, the lane weight of the leftmost lane in each lane is 1, the lane weight of the middle lane (if any) is 1, and the lane weight of the rightmost lane is 10.

[0066] It should be noted that the lane weights and distances mentioned above can be adjusted during the actual vehicle calibration process.

[0067] Step S20: Calculate the traffic speed of each lane through the dynamic traffic participating equipment on the current road.

[0068] In a specific implementation, the dynamic traffic participating devices on the current road may be vehicles traveling on elevated roads or highways, or non-motorized vehicles on the road, walking people, and the like.

[0069] The speed of each lane can be calculated by the dynamic traffic participating equipment on the current road. For example, the speed of the fastest or slowest vehicle on each lane can be selected as the speed of each lane, or the average speed of vehicles on each lane can be calculated as the speed of each lane, etc. This embodiment does not limit this.

[0070] Furthermore, the step of calculating the passing speed of each lane through the dynamic traffic participating equipment on the current road includes: obtaining the number of lanes of the vehicle in the current driving section, the current driving lane and the real-time driving speed of the vehicle on each lane through the dynamic traffic participating equipment on the current road; selecting the target vehicle on each lane within the preset range of the current driving lane based on the number of lanes; and using the real-time driving speed of the target vehicle on each lane as the passing speed of each lane based on the real-time driving speed.

[0071] It should be noted that the real-time intelligent driving perception module on the vehicle can be used to obtain the number of lanes of the current driving section, the current driving lane, and the real-time driving speed of vehicles in each lane for traffic participants on the current road.

[0072] The preset range of the current driving lane can be set to [a1, a2], where a1 is the longitudinal distance of -20m from the vehicle and a2 is the farthest distance perceived by the intelligent driving, so as to select the target vehicle on each lane within the preset range of the current driving lane. The target vehicle can be the slowest vehicle on each lane, so as to use the real-time driving speed of the target vehicle on each lane as the passing speed of each lane according to the real-time driving speed obtained.

[0073] Optionally, if there is no vehicle within the preset range of the current driving lane, the road speed limit (obtained from the navigation speed limit or the speed limit sign recognized by the intelligent driving perception module) is used as the passing speed of the lane.

[0074] Step S30: Calculate a lane score according to the lane weight and the travel speed.

[0075] It should be noted that after the lane weight and the travel speed are obtained, the lane score can be calculated by the lane weight and the travel speed. The specific calculation is: lane score = lane weight * travel speed.

[0076] It is understandable that during the driving process of the vehicle, the lane score can be calculated in real time and continuously, so as to obtain the lane score under different road environments.

[0077] Step S40: Select a target lane according to the lane score, and control the vehicle to travel on the target lane.

[0078] It should be noted that the target lane can be selected according to the lane score. The target lane is the optimal lane for the vehicle to travel, so as to control the vehicle to travel in the target lane.

[0079] For example, the lane scores may be compared, for example, the lane with the highest lane score may be used as the target lane, or an average score may be calculated based on the lane scores, thereby using a lane with a score higher than the average score as the target lane, etc. This embodiment is not limited to this.

[0080] This embodiment obtains the lane weight of each lane on the current road; calculates the travel speed of each lane through the dynamic traffic participating equipment on the current road; calculates the lane score according to the lane weight and the travel speed; selects the target lane according to the lane score, and controls the vehicle to travel on the target lane. By comprehensively considering the vehicle's lane information, the optimal driving lane is selected in real time, thereby improving driving efficiency and user experience, reducing the limitations of vehicle lane changing, and meeting the needs of different intelligent driving scenarios.

[0081] refer to Figure 4 , Figure 4 FIG. 4 is a flow chart of a second embodiment of a lane selection method according to the present invention.

[0082] Based on the first embodiment, step S40 of the lane selection method of this embodiment includes:

[0083] Step S401: Obtain a target score in the lane score.

[0084] It should be noted that the target score is the highest score among the lane scores.

[0085] In a specific implementation, the lane scores may be sorted to obtain the highest score among the lane scores.

[0086] Step S402: Determine whether the lane corresponding to the target score is consistent with the current driving lane of the vehicle.

[0087] It is understandable that it is possible to determine whether the current driving lane is consistent with the lane corresponding to the target score, thereby quickly determining the target lane. The current driving lane may be consistent with or inconsistent with the lane corresponding to the target score.

[0088] Optionally, after step S402, the method further includes: when the lane corresponding to the target score is consistent with the current driving lane, taking the current driving lane as the target lane, and controlling the vehicle to drive on the target lane.

[0089] In a specific implementation, if the lane corresponding to the target score is consistent with the current driving lane, the current driving lane can be used as the target lane, thereby controlling the vehicle to drive in the target lane, that is, the vehicle maintains driving in the current lane.

[0090] Step S403: When the lane corresponding to the target score is inconsistent with the current driving lane, the lane corresponding to the target score is used as a potential target lane.

[0091] It should be noted that when the lane corresponding to the target score is inconsistent with the current driving lane, the target lane needs to be further confirmed, and the lane corresponding to the target score is upgraded to a "potential target lane". The "potential target lane" is the lane where the optimal lane may exist.

[0092] Step S404: determining a target lane based on the potential target lane, and controlling the vehicle to travel on the target lane.

[0093] In a specific implementation, the target lane may be determined based on the potential target lane, which may be the target lane. After the target lane is determined, the vehicle may be controlled to change lanes to the target lane and drive on the target lane.

[0094] This embodiment obtains the target score in the lane score; determines whether the lane corresponding to the target score is consistent with the current driving lane of the vehicle; when the lane corresponding to the target score is inconsistent with the current driving lane, uses the lane corresponding to the target score as a potential target lane; determines the target lane based on the potential target lane, and controls the vehicle to drive on the target lane. The optimal lane can be selected in real time according to the target score, thereby ensuring that the vehicle drives on the optimal lane and improving the user experience of intelligent driving.

[0095] refer to Figure 5 , Figure 5 FIG. 4 is a flow chart of a third embodiment of a lane selection method according to the present invention.

[0096] Based on the above second embodiment, step S404 of the lane selection method of this embodiment includes:

[0097] Step S4041: Obtain the current score of the vehicle's current driving lane through the lane score.

[0098] It should be noted that the score representing the current driving lane in the lane score, ie, the current score, may be obtained.

[0099] Step S4042: Calculate a first cumulative score difference between the target score and the current score within a preset period.

[0100] In a specific implementation, the preset period may be a scheduling period, and the difference between the target score and the current score may be calculated in each scheduling period to obtain the first cumulative difference.

[0101] The preset period may be 5s, 10s, etc., which is not limited in this embodiment. The first accumulated score difference S is obtained by calculating the score difference and then accumulating and summing them.

[0102] T 1 The first cumulative difference at the moment S 1 =T 1Potential target lane score at the moment - T 1 The current lane score at the moment, T n The first cumulative difference at the moment S n =S n-1 +(T n Potential best lane score at the moment - T n The score of the lane currently being driven at that moment).

[0103] Step S4043: When the first accumulated score difference is greater than a preset lane change threshold, the potential target lane is used as a target lane, and the vehicle is controlled to travel in the target lane.

[0104] In a specific implementation, the first cumulative score difference can be compared with a preset lane change threshold, which can be set by itself. If the first cumulative score difference of multiple scheduling cycles is greater than the preset lane change threshold, the potential target lane is upgraded to the target lane, and the intelligent driving system switches from the driving state of the current lane to the lane change driving state. The vehicle can be automatically or manually confirmed to change lanes to the target lane, thereby controlling the vehicle to drive in the target lane.

[0105] If the first accumulated score difference is less than or equal to the preset lane change threshold, it means that the optimal lane has not been found, and the vehicle continues to travel in the current lane.

[0106] For example, the vehicle's current driving lane is lane 1 and the potential target lane is lane 4. If the first cumulative score difference is greater than the preset lane change threshold, the vehicle is changed from lane 1 to lane 4 and controlled to drive in lane 4. If the first cumulative score difference is less than or equal to the preset lane change threshold, the vehicle continues to be controlled to drive in lane 1.

[0107] After the lane driving state is switched to the lane changing state, the first cumulative difference S is still calculated, but it will not be infinitely superimposed, but has a maximum value S max , which is intended to cope with the situation where the priority of the previously selected optimal lane becomes lower. That is, each time the S is calculated n >S max When S max Assign to S n .

[0108] Optionally, when the vehicle changes lanes, there is a situation of continuous lane crossing, and the lane corresponding to the target score may change at this time, so step S4043 specifically includes:

[0109] When the first accumulated score difference is greater than a preset lane change threshold, taking the potential target lane as a target lane, and obtaining the number of lanes between the current driving lane and the target lane;

[0110] When the number of lanes between the target lane and the current driving lane is multiple, controlling the vehicle to change lanes;

[0111] Obtaining an interval score of the vehicle in an interval lane when changing lanes;

[0112] Calculate a second cumulative score difference using the interval score and the target score;

[0113] When the second accumulated score difference is less than or equal to the preset lane change threshold, the interval lane is used as a target lane, and the vehicle is controlled to travel in the target lane.

[0114] It should be noted that when the first cumulative score difference is greater than the preset lane change threshold, the potential target lane can be used as the target lane to control the vehicle to change lanes to the target lane. During the vehicle lane change process, the number of lanes between the current driving lane and the target lane can be obtained. Before reaching the optimal lane, the intelligent driving system is in a lane changing state.

[0115] When multiple lane changes are required to reach the optimal lane, if a lane change occurs during lane change, the lane score of the vehicle's current lane can be selected as the current score when calculating the cumulative score difference in real time. That is, the vehicle's current score is constantly changing.

[0116] If the current score is consistent with the target score, the current driving lane can be used as the target lane and lane changing can be stopped. For example, the vehicle was previously driving in lane 1 and the potential target lane is lane 4. The first cumulative score difference is greater than the preset lane change threshold, then lane 4 is used as the target lane. However, when the vehicle changes lanes to lane 2, the lane score of lane 2 is consistent with the lane score of lane 4, then lane 2 is directly used as the target lane, lane changing is stopped, and the vehicle is controlled to drive in lane 2.

[0117] In a specific implementation, the interval score of the vehicle in the interval lane when changing lanes can be obtained, and the interval score can be compared with the target score. If the interval score is consistent with the target score, the interval lane is used as the target lane. If the interval score is inconsistent with the target score, the cumulative difference between the interval score and the target score is calculated and summarized to obtain a second cumulative difference, which is the difference between the score of the lane where the vehicle is located after changing lanes and the target score.

[0118] For example: In T n At time T, the vehicle is driving in the original lane A, and at T n+1 At this moment, the vehicle changes lanes to the alternate lane B, but the potential optimal lane is lane C, then:

[0119] In T n At this moment, the cumulative difference S n =Sn-1 +(T n Score of the potentially optimal lane C at time T - T n Score of the original lane A at time T), at time T n+1 Cumulative score difference S n+1 = S n +(T n+1 Score of the potentially optimal lane C at time T - T n+1 Score of the intermediate lane B at time interval).

[0120] In the lane-changing driving state, if the vehicle has not yet reached the optimal lane but the accumulated S < S threshold, cancel this lane change. The intelligent driving system switches from the lane-changing driving state to the

current lane driving state

[0121] In this embodiment, the current score of the current driving lane of the vehicle is obtained through the lane score; the first cumulative score difference between the target score and the current score is calculated within a preset period; when the first cumulative score difference is greater than the preset lane change threshold, the potentially target lane is used as the target lane, and the vehicle is controlled to drive on the target lane. Different styles of lane change decisions can be achieved by adjusting the score parameters of the lanes, improving the effect of lane change.

[0122] Refer to Figure 6 , Figure 6 which is the structural block diagram of the first embodiment of the lane selection device of the present invention.

[0123] As Figure 6 shown, the lane selection device proposed in the embodiment of the present invention includes:

[0124] An acquisition module 10 for acquiring the lane weights of each lane on the current road.

[0125] A calculation module 20 for calculating the passing speed of each lane through the dynamic traffic participation devices on the current road.

[0126] The calculation module 20 is further configured to calculate the lane score according to the lane weight and the passing speed.

[0127] A selection module 30 for selecting a target lane through the lane score and controlling the vehicle to drive on the target lane.

[0128] This embodiment obtains the lane weight of each lane on the current road; calculates the travel speed of each lane through the dynamic traffic participating equipment on the current road; calculates the lane score according to the lane weight and the travel speed; selects the target lane according to the lane score, and controls the vehicle to travel on the target lane. By comprehensively considering the vehicle's lane information, the optimal driving lane is selected in real time, thereby improving driving efficiency and user experience, reducing the limitations of vehicle lane changing, and meeting the needs of different intelligent driving scenarios.

[0129] In one embodiment, the selection module 30 is further used to obtain a target score in the lane score; determine whether the lane corresponding to the target score is consistent with the current driving lane of the vehicle; when the lane corresponding to the target score is inconsistent with the current driving lane, use the lane corresponding to the target score as a potential target lane; determine the target lane based on the potential target lane, and control the vehicle to drive on the target lane.

[0130] In one embodiment, the selection module 30 is further used to obtain a current score of the vehicle's current driving lane through the lane score; calculate a first cumulative score difference between the target score and the current score within a preset period; when the first cumulative score difference is greater than a preset lane change threshold, use the potential target lane as the target lane and control the vehicle to travel in the target lane.

[0131] In one embodiment, the selection module 30 is further used to, when the first cumulative score difference is greater than a preset lane change threshold, use the potential target lane as the target lane and obtain the number of lanes between the current driving lane and the target lane; when the number of lanes between the target lane and the current driving lane is multiple lanes, control the vehicle to change lanes; obtain the interval score of the vehicle in the interval lane when changing lanes; calculate the second cumulative score difference based on the interval score and the target score; when the second cumulative score difference is less than or equal to the preset lane change threshold, use the interval lane as the target lane and control the vehicle to travel in the target lane.

[0132] In one embodiment, the selection module 30 is further configured to, when the lane corresponding to the target score is consistent with the current driving lane, use the current driving lane as the target lane and control the vehicle to drive on the target lane.

[0133] In one embodiment, the acquisition module 10 is also used to obtain the merging intersection information on the current road; obtain the correspondence between the merging intersection, lanes and weights; and obtain the lane weight of each lane on the current road through the correspondence and the merging intersection information.

[0134] In one embodiment, the calculation module 20 is further used to obtain the number of lanes of the vehicle in the current driving section, the current driving lane and the real-time driving speed of the vehicle in each lane through the dynamic traffic participation equipment on the current road; select the target vehicle on each lane within the preset range of the current driving lane based on the number of lanes; and use the real-time driving speed of the target vehicle on each lane as the passing speed of each lane based on the real-time driving speed.

[0135] In addition, an embodiment of the present invention further proposes a storage medium, on which a lane selection program is stored. When the lane selection program is executed by a processor, the steps of the lane selection method described above are implemented.

[0136] Since the storage medium adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described one by one here.

[0137] It should be understood that the above is only an example and does not constitute any limitation on the technical solution of the present invention. In specific applications, technicians in this field can make settings as needed, and the present invention does not limit this.

[0138] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of the present invention. In practical applications, technicians in this field can select part or all of them according to actual needs to achieve the purpose of the present embodiment, and no limitation is made here.

[0139] In addition, for technical details not fully described in this embodiment, reference can be made to the lane selection method provided in any embodiment of the present invention, and will not be repeated here.

[0140] In addition, it should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0141] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0142] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory (ROM) / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0143] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A lane selection method, characterized in that: The lane selection method comprises: Get the lane weight of each lane on the current road; Calculating the traffic speed of each lane by using the dynamic traffic participation equipment on the current road; Calculating a lane score according to the lane weight and the travel speed; Obtaining a target score in the lane score; Determining whether the lane corresponding to the target score is consistent with the current driving lane of the vehicle; When the lane corresponding to the target score is inconsistent with the current driving lane, taking the lane corresponding to the target score as a potential target lane; Obtaining a current score of a current driving lane of the vehicle through the lane score; Calculating a first cumulative score difference between the target score and the current score within a preset period; When the first accumulated score difference is greater than a preset lane change threshold, the potential target lane is used as a target lane, and the vehicle is controlled to travel in the target lane.

2. The lane selection method according to claim 1, characterized in that: When the first accumulated score difference is greater than a preset lane change threshold, taking the potential target lane as a target lane and controlling the vehicle to travel in the target lane includes: When the first accumulated score difference is greater than a preset lane change threshold, taking the potential target lane as a target lane, and obtaining the number of lanes between the current driving lane and the target lane; When the number of lanes between the target lane and the current driving lane is multiple, controlling the vehicle to change lanes; Obtaining an interval score of the vehicle in an interval lane when changing lanes; Calculate a second cumulative score difference using the interval score and the target score; When the second accumulated score difference is less than or equal to the preset lane change threshold, the interval lane is used as a target lane, and the vehicle is controlled to travel in the target lane.

3. The lane selection method according to claim 1, characterized in that: After determining whether the lane corresponding to the target score is consistent with the current driving lane of the vehicle, the method further includes: When the lane corresponding to the target score is consistent with the current driving lane, the current driving lane is used as the target lane, and the vehicle is controlled to travel on the target lane.

4. The lane selection method according to claim 1, characterized in that: The obtaining of the lane weight of each lane on the current road includes: Get the information of the inlet and outlet intersections on the current road; Obtain the corresponding relationship between the merging and exiting intersections, lanes and weights; The lane weight of each lane on the current road is obtained through the corresponding relationship and the merging and outgoing intersection information.

5. The lane selection method according to any one of claims 1 to 4, characterized in that: The calculating the traffic speed of each lane by the dynamic traffic participating equipment on the current road includes: The number of lanes on the current driving section, the current driving lane and the real-time driving speed of the vehicle on each lane are obtained through the dynamic traffic participation equipment on the current road; Selecting a target vehicle on each lane within a preset range of the current driving lane based on the number of lanes; The real-time traveling speed of the target vehicle on each lane is used as the passing speed of each lane based on the real-time traveling speed.

6. A lane selection device, characterized in that: The lane selection device comprises: An acquisition module is used to obtain the lane weight of each lane on the current road; A calculation module, used for calculating the passing speed of each lane through the dynamic traffic participating equipment on the current road; The calculation module is further used to calculate a lane score according to the lane weight and the travel speed; A selection module is used to obtain a target score in the lane score; determine whether the lane corresponding to the target score is consistent with the current driving lane of the vehicle; when the lane corresponding to the target score is inconsistent with the current driving lane, use the lane corresponding to the target score as a potential target lane; obtain a current score of the current driving lane of the vehicle through the lane score; calculate a first cumulative score difference between the target score and the current score within a preset period; when the first cumulative score difference is greater than a preset lane change threshold, use the potential target lane as a target lane and control the vehicle to travel on the target lane.

7. A lane selection device, characterized in that: The lane selection device includes: a memory, a processor, and a lane selection program stored in the memory and executable on the processor, wherein the lane selection program is configured to implement the lane selection method according to any one of claims 1 to 5.

8. A storage medium, characterized in that: The storage medium stores a lane selection program, and when the lane selection program is executed by the processor, the lane selection method according to any one of claims 1 to 5 is implemented.

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