Lane changing decision method and device, and storage medium

Abstract

A lane changing decision method and device and a storage medium, relating to the technical field of automatic driving. The method can be applied in the fields of intelligent vehicles, new energy vehicles, etc., and includes: obtaining longitudinal driving information of a target vehicle when a first obstacle exists in front of the target vehicle on a first lane where the target vehicle is located (201); and performing lane changing when the longitudinal driving information meets a preset lane changing condition, the preset lane changing condition including that a first relative speed is less than zero and a second relative speed is less than zero, the first relative speed being a relative speed between a first speed and a set first expected speed, and the second relative speed being a relative speed between the first speed and a second expected speed (202). The method can make the intelligent vehicle fully and intuitively reflect the user's intention and preference on the basis of meeting safety, achieve personalized setting of lane changing frequency, and improve the performance of lane changing decision.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and in particular to a lane-changing decision-making method, device, and storage medium. Background Technology

[0002] With the development of autonomous driving technology, it has provided many conveniences for people driving vehicles. Autonomous driving can refer to configuring one or more autonomous driving modes on a vehicle, allowing the driver to select the appropriate mode based on their needs for the current driving scenario, and triggering the vehicle's movement based on that mode. Among these, the ability to autonomously change lanes is considered a core capability of advanced autonomous driving technology.

[0003] Autonomous lane changing in intelligent vehicles involves perception, decision-making, planning, and control execution. Among these, decision-making plays a crucial role in evaluating the quality of autonomous lane changing. Currently, lane-changing decisions mainly include rule-based and learning-based decisions. At present, compared to rule-based decisions, learning-based decisions are constrained by data limitations, interpretability, and the security of black-box systems, and are not yet ready for mass production. However, rule-based decision-making technology also has many problems, including complex and cumbersome logic, difficulty in reflecting passenger preferences, and failure to simultaneously consider safety and efficiency.

[0004] Therefore, no reasonable and effective method has yet been provided in the relevant technologies for achieving high-performance lane-changing decisions. Summary of the Invention

[0005] In view of this, a lane-changing decision-making method, device and storage medium are proposed. From the perspective of longitudinal control, an autonomous lane-changing strategy for autonomous vehicles is formulated, which helps to achieve high-performance lane-changing decisions and meet the needs of complex and dynamic vehicle driving environments.

[0006] In a first aspect, embodiments of this application provide a lane-changing decision-making method, the method comprising:

[0007] In the first lane where the target vehicle is located, when there is a first obstacle in front of the target vehicle, the longitudinal driving information of the target vehicle is obtained. The longitudinal driving information indicates the longitudinal driving information of the target vehicle, and the longitudinal direction is parallel to the lane line of the first lane.

[0008] Lane changing is performed when the longitudinal driving information meets the preset lane changing conditions.

[0009] The preset lane-changing conditions include a first relative speed less than zero and a second relative speed less than zero. The first relative speed is the relative speed between a first speed and a set first desired speed. The second relative speed is the relative speed between the first speed and a second desired speed. The first speed is the speed of the first obstacle in the longitudinal direction. The second desired speed is the difference between the first desired speed and a set speed threshold value.

[0010] In this implementation, when a first obstacle exists in front of the target vehicle in the first lane, longitudinal travel information of the target vehicle is acquired. This longitudinal travel information indicates the target vehicle's longitudinal movement, where longitudinal is the direction parallel to the lane line of the first lane. A lane change is performed when the longitudinal travel information meets preset lane-changing conditions. These preset lane-changing conditions include a first relative speed less than zero and a second relative speed less than zero. The first relative speed is the relative speed between a first speed and a set first desired speed, and the second relative speed is the relative speed between the first speed and a second desired speed. The obstacle's longitudinal speed is defined as follows: the second desired speed is the difference between the first desired speed and the set speed threshold. Since the vehicle's lane-changing behavior is closely related to longitudinal movement, this application embodiment fully coordinates lane-changing decisions with longitudinal control. In terms of satisfying the user's (driver's or passenger's) intentions, in an intelligent driving system that enables autonomous lane changing, the user can independently set the first desired speed and speed threshold. This allows the lane-changing decision-making scheme provided by this application embodiment to fully and intuitively reflect the user's intentions and preferences, realize personalized settings for lane-changing frequency, improve the performance of lane-changing decisions, and meet the needs of complex and dynamic vehicle driving environments.

[0011] In one possible implementation, the preset lane-changing condition further includes the existence of a solution for the objective function corresponding to the second lane to be changed, wherein the objective function is established based on the relative speed and relative distance between the target vehicle and the second obstacle in the second lane in the longitudinal direction.

[0012] In this implementation, the preset lane-changing condition also includes the existence of a solution for the objective function corresponding to the second lane to be changed. The objective function is established based on the relative speed and relative distance between the target vehicle and the second obstacle in the second lane in the longitudinal direction, so that the feasibility of lane changing can be determined by whether there is a solution for the objective function corresponding to the second lane through longitudinal optimization control. This provides a reliable guarantee for the lane-changing decision scheme based on longitudinal control provided in this case.

[0013] In another possible implementation, the preset lane-changing condition further includes that the absolute value of the difference between the first longitudinal motion value and the second longitudinal motion value of the target vehicle is greater than a preset threshold.

[0014] Wherein, the first longitudinal motion value is the actual value of the target motion parameter of the target vehicle in the first lane, and the second longitudinal motion value is the virtual value of the target motion parameter of the target vehicle in the second lane, wherein the target motion parameter includes the motion parameter of the target vehicle in the longitudinal direction.

[0015] In this implementation, the preset lane-changing condition also includes that the absolute value of the difference between the first longitudinal motion value and the second longitudinal motion value of the target vehicle is greater than a preset threshold. That is, the necessity of lane changing is determined by comparing the first longitudinal motion value of the target vehicle in the first lane and the second longitudinal motion value in the second lane, which further improves the performance of lane-changing decision-making.

[0016] In another possible implementation, the target motion parameters include the acceleration or generalized force of the target vehicle in the longitudinal direction.

[0017] In this implementation, the aforementioned lane-changing necessity judgment condition can be determined by whether the target vehicle can obtain a faster acceleration or a greater generalized force in the second lane than in the first lane. If it can obtain such a force, it means that the target vehicle can travel closer to the desired speed in the second lane, thus making lane changing necessary. This prevents unnecessary lane changing when the difference between the acceleration or generalized force between the first and second lanes is small, thereby improving vehicle driving efficiency.

[0018] In another possible implementation, the method further includes:

[0019] If the objective function has no solution, or if the absolute value of the difference between the first longitudinal motion value and the second longitudinal motion value is less than or equal to the preset threshold, a preset following mode is adopted for driving. The preset following mode is such that the distance between the target vehicle and the first obstacle in the first lane is kept within a preset distance range.

[0020] In this implementation, when the objective function has no solution, or when the absolute value of the difference between the first longitudinal motion value and the second longitudinal motion value is less than or equal to a preset threshold, a preset following mode is adopted. That is, when it is determined that the feasibility or necessity of changing lanes is not met, the target vehicle is controlled to follow the vehicle in front in the current first lane in a preset following mode, thus ensuring the safety and efficiency of vehicle driving.

[0021] In another possible implementation, the method further includes:

[0022] If the objective function has no solution, or if the absolute value of the difference between the first longitudinal motion value and the second longitudinal motion value is less than or equal to the preset threshold, and if the first obstacle in the first lane is a stationary obstacle, then a parking operation is performed.

[0023] In this implementation, if the objective function has no solution, or if the absolute value of the difference between the first longitudinal motion value and the second longitudinal motion value is less than or equal to a preset threshold, and if the first obstacle in the first lane is a stationary obstacle, a parking operation is performed. That is, if it is determined that the feasibility or necessity conditions for changing lanes are not met, the system continues to determine whether the first obstacle in the first lane is a stationary obstacle. If so, a parking operation is performed to further ensure the safety of vehicle driving.

[0024] In another possible implementation, the method further includes:

[0025] During lane changing, the objective function is solved in real time or at preset time intervals;

[0026] If the objective function has no solution, cancel the lane change.

[0027] In this implementation, the feasibility of lane changing is continuously checked during the lane changing process. In terms of feasibility, if the feasibility judgment condition is not met, i.e., if there is no solution to the objective function, the lane changing will be canceled, which further improves the performance of lane changing decision.

[0028] In another possible implementation, the method further includes:

[0029] During lane changing, it is determined in real time or at preset time intervals whether the lane change cancellation condition is met;

[0030] If the lane change cancellation condition is met, then the lane change is cancelled;

[0031] The lane change cancellation conditions include:

[0032] The target vehicle remains in the first lane, and the absolute value of the difference between the second longitudinal motion value and the first longitudinal motion value is less than the preset threshold; and / or,

[0033] The target vehicle has entered the second lane but its center of gravity or geometric center has not yet entered the second lane, and the second longitudinal motion value is less than or equal to the first longitudinal motion value; and / or,

[0034] The target vehicle's center of gravity or geometric center has entered the second lane, and the absolute value of the difference between the first longitudinal motion value and the second longitudinal motion value is greater than or equal to the preset threshold.

[0035] In this implementation, the necessity of lane changing is continuously checked during the lane changing process. Regarding necessity, the determination conditions for necessity, namely the lane changing cancellation conditions mentioned above, are different at different stages of lane changing. Through this setting, the lane changing cancellation conditions will be more stringent as the lane changing is closer to completion, thus conforming to driving logic and traffic etiquette, and further improving the performance of lane changing decisions.

[0036] In another possible implementation, the preset lane-changing condition further includes a first relative distance less than or equal to a preset distance threshold, wherein the first relative distance is the relative distance between the target vehicle and the first obstacle in the first lane in the longitudinal direction.

[0037] In this implementation, when the first relative speed is less than zero and the second relative speed is less than zero, the relative distance between the target vehicle and the first obstacle in the first lane in the longitudinal direction, i.e., the first relative distance, is further determined. When the first relative distance is less than or equal to a preset distance threshold, the lane-changing decision process is initiated, which further ensures the safety and efficiency of vehicle driving.

[0038] In another possible implementation, the method further includes:

[0039] When the first relative distance is greater than the preset distance threshold, a preset following mode is adopted for driving. The preset following mode is that the distance between the target vehicle and the first obstacle is kept within a preset distance range.

[0040] In this implementation, when the first relative speed is less than zero and the second relative speed is less than zero, the relative distance between the target vehicle and the first obstacle in the first lane is further determined. When the relative distance is greater than a preset distance threshold, a preset following mode is adopted to avoid unnecessary lane changing behavior and further ensure vehicle driving efficiency.

[0041] In another possible implementation, the method further includes:

[0042] When the first relative speed is greater than or equal to zero, travel at the first desired speed.

[0043] In this implementation, when the first relative speed is greater than or equal to zero, that is, when the first speed of the first obstacle in the longitudinal direction is greater than or equal to the first desired speed set by the target vehicle, the target vehicle will still drive at the set first desired speed. In terms of satisfying the user's (driver or passenger's) intentions, in an intelligent driving system that can realize autonomous lane changing, the user autonomously sets the first desired speed, so that the lane changing decision scheme provided in this case can fully and intuitively reflect the user's intentions and preferences.

[0044] In another possible implementation, the method further includes:

[0045] When the first relative speed is less than zero and the second relative speed is greater than or equal to zero, a preset following mode is adopted, wherein the preset following mode is such that the distance between the target vehicle and the first obstacle is maintained within a preset distance range.

[0046] In this implementation, when the first relative speed is less than zero and the second relative speed is greater than or equal to zero, that is, when the first speed of the first obstacle in the longitudinal direction is greater than or equal to the second desired speed of the target vehicle (the second desired speed is the difference between the first desired speed and the set speed threshold value), the target vehicle will drive in a preset following mode towards the first obstacle in the first lane. That is, the user can set the speed threshold value to realize the personalized setting of the lane changing frequency.

[0047] Secondly, embodiments of this application provide a lane-changing decision-making method, the method comprising:

[0048] In the first lane where the target vehicle is located, when there is a first obstacle in front of the target vehicle, the longitudinal driving information of the target vehicle is obtained. The longitudinal driving information indicates the longitudinal driving information of the target vehicle, and the longitudinal direction is parallel to the lane line of the first lane.

[0049] Lane changing is performed when the longitudinal driving information meets preset lane changing conditions. The preset lane changing conditions include the existence of a solution for the objective function corresponding to the second lane to be changed to. The objective function is established based on the relative speed and relative distance between the target vehicle and the second obstacle in the second lane in the longitudinal direction.

[0050] In one possible implementation, the preset lane-changing condition further includes the absolute value of the difference between the first longitudinal motion value and the second longitudinal motion value of the target vehicle being greater than a preset threshold.

[0051] Wherein, the first longitudinal motion value is the actual value of the target motion parameter of the target vehicle in the first lane, and the second longitudinal motion value is the virtual value of the target motion parameter of the target vehicle in the second lane, wherein the target motion parameter includes the motion parameter of the target vehicle in the longitudinal direction.

[0052] In another possible implementation, the target motion parameters include the acceleration or generalized force of the target vehicle in the longitudinal direction.

[0053] In another possible implementation, the method further includes:

[0054] If the objective function has no solution, or if the absolute value of the difference between the first longitudinal motion value and the second longitudinal motion value is less than or equal to the preset threshold, a preset following mode is adopted for driving. The preset following mode is such that the distance between the target vehicle and the first obstacle in the first lane is kept within a preset distance range.

[0055] In another possible implementation, the method further includes:

[0056] If the objective function has no solution, or if the absolute value of the difference between the first longitudinal motion value and the second longitudinal motion value is less than or equal to the preset threshold, and if the first obstacle in the first lane is a stationary obstacle, then a parking operation is performed.

[0057] In another possible implementation, the method further includes:

[0058] During lane changing, the objective function is solved in real time or at preset time intervals;

[0059] If the objective function has no solution, cancel the lane change.

[0060] In another possible implementation, the method further includes:

[0061] During lane changing, it is determined in real time or at preset time intervals whether the lane change cancellation condition is met;

[0062] If the lane change cancellation condition is met, then the lane change is cancelled;

[0063] The lane change cancellation conditions include:

[0064] The target vehicle remains in the first lane, and the absolute value of the difference between the second longitudinal motion value and the first longitudinal motion value is less than the preset threshold; and / or,

[0065] The target vehicle has entered the second lane but its center of gravity or geometric center has not yet entered the second lane, and the second longitudinal motion value is less than or equal to the first longitudinal motion value; and / or,

[0066] The target vehicle's center of gravity or geometric center has entered the second lane, and the absolute value of the difference between the first longitudinal motion value and the second longitudinal motion value is greater than or equal to the preset threshold.

[0067] In another possible implementation, the method further includes:

[0068] Obtain the first velocity of the first obstacle, wherein the first velocity is the velocity of the first obstacle in the longitudinal direction;

[0069] Determine a first relative speed between the first speed and a set first desired speed, and a second relative speed between the first speed and a second desired speed, wherein the second desired speed is the difference between the first desired speed and a set speed threshold value;

[0070] When the first relative speed is less than zero and the second relative speed is less than zero, the step of changing lanes is performed if the longitudinal driving information meets the preset lane-changing conditions.

[0071] In another possible implementation, the method further includes:

[0072] When the first relative speed is less than zero and the second relative speed is less than zero, a first relative distance is determined, wherein the first relative distance is the longitudinal relative distance between the target vehicle and the first obstacle in the first lane;

[0073] When the first relative distance is less than or equal to a preset distance threshold, the step of changing lanes is performed if the longitudinal driving information meets the preset lane-changing conditions.

[0074] In another possible implementation, the method further includes:

[0075] When the first relative distance is greater than the preset distance threshold, a preset following mode is adopted for driving. The preset following mode is that the distance between the target vehicle and the first obstacle is kept within a preset distance range.

[0076] In another possible implementation, the method further includes:

[0077] When the first relative speed is greater than or equal to zero, travel at the first desired speed.

[0078] In another possible implementation, the method further includes:

[0079] When the first relative speed is less than zero and the second relative speed is greater than or equal to zero, a preset following mode is adopted, wherein the preset following mode is such that the distance between the target vehicle and the first obstacle is maintained within a preset distance range.

[0080] Thirdly, embodiments of this application provide a lane-changing decision-making device, the device comprising:

[0081] The acquisition unit is used to acquire longitudinal driving information of the target vehicle in the first lane where the target vehicle is located when there is a first obstacle in front of the target vehicle. The longitudinal driving information indicates the longitudinal driving information of the target vehicle, and the longitudinal direction is the direction parallel to the lane line of the first lane.

[0082] The lane-changing unit is used to change lanes when the longitudinal driving information meets the preset lane-changing conditions.

[0083] The preset lane-changing conditions include a first relative speed less than zero and a second relative speed less than zero. The first relative speed is the relative speed between a first speed and a set first desired speed. The second relative speed is the relative speed between the first speed and a second desired speed. The first speed is the speed of the first obstacle in the longitudinal direction. The second desired speed is the difference between the first desired speed and a set speed threshold value.

[0084] In one possible implementation, the preset lane-changing condition further includes the existence of a solution for the objective function corresponding to the second lane to be changed, wherein the objective function is established based on the relative speed and relative distance between the target vehicle and the second obstacle in the second lane in the longitudinal direction.

[0085] In another possible implementation

[0086] The preset lane-changing condition also includes that the absolute value of the difference between the first longitudinal motion value and the second longitudinal motion value of the target vehicle is greater than a preset threshold.

[0087] Wherein, the first longitudinal motion value is the actual value of the target motion parameter of the target vehicle in the first lane, and the second longitudinal motion value is the virtual value of the target motion parameter of the target vehicle in the second lane, wherein the target motion parameter includes the motion parameter of the target vehicle in the longitudinal direction.

[0088] In another possible implementation, the target motion parameters include the acceleration or generalized force of the target vehicle in the longitudinal direction.

[0089] In another possible implementation, the device further includes:

[0090] The driving unit is configured to drive in a preset following mode when the objective function has no solution or the absolute value of the difference between the first longitudinal motion value and the second longitudinal motion value is less than or equal to the preset threshold. The preset following mode is configured to keep the distance between the target vehicle and the first obstacle in the first lane within a preset distance range.

[0091] In another possible implementation, the device further includes:

[0092] The parking unit is configured to perform a parking operation if the first obstacle in the first lane is a stationary obstacle, when the objective function has no solution or the absolute value of the difference between the first longitudinal motion value and the second longitudinal motion value is less than or equal to the preset threshold.

[0093] In another possible implementation, the device further includes: a first lane-changing cancellation unit, used for:

[0094] During lane changing, the objective function is solved in real time or at preset time intervals;

[0095] If the objective function has no solution, cancel the lane change.

[0096] In another possible implementation, the device further includes: a second lane-changing cancellation unit, used for:

[0097] During lane changing, it is determined in real time or at preset time intervals whether the lane change cancellation condition is met;

[0098] If the lane change cancellation condition is met, then the lane change is cancelled;

[0099] The lane change cancellation conditions include:

[0100] The target vehicle remains in the first lane, and the absolute value of the difference between the second longitudinal motion value and the first longitudinal motion value is less than the preset threshold; and / or,

[0101] The target vehicle has entered the second lane but its center of gravity or geometric center has not yet entered the second lane, and the second longitudinal motion value is less than or equal to the first longitudinal motion value; and / or,

[0102] The target vehicle's center of gravity or geometric center has entered the second lane, and the absolute value of the difference between the first longitudinal motion value and the second longitudinal motion value is greater than or equal to the preset threshold.

[0103] In another possible implementation, the preset lane-changing condition further includes a first relative distance less than or equal to a preset distance threshold, wherein the first relative distance is the relative distance between the target vehicle and the first obstacle in the first lane in the longitudinal direction.

[0104] In another possible implementation, the device further includes:

[0105] The driving unit is used to drive in a preset following mode when the first relative distance is greater than the preset distance threshold. The preset following mode is to keep the distance between the target vehicle and the first obstacle within a preset distance range.

[0106] In another possible implementation, the device further includes:

[0107] The driving unit is used to drive at the first desired speed when the first relative speed is greater than or equal to zero.

[0108] In another possible implementation, the device further includes:

[0109] The driving unit is used to drive in a preset following mode when the first relative speed is less than zero and the second relative speed is greater than or equal to zero. The preset following mode is such that the distance between the target vehicle and the first obstacle is kept within a preset distance range.

[0110] Fourthly, embodiments of this application provide a lane-changing decision-making device, the device comprising:

[0111] The acquisition unit is used to acquire longitudinal driving information of the target vehicle in the first lane where the target vehicle is located when there is a first obstacle in front of the target vehicle. The longitudinal driving information indicates the longitudinal driving information of the target vehicle, and the longitudinal direction is the direction parallel to the lane line of the first lane.

[0112] The lane-changing unit is used to change lanes when the longitudinal driving information meets preset lane-changing conditions. The preset lane-changing conditions include the existence of a solution for the objective function corresponding to the second lane to be changed. The objective function is established based on the relative speed and relative distance between the target vehicle and the second obstacle in the second lane in the longitudinal direction.

[0113] In one possible implementation, the preset lane-changing condition further includes the absolute value of the difference between the first longitudinal motion value and the second longitudinal motion value of the target vehicle being greater than a preset threshold.

[0114] Wherein, the first longitudinal motion value is the actual value of the target motion parameter of the target vehicle in the first lane, and the second longitudinal motion value is the virtual value of the target motion parameter of the target vehicle in the second lane, wherein the target motion parameter includes the motion parameter of the target vehicle in the longitudinal direction.

[0115] In another possible implementation, the target motion parameters include the acceleration or generalized force of the target vehicle in the longitudinal direction.

[0116] In another possible implementation, the device further includes:

[0117] The driving unit is configured to drive in a preset following mode when the objective function has no solution or the absolute value of the difference between the first longitudinal motion value and the second longitudinal motion value is less than or equal to the preset threshold. The preset following mode is configured to keep the distance between the target vehicle and the first obstacle in the first lane within a preset distance range.

[0118] In another possible implementation, the device further includes:

[0119] The parking unit is configured to perform a parking operation if the first obstacle in the first lane is a stationary obstacle, when the objective function has no solution or the absolute value of the difference between the first longitudinal motion value and the second longitudinal motion value is less than or equal to the preset threshold.

[0120] In another possible implementation, the device further includes: a first lane-changing cancellation unit, used for:

[0121] During lane changing, the objective function is solved in real time or at preset time intervals;

[0122] If the objective function has no solution, cancel the lane change.

[0123] In another possible implementation, the device further includes: a second lane-changing cancellation unit, used for:

[0124] During lane changing, it is determined in real time or at preset time intervals whether the lane change cancellation condition is met;

[0125] If the lane change cancellation condition is met, then the lane change is cancelled;

[0126] The lane change cancellation conditions include:

[0127] The target vehicle remains in the first lane, and the absolute value of the difference between the second longitudinal motion value and the first longitudinal motion value is less than the preset threshold; and / or,

[0128] The target vehicle has entered the second lane but its center of gravity or geometric center has not yet entered the second lane, and the second longitudinal motion value is less than or equal to the first longitudinal motion value; and / or,

[0129] The target vehicle's center of gravity or geometric center has entered the second lane, and the absolute value of the difference between the first longitudinal motion value and the second longitudinal motion value is greater than or equal to the preset threshold.

[0130] In another possible implementation, the device further includes: the lane-changing unit, which is also used for:

[0131] Obtain the first velocity of the first obstacle, wherein the first velocity is the velocity of the first obstacle in the longitudinal direction;

[0132] Determine a first relative speed between the first speed and a set first desired speed, and a second relative speed between the first speed and a second desired speed, wherein the second desired speed is the difference between the first desired speed and a set speed threshold value;

[0133] When the first relative speed is less than zero and the second relative speed is less than zero, the step of changing lanes is performed if the longitudinal driving information meets the preset lane-changing conditions.

[0134] In another possible implementation, the device further includes: the lane-changing unit, which is also used for:

[0135] When the first relative speed is less than zero and the second relative speed is less than zero, a first relative distance is determined, wherein the first relative distance is the longitudinal relative distance between the target vehicle and the first obstacle in the first lane;

[0136] When the first relative distance is less than or equal to a preset distance threshold, the step of changing lanes is performed if the longitudinal driving information meets the preset lane-changing conditions.

[0137] In another possible implementation, the device further includes:

[0138] The driving unit is used to drive in a preset following mode when the first relative distance is greater than the preset distance threshold. The preset following mode is to keep the distance between the target vehicle and the first obstacle within a preset distance range.

[0139] In another possible implementation, the device further includes:

[0140] The driving unit is used to drive at the first desired speed when the first relative speed is greater than or equal to zero.

[0141] In another possible implementation, the device further includes:

[0142] The driving unit is used to drive in a preset following mode when the first relative speed is less than zero and the second relative speed is greater than or equal to zero. The preset following mode is such that the distance between the target vehicle and the first obstacle is kept within a preset distance range.

[0143] Fifthly, embodiments of this application provide a lane-changing decision-making device, the device comprising:

[0144] processor;

[0145] Memory used to store processor-executable instructions;

[0146] The processor is configured to implement the method provided by the first aspect or any possible implementation of the first aspect when executing the instructions.

[0147] Sixthly, embodiments of this application provide a lane-changing decision-making device, the device comprising:

[0148] processor;

[0149] Memory used to store processor-executable instructions;

[0150] The processor is configured to implement the method provided by the second aspect or any possible implementation of the second aspect when executing the instructions.

[0151] In a seventh aspect, embodiments of this application provide a non-volatile computer-readable storage medium having computer program instructions stored thereon, which, when executed by a processor, implement the method provided by the first aspect or any possible implementation thereof.

[0152] Eighthly, embodiments of this application provide a non-volatile computer-readable storage medium having computer program instructions stored thereon, which, when executed by a processor, implement the method provided by the second aspect or any possible implementation thereof.

[0153] Ninthly, embodiments of this application provide a computer program product comprising computer-readable code or a non-volatile computer-readable storage medium carrying the computer-readable code, wherein when the computer-readable code is executed in an electronic device, a processor in the electronic device performs the method provided by the first aspect or any possible implementation thereof.

[0154] In a tenth aspect, embodiments of this application provide a computer program product comprising computer-readable code or a non-volatile computer-readable storage medium carrying the computer-readable code, wherein when the computer-readable code is executed in an electronic device, a processor in the electronic device performs the method provided by the second aspect or any possible implementation thereof.

[0155] In one aspect, embodiments of this application provide a vehicle, the vehicle comprising:

[0156] processor;

[0157] Memory used to store processor-executable instructions;

[0158] The processor is configured to implement the method provided by the first aspect or any possible implementation of the first aspect when executing the instructions.

[0159] In a twelfth aspect, embodiments of this application provide a vehicle, the vehicle comprising:

[0160] processor;

[0161] Memory used to store processor-executable instructions;

[0162] The processor is configured to implement the method provided by the second aspect or any possible implementation of the second aspect when executing the instructions. Attached Figure Description

[0163] The accompanying drawings, which are included in and form part of this specification, illustrate exemplary embodiments, features, and aspects of this application together with the specification and serve to explain the principles of this application.

[0164] Figure 1 A schematic diagram of the structure of an electronic device provided in an exemplary embodiment of this application is shown.

[0165] Figure 2 A flowchart illustrating a lane-changing decision method provided in an exemplary embodiment of this application is shown.

[0166] Figure 3 A flowchart of a lane-changing decision method provided by another exemplary embodiment of this application is shown.

[0167] Figure 4 A flowchart of a lane-changing decision method provided by another exemplary embodiment of this application is shown.

[0168] Figure 5 This diagram illustrates the situation where there is no first obstacle in the first lane currently in which the vehicle is traveling.

[0169] Figure 6 This diagram illustrates a situation where the first obstacle exists in the first lane currently occupied by this vehicle.

[0170] Figure 7 This diagram illustrates a situation where there are obstacles in both the first and second lanes of this vehicle.

[0171] Figure 8 A schematic diagram is shown illustrating how decision-making and planning during lane changes can be achieved through the enable signal of longitudinal control.

[0172] Figures 9 to 15 This illustration shows a schematic diagram of the lane-changing process of the vehicle provided in an exemplary embodiment of this application.

[0173] Figure 16 A schematic diagram of a lane-changing decision module provided in an exemplary embodiment of this application is shown.

[0174] Figure 17 A block diagram of a lane-changing decision device provided in an exemplary embodiment of this application is shown.

[0175] Figure 18 A block diagram of a lane-changing decision device provided in another exemplary embodiment of this application is shown. Detailed Implementation

[0176] Various exemplary embodiments, features, and aspects of this application will now be described in detail with reference to the accompanying drawings. The same reference numerals in the drawings denote elements that have the same or similar functions. Although various aspects of the embodiments are shown in the drawings, they are not necessarily drawn to scale unless specifically indicated otherwise.

[0177] The term “exemplary” as used herein means “serving as an example, embodiment, or illustration.” Any embodiment illustrated herein as “exemplary” is not necessarily to be construed as superior to or better than other embodiments.

[0178] Furthermore, to better illustrate this application, numerous specific details are provided in the following detailed embodiments. Those skilled in the art should understand that this application can be implemented without certain specific details. In some instances, methods, means, components, and circuits well-known to those skilled in the art have not been described in detail in order to highlight the main points of this application.

[0179] In related technologies, lane-changing behavior of vehicles can be divided into free lane changing and forced lane changing. In fact, both free and forced lane changing are closely related to longitudinal movement. For example, free lane changing often occurs because the driver is dissatisfied with the current lane's speed, while forced lane changing occurs because an infeasible situation arises ahead in the current lane. Therefore, to achieve high-performance lane-changing decisions, it is necessary to fully coordinate them with longitudinal control. Thus, this application provides an autonomous driving lane-changing decision-making method based on longitudinal control. From the perspective of longitudinal control, it formulates an autonomous lane-changing strategy for autonomous vehicles, which helps to solve various existing problems and meet the needs of complex and dynamic driving environments.

[0180] First, the application scenarios involved in this application will be introduced.

[0181] The methods and apparatus provided in this application relate to autonomous driving algorithms and can be applied to fields such as intelligent vehicles and new energy vehicles. The following description uses an electronic device as an example to illustrate the method provided in this application. Please refer to... Figure 1This illustration shows a schematic diagram of an electronic device provided in an exemplary embodiment of this application. This electronic device can be applied to embedded platforms for Autonomous Driving (AD) or Advanced Driver Assistance Systems (ADAS). For example, the electronic device can be an autonomous driving domain controller or an ADAS domain controller. This application does not limit the scope of the embodiments.

[0182] The electronic device can be a vehicle 21 or an in-vehicle device on the vehicle 21. The vehicle 21 can be a vehicle with wireless communication capabilities, wherein the wireless communication capabilities can be set in the in-vehicle terminal, in-vehicle module, in-vehicle unit, chip (system) or other components or parts of the vehicle 21. In the embodiments of this application, the vehicle 21 can be in an autonomous driving state, that is, the vehicle 21 drives fully autonomously without the need for driver control or with only a small amount of driver control.

[0183] Vehicle 21 may also be equipped with at least one sensor 22, including a camera, vehicle-mounted radar (such as millimeter-wave radar, lidar, ultrasonic radar, etc.), rain sensor, vehicle attitude sensor (such as gyroscope), inertial measurement unit (IMU), global navigation satellite system (GNSS), etc. The aforementioned sensors 22 may be installed on one vehicle 21 or on multiple vehicles 21.

[0184] The vehicle 21 may also be equipped with an autonomous driving system 23. The autonomous driving system 23 can generate an autonomous driving strategy to deal with road conditions based on the data collected by the sensors, and realize the autonomous driving of the vehicle 21 according to the generated strategy.

[0185] In this embodiment, vehicle 21 is used to perceive obstacles using at least one sensor 22 to determine whether there is a first obstacle in front of the target vehicle in the first lane where the target vehicle is located. Vehicle 21 is also used, when the first obstacle exists in front of the target vehicle in the first lane via autonomous driving system 23, to acquire longitudinal driving information of the target vehicle. The longitudinal driving information indicates the target vehicle's longitudinal movement, where longitudinal is the direction parallel to the lane line of the first lane. If the longitudinal driving information meets preset lane-changing conditions, lane-changing is performed. The preset lane-changing conditions include a first relative speed less than zero and a second relative speed less than zero. The first relative speed is the relative speed between a first speed and a set first desired speed, and the second relative speed is the relative speed between the first speed and a second desired speed. The first speed is the longitudinal speed of the first obstacle, and the second desired speed is the difference between the first desired speed and a set speed threshold.

[0186] The vehicle 21 may also be equipped with a human machine interface (HMI) 24, which can be used to broadcast current road conditions and the strategies adopted by the autonomous driving system 23 for the vehicle 21 through visual icons and voice broadcasts.

[0187] In one possible implementation, the electronic device in this embodiment may further include a server 20. The server 20 may be located on the vehicle 21 as an on-board computing unit, or it may be located in the cloud. It may be a physical device or a virtual device such as a virtual machine or container, and it has wireless communication capabilities. For example, the server 20 may be a virtual device provided by pooling resources from multiple locations (spatially decoupled). The wireless communication capability may be set in the chip (system) or other components of the server 20. The server 20 and the vehicle 21 can communicate wirelessly, for example, through mobile communication technologies such as 2G / 3G / 4G / 5G, as well as wireless communication methods such as Wi-Fi, Bluetooth, frequency modulation (FM), data radio, and satellite communication. For example, in a test, the server 20 may be mounted on the vehicle 21 and communicate with the vehicle 21 wirelessly. Through the communication between the vehicle 21 and the server 20, the server 20 can collect data collected by one or more sensors on the vehicle 21 or installed on the road or elsewhere, perform calculations, and send the calculation results back to the corresponding vehicle 21.

[0188] The lane-changing decision method provided in this application will now be described using several exemplary embodiments.

[0189] Please refer to Figure 2It illustrates a flowchart of a lane-changing decision method provided in an exemplary embodiment of this application. This embodiment uses the method for... Figure 1 The following example uses an electronic device. The method includes the following steps.

[0190] Step 201: In the first lane where the target vehicle is located, when there is a first obstacle in front of the target vehicle, obtain the longitudinal driving information of the target vehicle. The longitudinal driving information indicates the longitudinal driving information of the target vehicle, and the longitudinal direction is parallel to the lane line of the first lane.

[0191] In this context, the target vehicle is the vehicle containing the electronic equipment, also referred to as the "this vehicle". The first lane is the lane currently occupied by the target vehicle, and the first obstacle is an obstacle in front of the target vehicle in the first lane, with "in front" indicating the direction of travel of the target vehicle. The type of the first obstacle includes dynamic obstacles and / or static obstacles, such as moving or stationary cars, motorcycles, bicycles, etc. This application embodiment does not limit the type of the first obstacle.

[0192] Optionally, the electronic device uses a sensing unit to sense obstacles and determine whether a first obstacle exists in the first lane. The sensing unit may include a camera and / or vehicle-mounted radar, where the vehicle-mounted radar includes at least one of millimeter-wave radar, lidar, and ultrasonic radar. The sensing unit may also include at least one of a vehicle attitude sensor, an inertial measurement unit, and a global navigation satellite system. This application does not limit the scope of the embodiments described herein.

[0193] Optionally, when the electronic device determines that there is a first obstacle in the first lane, it acquires the longitudinal driving information of the target vehicle, wherein the longitudinal driving information indicates the longitudinal driving information of the target vehicle, and the longitudinal direction is the direction parallel to the lane line of the first lane.

[0194] Optionally, the longitudinal motion information includes a first longitudinal motion value of the target vehicle, which is the actual value of the target motion parameter of the target vehicle in the first lane.

[0195] Optionally, the target motion parameters include the longitudinal acceleration or generalized force of the target vehicle. The generalized force of the target vehicle in the longitudinal direction includes the total longitudinal force and / or the total driving torque, also known as braking torque.

[0196] Step 202: Perform a lane change when the longitudinal driving information meets the preset lane change conditions; wherein, the preset lane change conditions include a first relative speed less than zero and a second relative speed less than zero, the first relative speed is the relative speed between the first speed and the set first desired speed, the second relative speed is the relative speed between the first speed and the second desired speed, the first speed is the speed of the first obstacle in the longitudinal direction, and the second desired speed is the difference between the first desired speed and the set speed threshold value.

[0197] Optionally, the electronic device determines whether the longitudinal driving information meets the preset lane-changing conditions. If the longitudinal driving information meets the preset lane-changing conditions, a lane change is performed; if the longitudinal driving information does not meet the preset lane-changing conditions, a lane change is not performed, such as driving in a preset following mode or performing a parking operation.

[0198] The preset lane-changing conditions include a first relative speed less than zero and a second relative speed less than zero. The first relative speed is the relative speed between the first speed and the set first desired speed. The second relative speed is the relative speed between the first speed and the second desired speed. The first speed is the speed of the first obstacle in the longitudinal direction. The second desired speed is the difference between the first desired speed and the set speed threshold value.

[0199] Optionally, the preset lane-changing conditions also include feasibility conditions for lane changing, which include the existence of a solution for the objective function corresponding to the second lane to be changed.

[0200] Optionally, the objective function is established based on the longitudinal relative speed and relative distance between the target vehicle and the second obstacle in the second lane.

[0201] Optionally, the preset lane-changing conditions include not only feasibility conditions but also necessity conditions. Specifically, the preset lane-changing conditions include the existence of a solution to the objective function corresponding to the second lane to be changed to, and the absolute value of the difference between the first and second longitudinal motion values ​​of the target vehicle being greater than a preset threshold. Here, the first longitudinal motion value is the actual value of the target motion parameter of the target vehicle in the first lane, and the second longitudinal motion value is the virtual value of the target motion parameter of the target vehicle in the second lane. The target motion parameters include the longitudinal motion parameters of the target vehicle.

[0202] Optionally, the target motion parameters include the longitudinal acceleration or generalized force of the target vehicle.

[0203] It should be noted that the details of the electronic device changing lanes when the longitudinal driving information meets the preset lane-changing conditions can be found in the relevant descriptions in the following embodiments, and will not be introduced here.

[0204] In summary, this embodiment of the application acquires the longitudinal driving information of the target vehicle when a first obstacle is present in front of the target vehicle in the first lane. The longitudinal driving information indicates the target vehicle's longitudinal movement, where longitudinal is the direction parallel to the lane line of the first lane. A lane change is performed when the longitudinal driving information meets preset lane-changing conditions. These preset lane-changing conditions include a first relative speed less than zero and a second relative speed less than zero. The first relative speed is the relative speed between a first speed and a set first desired speed, and the second relative speed is the relative speed between the first speed and a second desired speed. The first obstacle has a longitudinal speed, and the second desired speed is the difference between the first desired speed and the set speed threshold. Since the lane-changing behavior of a vehicle is closely related to longitudinal movement, this application embodiment fully coordinates lane-changing decisions with longitudinal control. In terms of meeting the user's (driver's or passenger's) intentions, in an intelligent driving system that enables autonomous lane changing, the user can independently set the first desired speed and the speed threshold. This allows the lane-changing decision scheme provided by this application embodiment to fully and intuitively reflect the user's intentions and preferences, realize personalized settings for lane-changing frequency, improve the performance of lane-changing decisions, and meet the needs of complex and dynamic vehicle driving environments.

[0205] Please refer to Figure 3 It illustrates a flowchart of a lane-changing decision method provided in another exemplary embodiment of this application, which is used in this embodiment for... Figure 1 The following example uses an electronic device. The method includes the following steps.

[0206] Step 301: In the first lane where the target vehicle is located, when there is a first obstacle in front of the target vehicle, obtain the first speed of the first obstacle. The first speed is the speed of the first obstacle in the longitudinal direction, which is the direction parallel to the lane line of the first lane.

[0207] Optionally, the electronic device uses a sensing unit to detect obstacles and determine whether a first obstacle exists in the first lane. If it is determined that a first obstacle exists in the first lane currently occupied by the target vehicle, the first speed of the first obstacle is obtained.

[0208] Step 302: Determine the first relative speed between the first speed and the set first desired speed, and the second relative speed between the first speed and the second desired speed. The second desired speed is the difference between the first desired speed and the set speed threshold value.

[0209] Optionally, the first desired speed can be a custom setting or a default setting. For example, after the system starts, the user (driver / passenger) can customize the first desired speed. Alternatively, if the user does not customize the setting, the first desired speed will be set to the speed limit of the first lane by default.

[0210] Optionally, the speed threshold value can be a custom setting or a default setting. The speed threshold value of the target vehicle is used to indicate the lane-changing frequency of the target vehicle. The speed threshold value and the lane-changing frequency are negatively correlated; that is, the smaller the speed threshold value, the higher the lane-changing frequency; the larger the speed threshold value, the lower the lane-changing frequency, and the more inclined the vehicle is to stay in the current lane. For example, if the user does not customize the setting, the speed threshold value is set to x times the first driving speed by default, where x is a positive number less than 1. Alternatively, the user can customize a speed threshold value less than the first driving speed, or set a proportional coefficient (i.e., the value of x) between 0 and 1. Illustratively, the value of x is 0.2-0.3. This application embodiment does not limit this.

[0211] Optionally, after determining that there is a first obstacle in the first lane of the target vehicle, the electronic device determines a first relative speed and a second relative speed, wherein the first relative speed is the difference between the first speed and the set first desired speed, and the second relative speed is the difference between the first speed and the second desired speed.

[0212] Step 303: When the first relative speed is less than zero and the second relative speed is less than zero, determine whether to change lanes based on the longitudinal driving information, which indicates the longitudinal driving information of the target vehicle.

[0213] Wherein, when the first relative speed is less than zero, it is used to indicate that the speed of the first obstacle in the longitudinal direction (i.e., the first speed) is less than the first desired speed of the target vehicle; when the second relative speed is less than zero, it is used to indicate that the speed of the first obstacle in the longitudinal direction (i.e., the first speed) is less than the second desired speed (i.e., the difference between the first desired speed and the set speed threshold value).

[0214] When the electronic device determines that both the first relative speed and the second relative speed are less than zero, it enters the lane-changing decision process, that is, it begins to consider lane-changing behavior and determines whether to change lanes based on longitudinal travel information. Optionally, determining whether to change lanes based on longitudinal travel information includes: changing lanes if the longitudinal travel information meets other preset lane-changing conditions, such as the existence of a solution for the objective function corresponding to the second lane to be changed to.

[0215] Optionally, the objective function is established based on the longitudinal relative speed and relative distance between the target vehicle and the second obstacle in the second lane.

[0216] Optionally, other preset lane-changing conditions include the absolute value of the difference between the first longitudinal motion value and the second longitudinal motion value of the target vehicle being greater than a preset threshold; wherein, the first longitudinal motion value is the actual value of the target motion parameter of the target vehicle in the first lane, and the second longitudinal motion value is the virtual value of the target motion parameter of the target vehicle in the second lane, and the target motion parameter includes the longitudinal motion parameter of the target vehicle.

[0217] Optionally, the target motion parameters include the longitudinal acceleration or generalized force of the target vehicle.

[0218] It should be noted that the details of how the electronic device determines whether to change lanes based on longitudinal driving information can be found in the relevant descriptions in the embodiments below, and will not be introduced here.

[0219] Please refer to Figure 4 It illustrates a flowchart of a lane-changing decision method provided in another exemplary embodiment of this application, which is used in this embodiment for... Figure 1 The following example uses an electronic device. The method includes the following steps.

[0220] Step 401: Obtain the road condition information of the target vehicle's current driving. The road condition information indicates the obstacle situation of the first lane within the target vehicle's perception range.

[0221] Optionally, during vehicle operation, the electronic device can detect the surrounding environment in real time or at preset time intervals through the sensing unit to obtain the road condition information of the target vehicle.

[0222] Among them, the road condition information indicates the obstacle situation in the first lane within the target vehicle's perception range.

[0223] Optionally, the road condition information includes a first indicator, which indicates that there is a first obstacle in the target vehicle's current first lane when the first indicator is a first value, and indicates that there is no first obstacle in the target vehicle's current first lane when the first indicator is a second value.

[0224] Optionally, when the traffic information indicates that there is a first obstacle in the first lane of the target vehicle, the traffic information also includes the first speed of the first obstacle, where the first speed is the longitudinal speed of the first obstacle, and the longitudinal direction is the direction parallel to the lane line of the first lane.

[0225] Step 402: Determine whether the road condition information indicates that there is a first obstacle in front of the target vehicle in the first lane.

[0226] The electronic device determines whether the road condition information indicates that there is a first obstacle in front of the target vehicle in the first lane where the target vehicle is located. If the road condition information indicates that there is no first obstacle in front of the target vehicle in the first lane, then step 403 is executed; if the road condition information indicates that there is a first obstacle in front of the target vehicle in the first lane, then step 404 is executed.

[0227] Step 403: If there is no first obstacle in front of the target vehicle in the first lane, drive at the first desired speed.

[0228] Optionally, if there is no first obstacle in the target vehicle's current first lane, the electronic device drives according to the control input until the target vehicle reaches a first desired speed, such as the control input being the longitudinal acceleration or generalized force of the target vehicle. In an illustrative example, such as... Figure 5 As shown, this indicates that there is no first obstacle in the first lane currently occupied by this vehicle.

[0229] Taking the longitudinal acceleration of the target vehicle as the control variable as an example, the first objective function to be optimized is J. x1 As shown below:

[0230]

[0231] Among them, V xdes V is the first desired speed of the target vehicle. x Let be the target vehicle's first speed, and let be the target vehicle's longitudinal acceleration 'a'. x Q v R is the preset first weight (i.e., the weight corresponding to speed), and R is the preset third weight (i.e., the weight corresponding to the control quantity).

[0232] The formula for the first objective function described above is the standard form of the optimization equation. The purpose of optimization is to find the corresponding control quantity that makes the first objective function J on the left side of the equation... x1 The value of is as small as possible, and the first term on the right side of the formula is "(V x -V xdes ) T Q v (V x -V xdes The goal is to make the actual speed of the target vehicle as close as possible to the set first desired speed; the second term on the right side of the formula... It is a constraint on the control quantity, the purpose of which is to avoid the control quantity being too large or changing too rapidly.

[0233] It should be noted that, for ease of explanation, this application only uses the longitudinal acceleration of the target vehicle as an example to introduce the various objective functions. The control quantity can also be the generalized force of the target vehicle in the longitudinal direction, such as the total longitudinal force and / or the total driving torque.

[0234] Another point to note is that while the controller in this application embodiment is recommended to be a model predictive controller, other generalized optimization control methods are also applicable.

[0235] Optionally, the discrete mathematical model of the control algorithm is as follows:

[0236]

[0237] V x (k+1)=V x (k)+a x (k)Δt;

[0238] Where, d si V is the relative distance between the target vehicle and the i-th obstacle at time k. i Let be the velocity of the i-th obstacle at time k, therefore the relative velocity at time k can be written as dV. i (k)=V i (t)-V x (k). The first formula of the discrete mathematical model indicates the relationship between the relative distance between the target vehicle and the i-th obstacle at time k+1 and the relative distance at time k, as well as the velocity and acceleration of the target vehicle and the i-th obstacle. The second formula indicates the relationship between the velocity and acceleration of the target vehicle.

[0239] It should be noted that the speed involved in the embodiments of this application is the speed in the longitudinal direction, and the acceleration is the acceleration in the longitudinal direction.

[0240] The obstacle can be the first obstacle to the target vehicle or the obstacle behind the target vehicle. Obstacles are also called road traffic participants.

[0241] Step 404: If there is a first obstacle in front of the target vehicle in the first lane, determine whether the first relative speed between the first speed and the set first desired speed is less than zero.

[0242] Optionally, when the traffic information indicates that there is a first obstacle in front of the target vehicle in the first lane where the target vehicle is located, the traffic information also includes the first speed of the first obstacle. The electronic device determines the first relative speed between the first speed and the set first desired speed, and determines whether the first relative speed is less than zero. If the first relative speed is greater than or equal to zero, then step 405 is executed; if the first relative speed is less than zero, then step 406 is executed.

[0243] Step 405: When the first relative speed is greater than or equal to zero, travel at the first desired speed.

[0244] If the first relative speed is greater than or equal to zero, that is, the speed of the first obstacle in the longitudinal direction (i.e., the first speed) is greater than or equal to the first desired speed of the target vehicle, then the target vehicle will still travel at the set first desired speed.

[0245] In an illustrative example, such as Figure 6 As shown, this illustrates a situation where a first obstacle exists in the current first lane of the vehicle, where the first obstacle is vehicle A. A Let s be the relative distance between this vehicle and vehicle A. dangerA This is the set safe distance between this vehicle and vehicle A.

[0246] At this point, the second objective function J to be optimized is... x2 As shown below:

[0247]

[0248] Second objective function J x2 The constraint condition is: s A ≥s dangerA Among them, V xdes V is the first desired speed of the target vehicle. x Let be the first speed of the target vehicle, and let be the longitudinal acceleration 'a' of the target vehicle. x Q v As the preset first weight, Q s R is the preset second weight (i.e., the weight corresponding to distance), and s is the preset third weight. A s represents the relative distance between the target vehicle and the first obstacle in the current first lane. dangerA The safe distance between the target vehicle and the first obstacle in the current first lane is set as a function of the target vehicle's speed. The second term on the right-hand side of the formula is "d(1 / s)". A ) T Q s d(1 / s A ")" is an added item, mainly to avoid relative distance s AThe consistently small distance, in reality, means preventing the target vehicle from maintaining a distance from the first obstacle at the edge of the danger constraint. Furthermore, the second objective function J... x2 The constraints were added to limit the relative distance between the target vehicle and the first obstacle, thus avoiding potential dangers caused by an excessively small relative distance.

[0249] Step 406: When the first relative velocity is less than zero, determine whether the second relative velocity is less than zero.

[0250] If the first relative speed is less than zero, it means that the speed of the first obstacle in the longitudinal direction (i.e., the first speed) is less than the first expected speed of the target vehicle. Then the electronic device determines whether the second relative speed is greater than or equal to zero. If the second relative speed is greater than or equal to zero, then step 407 is executed; if the second relative speed is less than zero, then step 408 is executed.

[0251] Step 407: When the second relative speed is greater than or equal to zero, drive in the preset following mode.

[0252] Among them, the preset following mode keeps the distance between the target vehicle and the first obstacle within a preset distance range.

[0253] When the second relative speed is greater than or equal to zero, meaning the longitudinal speed of the first obstacle (i.e., the first speed) is greater than or equal to the second desired speed (i.e., the difference between the first desired speed and the set speed threshold), the electronic device adopts a preset following mode, such as the following mode of an adaptive cruise control (ACC) system. At this time, the third objective function J to be optimized... x3 As shown below:

[0254]

[0255] Third objective function J x3 The constraint condition is: s A ≥s dangerA Among them, V A V is the longitudinal velocity of the first obstacle (e.g., vehicle A) to the target vehicle. x Let be the first speed of the target vehicle, and let be the longitudinal acceleration 'a' of the target vehicle. x Q v As the preset first weight, Q s R is the preset second weight, and R is the preset third weight. A s represents the relative distance between the target vehicle and the first obstacle in the current first lane. dangerAThe set safe distance between the target vehicle and the first obstacle in the current first lane can be set as a function of the target vehicle's speed.

[0256] Step 408: When the second relative velocity is less than zero, determine that the first relative distance is less than or equal to a preset distance threshold.

[0257] Wherein, the first relative distance is the longitudinal relative distance between the target vehicle and the first obstacle in the first lane.

[0258] When the second relative speed is less than zero, meaning the longitudinal speed of the first obstacle (i.e., the first speed) is less than the second desired speed (i.e., the difference between the first desired speed and the set speed threshold), the electronic device enters the lane-changing decision process, that is, it begins to consider lane-changing behavior. At this time, the fourth objective function to be optimized is solved simultaneously in the current first lane and the second lane to be changed to. If the target vehicle is currently in the middle lane, then the left and right lanes are both the second lane to be changed to; if the target vehicle is in the rightmost lane, then the left lane is the second lane to be changed to; if the target vehicle is in the leftmost lane, then the right lane is the second lane to be changed to.

[0259] In an illustrative example, such as Figure 7 It shows that there are obstacles in both the first and second lanes of this vehicle, where the first obstacle in the first lane is vehicle A. A Let s be the relative distance between this vehicle and vehicle A. dangerA The set safe distance between this vehicle and vehicle A; the first obstacle in the second lane where lane changing is to be initiated is vehicle B, s B The relative distance s between this vehicle and vehicle B dangerB The set safe distance between this vehicle and vehicle A; the obstacle behind the vehicle in the second lane where the lane change is to take place is vehicle C, s C The relative distance s between this vehicle and vehicle C is... C It is determined based on the relative distance between vehicle B and vehicle C, i.e., s. C Subtract s from the relative distance between vehicle B and vehicle C B The value s obtained from the vehicle length. dangerC This is the set safe distance between this vehicle and vehicle C.

[0260] The fourth objective function J to be optimized at this point x4 and the fifth objective function J x4_target As shown below:

[0261]

[0262]

[0263] The above constraints are: s A ≥s dangerA ,s B ≥s dangerB ,s C ≥s dangerC .

[0264] Among them, s B s is the relative distance between the target vehicle and the first obstacle in the second lane. dangerB The set safe distance between the target vehicle and the first obstacle in the second lane can be set as a function of the target vehicle's speed; s C s is the relative distance between the target vehicle and the obstacle behind it in the second lane. dangerC The set safe distance between the target vehicle and the obstacle behind it in the second lane; a x_target This refers to the virtual acceleration that needs to be calculated for the target vehicle in the second lane. The meanings of other parameters can be found in the explanations of the relevant parameters in the other formulas mentioned above, and will not be repeated here.

[0265] Optimize the fourth objective function J x4 The goal is to determine the actual acceleration of the target vehicle in the first lane and optimize J. x4_target The goal is to determine the virtual acceleration of the target vehicle in the second lane. When solving the objective function for the second lane, the virtual position of the target vehicle in the second lane is parallel to its actual position in the current first lane.

[0266] Optionally, when the electronic device determines that the second relative speed is less than zero, it can directly enter the lane-changing decision process, that is, execute the step of judging whether the longitudinal driving information meets the preset lane-changing conditions; or, before entering the lane-changing decision process, it can judge whether the relative distance between the target vehicle and the first obstacle in the first lane is less than or equal to a preset distance threshold. If the relative distance is greater than the preset distance threshold, then execute step 409; if the relative distance is less than or equal to the preset distance threshold, then execute step 410.

[0267] Step 409: When the first relative distance is greater than the preset distance threshold, the preset following mode is adopted for driving.

[0268] When the longitudinal relative distance between the target vehicle and the first obstacle in the first lane, i.e. the first relative distance, is greater than the preset distance threshold, it means that the target vehicle is far from the first obstacle in the first lane. In order to avoid unnecessary lane changing behavior, the electronic device can adopt the preset following mode.

[0269] The preset distance threshold can be a custom setting or a default setting. This application does not limit this.

[0270] Step 410: When the first relative distance is less than or equal to a preset distance threshold, determine whether the longitudinal driving information meets the preset lane-changing conditions.

[0271] When the longitudinal relative distance between the target vehicle and the first obstacle in the first lane is less than or equal to a preset distance threshold, it indicates that the target vehicle is close to the first obstacle in the first lane. The vehicle then enters the lane-changing decision process based on longitudinal control, obtains the longitudinal driving information of the target vehicle, and determines whether the longitudinal driving information meets the preset lane-changing conditions. If the longitudinal driving information meets the preset lane-changing conditions, step 411 is executed; if the longitudinal driving information does not meet the preset lane-changing conditions, step 412 is executed.

[0272] The preset lane-changing conditions include at least the feasibility conditions, which include the existence of a solution to the objective function corresponding to the second lane to be changed to. In other words, if the objective function corresponding to the second lane to be changed to has a solution, then the lane-changing behavior of the target vehicle from the first lane to the second lane is feasible. If the objective function corresponding to the second lane to be changed to has no solution, then the lane-changing behavior of the target vehicle from the first lane to the second lane is not feasible.

[0273] Optionally, the objective function corresponding to the second lane is established based on the longitudinal relative speed and relative distance between the target vehicle and the second obstacle in the second lane.

[0274] Schematic, the second obstacle in the second lane includes the first obstacle in the second lane and the rear obstacle in the second lane. The objective function corresponding to the second lane is established by the longitudinal relative speed and relative distance between the target vehicle and the first obstacle in the second lane, and the longitudinal relative speed and relative distance between the target vehicle and the rear obstacle in the second lane.

[0275] In one possible implementation, the objective function corresponding to the second lane is the fifth objective function J mentioned above. x4_target .

[0276] Optionally, the preset lane-changing conditions include not only feasibility conditions but also necessity conditions. Specifically, the preset lane-changing conditions include the existence of a solution for the objective function corresponding to the second lane to be changed to, and the absolute value of the difference between the first and second longitudinal motion values ​​of the target vehicle being changed to be greater than a preset threshold. Here, the first longitudinal motion value is the actual value of the target motion parameter of the target vehicle in the first lane, and the second longitudinal motion value is the virtual value of the target motion parameter of the target vehicle in the second lane. The target motion parameter includes the longitudinal motion parameter of the target vehicle. In other words, if the absolute value of the difference between the first and second longitudinal motion values ​​of the target vehicle is greater than the preset threshold, it means that the target vehicle can travel closer to the first desired speed in the second lane, and the lane-changing behavior of the target vehicle from the first lane to the second lane meets the necessity condition. If the absolute value of the difference between the first and second longitudinal motion values ​​of the target vehicle is less than or equal to the preset threshold, it means that the target vehicle cannot travel closer to the first desired speed in the second lane than in the first lane, and the lane-changing behavior of the target vehicle from the first lane to the second lane does not meet the necessity condition.

[0277] Indicatively, if the target motion parameters include the longitudinal acceleration of the target vehicle, then the preset lane-changing conditions include the existence of a solution for the objective function corresponding to the second lane to be changed, and the absolute value of the difference between the actual acceleration of the target vehicle in the first lane and the virtual acceleration in the second lane is greater than a preset threshold.

[0278] Indicatively, if the target motion parameters include the generalized force of the target vehicle in the longitudinal direction, then the preset lane-changing conditions include the existence of a solution for the objective function corresponding to the second lane to be changed, and the absolute value of the difference between the actual generalized force of the target vehicle in the first lane and the virtual generalized force in the second lane is greater than a preset threshold.

[0279] The preset threshold can be a custom setting or a default setting. For example, a preset threshold greater than 0 is mainly to prevent unnecessary lane changes due to a small absolute value difference between the first and second longitudinal motion values. This application does not limit this aspect.

[0280] Step 411: Perform a lane change if the longitudinal driving information meets the preset lane change conditions.

[0281] Optionally, the electronic device may change lanes if the longitudinal driving information meets the feasibility and necessity conditions for lane changing.

[0282] Step 412: If the longitudinal driving information does not meet the preset lane-changing conditions, adopt the preset following mode for driving or parking.

[0283] Optionally, if the longitudinal driving information does not meet the feasibility or necessity conditions for lane changing, the electronic device may use a preset following mode to drive or stop.

[0284] It should be noted that the conditions for determining the feasibility of lane changing and the conditions for determining the necessity of lane changing by electronic devices can be executed sequentially or in parallel, and the embodiments of this application do not limit this.

[0285] Optionally, the electronic device determines whether the objective function corresponding to the second lane to be changed has a solution. If the objective function corresponding to the second lane has a solution, it determines that the absolute value of the difference between the first longitudinal motion value and the second longitudinal motion value of the target vehicle is greater than a preset threshold. If the absolute value of the difference between the first longitudinal motion value and the second longitudinal motion value of the target vehicle is greater than the preset threshold, the lane change is performed. If the objective function has no solution, or if the absolute value of the difference between the first longitudinal motion value and the second longitudinal motion value is less than or equal to the preset threshold, the electronic device adopts a preset following mode.

[0286] Optionally, if the objective function has no solution, or if the absolute value of the difference between the first longitudinal motion value and the second longitudinal motion value is less than or equal to a preset threshold, and if the first obstacle in the first lane is a stationary obstacle, the electronic device will perform a parking operation.

[0287] In an illustrative example, such as Figure 8 As shown, the decision-making and planning of the target vehicle can include lane changing and other scenarios unrelated to lane changing (only scenarios A, B, and C are shown as examples in the figure). For example, other scenarios unrelated to lane changing include left turns, right turns, etc. The target vehicle adopts the lane changing decision-making method based on longitudinal control provided in the embodiments of this application. When a lane changing is determined, the lane changing decision-making and planning can be realized through the enable signal of longitudinal control.

[0288] In summary, the embodiments of this application propose a lane-changing decision-making method for intelligent vehicles based on longitudinal control. This method enables intelligent vehicles to travel at the first desired speed set by the driver / passengers as much as possible while meeting safety requirements through an autonomous lane-changing strategy, thus achieving safety, efficiency, and a high level of user experience.

[0289] In one possible implementation, after the electronic device operates in a preset following mode or stops, iteratively checks the feasibility and necessity of lane changing. Optionally, the electronic device checks the feasibility and necessity of lane changing in real time or at preset time intervals. In this case, the sixth objective function J to be optimized... x5 and the seventh objective function J x5_target As shown in the following formula:

[0290]

[0291]

[0292] The constraint is: s A ≥s dangerA s B ≥s dangerB s C ≥s dangerC ;

[0293] It should be noted that the meaning of each parameter in this formula can be found in the descriptions of the relevant parameters in the other formulas mentioned above, and will not be repeated here.

[0294] In another possible implementation, after the electronic device performs a lane change, iteratively checks the feasibility and necessity of the lane change during the lane change process.

[0295] Optionally, regarding the feasibility of lane changing, during the lane changing process, the electronic device solves the objective function in real time or at preset time intervals; if there is no solution to the objective function, the lane changing is canceled.

[0296] Optionally, regarding the necessity of lane changing, the determination criteria for necessity, i.e., the lane change cancellation criteria, differ for the electronic device at different stages of the lane change. That is, during the lane change process, the electronic device determines in real time or at preset time intervals whether the lane change cancellation criteria are met; if the criteria are met, the lane change is cancelled. The lane change cancellation criteria involve, but are not limited to, the following possible situations:

[0297] The first scenario is that the target vehicle is still in the first lane. In this case, the lane change cancellation condition includes the absolute value of the difference between the second longitudinal motion value and the first longitudinal motion value being less than a preset threshold.

[0298] In an illustrative example, such as Figure 9 As shown, this illustrates the situation where the vehicle remains in the first lane during a lane change, with a first longitudinal motion value of a. x The second longitudinal motion value is a x_target If the preset threshold is ρ, then the lane change cancellation conditions include: a x_target -a x <ρ.

[0299] The second scenario is when the target vehicle has entered the second lane but its center of gravity or geometric center has not yet entered the second lane. In this case, the lane change cancellation condition includes the second longitudinal motion value being less than or equal to the first longitudinal motion value.

[0300] In an illustrative example, such as Figure 10 As shown, this illustrates a situation where, during a lane change, the vehicle has entered the second lane but its center of gravity or geometric center has not yet entered the second lane. The first longitudinal motion value is a.x The second longitudinal motion value is a x_target If the preset threshold is ρ, then the lane change cancellation conditions include: a x_target ≤a x .

[0301] The third scenario is when the target vehicle's center of gravity or geometric center has entered the second lane. In this case, the lane change cancellation condition includes the absolute value of the difference between the first longitudinal motion value and the second longitudinal motion value being greater than or equal to a preset threshold.

[0302] In an illustrative example, such as Figure 11 As shown, this illustrates a situation where the vehicle's center of gravity or geometric center has entered the second lane during a lane change, with a first longitudinal motion value of a. x The second longitudinal motion value is a x_target If the preset threshold is ρ, then the lane change cancellation conditions include: a x -a x_target ≥v.

[0303] In another possible implementation, if an obstacle (either a first obstacle in the first lane or a second obstacle in the second lane) is performing a lane-changing maneuver between the first and second lanes when the target vehicle is preparing to change lanes, then the constraint imposed by the obstacle on the target vehicle will be applied simultaneously in both the first and second lanes. In this case, the eighth objective function J to be optimized... x6 and the ninth objective function J x6_target As shown in the following formula:

[0304]

[0305]

[0306] The constraint is: s A ≥s dangerA ,s C ≥s dangerC ;

[0307] It should be noted that the meaning of each parameter in this formula can be found in the descriptions of the relevant parameters in the other formulas mentioned above, and will not be repeated here.

[0308] In an illustrative example, such as Figure 12 As shown, this illustrates a situation where, as this vehicle prepares to change lanes, vehicle A ahead is changing lanes from the first lane to the second lane.

[0309] In another illustrative example, such as Figure 13 As shown, this illustrates a situation where, as this vehicle prepares to change lanes, vehicle A ahead is changing lanes from the second lane to the first lane.

[0310] Optionally, if an obstacle behind the target vehicle in the first lane is changing lanes from the first lane to the second lane when the target vehicle is preparing to change lanes, the constraint imposed on the target vehicle by the obstacle behind the first lane will be applied to the second lane. If an obstacle behind the first lane is changing lanes from the first lane to the second lane, and there is an obstacle behind the target vehicle in the second lane, then a target obstacle behind the target vehicle is identified, and the constraint imposed on the target vehicle by the target obstacle behind the target vehicle will be applied to the second lane. The target obstacle behind the target vehicle is the obstacle that is longitudinally closest to the target vehicle between the obstacles behind the first lane and the obstacles behind the second lane.

[0311] It should be noted that the details regarding the constraint imposed on the target vehicle by the obstacle behind it in the second lane can be compared with the description above regarding the constraint imposed on the target vehicle by the obstacle in front of it in both the first and second lanes, and will not be repeated here.

[0312] In an illustrative example, such as Figure 14 As shown, this illustrates a situation where, when the vehicle is preparing to change lanes, vehicle C behind it is changing lanes from the first lane to the second lane. In this case, there is a vehicle D behind the vehicle in the second lane, and vehicle D is behind vehicle C. Therefore, the constraint of vehicle C on the vehicle is applied to the vehicle in the second lane.

[0313] In another illustrative example, such as Figure 15 As shown, this illustrates a situation where, when the vehicle is preparing to change lanes, vehicle D behind it is changing lanes from the first lane to the second lane. In this case, there is a vehicle C behind the vehicle in the second lane, and vehicle C is in front of vehicle D. Therefore, the constraint of vehicle C on the vehicle is applied to the vehicle in the second lane.

[0314] In summary, this application proposes a lane-changing decision-making method for intelligent vehicles based on longitudinal control. Firstly, since lane-changing behavior is closely related to the vehicle's longitudinal movement, integrating lane-changing decisions with longitudinal control avoids the redundancy of rule-based lane-changing decisions and allows for flexible strategy adjustments when traffic conditions change, which is beneficial for adapting to the complex and dynamic driving environment in high-level autonomous driving. Secondly, the lane-changing decision-making method provided in this application can fully and intuitively reflect the driver's / passenger's intentions and preferences. Furthermore, the lane-changing decision-making method provided in this application can significantly improve the driving efficiency of intelligent vehicles by automatically selecting appropriate (feasible and necessary) lane-changing opportunities while ensuring safety. Finally, the lane-changing decision-making method provided in this application can calculate the desired acceleration / generalized force while providing the lane-changing decision, which can greatly reduce the burden on the trajectory planning layer and save computational power.

[0315] Compared to related technologies, the embodiments of this application take into account the driver's / passenger's wishes in generating the lane-changing intention; and after the lane-changing intention is generated, the feasibility and necessity of the lane-changing are judged through longitudinal control, thus integrating the lane-changing decision with longitudinal control, which is not considered in the solutions of related technologies.

[0316] Please refer to Figure 16 The diagram illustrates a lane-changing decision module provided in an exemplary embodiment of this application. The lane-changing decision module includes a personalization unit 1610, a lane-changing intention generation unit 1620, and a lane-changing feasibility and necessity checking unit 1630.

[0317] The personalization unit 1610 receives a first desired speed and a speed threshold value set by the driver / passenger, wherein the speed threshold value determines the frequency at which lane-changing intentions are generated. After the first desired speed and speed threshold value are set, the electronic equipment will automatically change lanes according to the set first desired speed and speed threshold value.

[0318] The lane change intention generation unit 1620 checks whether there is an obstacle (also known as a traffic participant) within the current detection range of the first lane. If no obstacle exists, the vehicle travels at a first desired speed. If an obstacle exists, the unit checks the first relative speed between the first speed and the set first desired speed. If the first relative speed is greater than or equal to zero, the vehicle travels at the first desired speed. If the first relative speed is less than zero, the unit checks the second relative speed between the first speed and the second desired speed. If the second relative speed is greater than or equal to zero, the vehicle travels in a preset following mode. If the second relative speed is less than zero, the unit checks the relative distance between the target vehicle and the first obstacle in the first lane. If the relative distance is greater than a preset distance threshold, the vehicle travels in a preset following mode. If the relative distance is less than or equal to the preset distance threshold, the vehicle enters a lane change decision process based on longitudinal control.

[0319] The lane-change feasibility and necessity check unit 1630 checks the feasibility and necessity conditions of lane changing based on longitudinal driving information. If the longitudinal driving information meets the feasibility and necessity conditions, a lane change is performed, and the check continues. If the longitudinal driving information does not meet the feasibility or necessity conditions, a preset following mode is used for driving or a parking operation is performed, and the check continues.

[0320] In summary, this application proposes a lane-changing decision-making method for intelligent vehicles based on longitudinal control. On one hand, addressing the efficiency issue of lane changing while maintaining safety, this application verifies the feasibility and necessity of lane changing through longitudinal optimization control. The feasibility is determined by whether there is a solution in the second lane to be changed in longitudinal optimization control. The necessity of lane changing is determined by comparing the actual values ​​of the target vehicle's motion parameters in the current first lane with the virtual values ​​in the second lane. The proof of necessity here is not limited to acceleration but also includes control quantities that reflect longitudinal motion, such as generalized forces. Lane-changing behavior is closely related to the vehicle's longitudinal driving situation. Integrating lane-changing decision-making with longitudinal control avoids the redundancy of rule-based lane-changing decisions and allows for flexible strategy adjustments when traffic conditions change, which is beneficial for adapting to the complex and dynamic driving environment in high-level autonomous driving.

[0321] Furthermore, the method proposed in this application can calculate the desired acceleration / generalized force while providing lane-changing decisions, which can greatly reduce the burden on the trajectory planning layer and save computing power.

[0322] On the other hand, regarding the personalization of lane-changing behavior, this application embodiment addresses the issue by allowing the driver / passenger to autonomously set a first desired speed in an intelligent driving system that satisfies both driver and passenger intentions. Furthermore, the driver / passenger can set a speed threshold to personalize the lane-changing frequency. This enables the lane-changing decision-making method proposed in this application embodiment to fully and intuitively reflect the driver / passenger's intentions and preferences.

[0323] On the other hand, regarding the efficiency of lane changing, the embodiments of this application, in terms of generating the motivation for lane changing, use the speed as close as possible to the driver's / passenger's first desired speed or the maximum speed allowed by regulations as the motivation for lane changing, while ensuring safety, thereby improving the efficiency of lane changing.

[0324] The following are embodiments of the apparatus described in this application, which can be used to execute the embodiments of the method described in this application. For details not disclosed in the apparatus embodiments of this application, please refer to the embodiments of the method described in this application.

[0325] Please refer to Figure 17 The diagram illustrates a block diagram of a lane-changing decision-making device provided in an exemplary embodiment of this application. This device can be implemented via software, hardware, or a combination of both. Figure 1 The provided electronic equipment may be all or part thereof. The device may include: an acquisition unit 1710 and a lane-changing unit 1720.

[0326] The acquisition unit 1710 is used to acquire longitudinal driving information of the target vehicle in the first lane where the target vehicle is located when there is a first obstacle in front of the target vehicle. The longitudinal driving information indicates the longitudinal driving information of the target vehicle, and the longitudinal direction is the direction parallel to the lane line of the first lane.

[0327] Lane changing unit 1720 is used to change lanes when the longitudinal driving information meets the preset lane changing conditions;

[0328] The preset lane-changing conditions include a first relative speed less than zero and a second relative speed less than zero. The first relative speed is the relative speed between the first speed and the set first desired speed. The second relative speed is the relative speed between the first speed and the second desired speed. The first speed is the speed of the first obstacle in the longitudinal direction. The second desired speed is the difference between the first desired speed and the set speed threshold value.

[0329] In one possible implementation, the preset lane-changing condition also includes the existence of a solution for the objective function corresponding to the second lane to be changed to. The objective function is established based on the longitudinal relative speed and relative distance between the target vehicle and the second obstacle in the second lane.

[0330] In another possible implementation

[0331] The preset lane-changing conditions also include that the absolute value of the difference between the first longitudinal motion value and the second longitudinal motion value of the target vehicle is greater than a preset threshold.

[0332] Wherein, the first longitudinal motion value is the actual value of the target motion parameter of the target vehicle in the first lane, and the second longitudinal motion value is the virtual value of the target motion parameter of the target vehicle in the second lane. The target motion parameter includes the longitudinal motion parameter of the target vehicle.

[0333] In another possible implementation, the target motion parameters include the longitudinal acceleration or generalized force of the target vehicle.

[0334] In another possible implementation, the device further includes:

[0335] The driving unit is used to drive in a preset following mode when there is no solution to the objective function, or when the absolute value of the difference between the first longitudinal motion value and the second longitudinal motion value is less than or equal to a preset threshold. The preset following mode is to keep the distance between the target vehicle and the first obstacle in the first lane within a preset distance range.

[0336] In another possible implementation, the device further includes:

[0337] The parking unit is used to perform a parking operation if the first obstacle in the first lane is a stationary obstacle, when the objective function has no solution or the absolute value of the difference between the first longitudinal motion value and the second longitudinal motion value is less than or equal to a preset threshold.

[0338] In another possible implementation, the device further includes: a first lane-changing cancellation unit, used for:

[0339] During lane changing, the objective function is solved in real time or at preset time intervals;

[0340] If the objective function has no solution, cancel the lane change.

[0341] In another possible implementation, the device further includes: a second lane-changing cancellation unit, used for:

[0342] During lane changing, it is determined in real time or at preset time intervals whether the lane change cancellation condition is met;

[0343] If the conditions for canceling a lane change are met, then the lane change is canceled.

[0344] The conditions for canceling a lane change include:

[0345] The target vehicle remains in the first lane, and the absolute value of the difference between the second longitudinal motion value and the first longitudinal motion value is less than a preset threshold; and / or,

[0346] The target vehicle has entered the second lane but its center of gravity or geometric center has not yet entered the second lane, and the second longitudinal motion value is less than or equal to the first longitudinal motion value; and / or,

[0347] The target vehicle's center of gravity or geometric center has entered the second lane, and the absolute value of the difference between the first longitudinal motion value and the second longitudinal motion value is greater than or equal to a preset threshold.

[0348] In another possible implementation, the preset lane-changing condition also includes a first relative distance less than or equal to a preset distance threshold, where the first relative distance is the longitudinal relative distance between the target vehicle and the first obstacle in the first lane.

[0349] In another possible implementation, the device further includes:

[0350] The driving unit is used to drive in a preset following mode when the first relative distance is greater than a preset distance threshold. The preset following mode keeps the distance between the target vehicle and the first obstacle within a preset distance range.

[0351] In another possible implementation, the device further includes:

[0352] The driving unit is used to travel at a first desired speed when the first relative speed is greater than or equal to zero.

[0353] In another possible implementation, the device further includes:

[0354] The driving unit is used to drive in a preset following mode when the first relative speed is less than zero and the second relative speed is greater than or equal to zero. The preset following mode keeps the distance between the target vehicle and the first obstacle within a preset distance range.

[0355] It should be noted that the apparatus provided in the above embodiments is only illustrated by the division of the above functional modules when implementing its functions. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the apparatus and method embodiments provided in the above embodiments belong to the same concept, and the specific implementation process can be found in the method embodiments, which will not be repeated here.

[0356] Please refer to Figure 18 This illustration shows a block diagram of a lane-changing decision-making device provided in another exemplary embodiment of this application. This device can be implemented via software, hardware, or a combination of both. Figure 1 The provided electronic equipment may be all or part thereof. The device may include: an acquisition unit 1810 and a lane-changing unit 1820.

[0357] The acquisition unit 1810 is used to acquire longitudinal driving information of the target vehicle in the first lane where the target vehicle is located when there is a first obstacle in front of the target vehicle. The longitudinal driving information indicates the longitudinal driving information of the target vehicle, and the longitudinal direction is the direction parallel to the lane line of the first lane.

[0358] Lane-changing unit 1820 is used to change lanes when the longitudinal driving information meets the preset lane-changing conditions. The preset lane-changing conditions include that the objective function corresponding to the second lane to be changed has a solution. The objective function is established based on the relative speed and relative distance between the target vehicle and the second obstacle in the second lane in the longitudinal direction.

[0359] In one possible implementation, the preset lane-changing condition also includes that the absolute value of the difference between the first longitudinal motion value and the second longitudinal motion value of the target vehicle is greater than a preset threshold.

[0360] Wherein, the first longitudinal motion value is the actual value of the target motion parameter of the target vehicle in the first lane, and the second longitudinal motion value is the virtual value of the target motion parameter of the target vehicle in the second lane. The target motion parameter includes the longitudinal motion parameter of the target vehicle.

[0361] In another possible implementation, the target motion parameters include the longitudinal acceleration or generalized force of the target vehicle.

[0362] In another possible implementation, the device further includes:

[0363] The driving unit is used to drive in a preset following mode when there is no solution to the objective function, or when the absolute value of the difference between the first longitudinal motion value and the second longitudinal motion value is less than or equal to a preset threshold. The preset following mode is to keep the distance between the target vehicle and the first obstacle in the first lane within a preset distance range.

[0364] In another possible implementation, the device further includes:

[0365] The parking unit is used to perform a parking operation if the first obstacle in the first lane is a stationary obstacle, when the objective function has no solution or the absolute value of the difference between the first longitudinal motion value and the second longitudinal motion value is less than or equal to a preset threshold.

[0366] In another possible implementation, the device further includes: a first lane-changing cancellation unit, used for:

[0367] During lane changing, the objective function is solved in real time or at preset time intervals;

[0368] If the objective function has no solution, cancel the lane change.

[0369] In another possible implementation, the device further includes: a second lane-changing cancellation unit, used for:

[0370] During lane changing, it is determined in real time or at preset time intervals whether the lane change cancellation condition is met;

[0371] If the conditions for canceling a lane change are met, then the lane change is canceled.

[0372] The conditions for canceling a lane change include:

[0373] The target vehicle remains in the first lane, and the absolute value of the difference between the second longitudinal motion value and the first longitudinal motion value is less than a preset threshold; and / or,

[0374] The target vehicle has entered the second lane but its center of gravity or geometric center has not yet entered the second lane, and the second longitudinal motion value is less than or equal to the first longitudinal motion value; and / or,

[0375] The target vehicle's center of gravity or geometric center has entered the second lane, and the absolute value of the difference between the first longitudinal motion value and the second longitudinal motion value is greater than or equal to a preset threshold.

[0376] In another possible implementation, the device further includes: a lane-changing unit 1820, which is also used for:

[0377] Obtain the first velocity of the first obstacle, which is the longitudinal velocity of the first obstacle;

[0378] Determine the first relative speed between the first speed and the set first desired speed, and the second relative speed between the first speed and the second desired speed, wherein the second desired speed is the difference between the first desired speed and the set speed threshold value;

[0379] When the first relative speed is less than zero and the second relative speed is less than zero, the step of changing lanes is performed if the longitudinal driving information meets the preset lane-changing conditions.

[0380] In another possible implementation, the device further includes: a lane-changing unit 1820, which is also used for:

[0381] When the first relative speed is less than zero and the second relative speed is less than zero, the first relative distance is determined. The first relative distance is the longitudinal relative distance between the target vehicle and the first obstacle in the first lane.

[0382] When the first relative distance is less than or equal to a preset distance threshold, the step of changing lanes is performed if the longitudinal driving information meets the preset lane-changing conditions.

[0383] In another possible implementation, the device further includes:

[0384] The driving unit is used to drive in a preset following mode when the first relative distance is greater than a preset distance threshold. The preset following mode keeps the distance between the target vehicle and the first obstacle within a preset distance range.

[0385] In another possible implementation, the device further includes:

[0386] The driving unit is used to travel at a first desired speed when the first relative speed is greater than or equal to zero.

[0387] In another possible implementation, the device further includes:

[0388] The driving unit is used to drive in a preset following mode when the first relative speed is less than zero and the second relative speed is greater than or equal to zero. The preset following mode keeps the distance between the target vehicle and the first obstacle within a preset distance range.

[0389] It should be noted that the apparatus provided in the above embodiments is only illustrated by the division of the above functional modules when implementing its functions. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the apparatus and method embodiments provided in the above embodiments belong to the same concept, and the specific implementation process can be found in the method embodiments, which will not be repeated here.

[0390] This application provides a lane-changing decision-making device, which includes: a processor; and a memory for storing processor-executable instructions; wherein the processor is configured to execute instructions to implement the lane-changing decision-making method executed by the electronic device in the above embodiments.

[0391] This application provides a computer program product, which includes computer-readable code or a non-volatile computer-readable storage medium carrying computer-readable code. When the computer-readable code is run in an electronic device, the processor in the electronic device executes the lane-switching decision method executed by the electronic device in the above embodiments.

[0392] This application provides a non-volatile computer-readable storage medium storing computer program instructions, which, when executed by a processor, implement the lane-switching decision method performed by the electronic device in the above embodiments.

[0393] Computer-readable storage media can be tangible devices capable of holding and storing instructions for use by an instruction execution device. Computer-readable storage media can be, for example—but not limited to—electrical storage devices, magnetic storage devices, optical storage devices, electromagnetic storage devices, semiconductor storage devices, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of computer-readable storage media include: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), electrically programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), compact disc read-only memory (CD-ROM), digital video disc (DVD), memory sticks, floppy disks, mechanical encoding devices, such as punch cards or recessed protrusions storing instructions thereon, and any suitable combination of the foregoing.

[0394] The computer-readable program instructions or code described herein can be downloaded from computer-readable storage media to various computing / processing devices, or downloaded via a network, such as the Internet, local area network, wide area network, and / or wireless network, to an external computer or external storage device. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. A network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards them to the computer-readable storage media in the respective computing / processing device.

[0395] The computer program instructions used to perform the operations of this application may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, status setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, etc., and conventional procedural programming languages ​​such as "C" or similar languages. The computer-readable program instructions may be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer may be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or may be connected to an external computer (e.g., via the Internet using an Internet service provider). In some embodiments, electronic circuits, such as programmable logic circuits, field-programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), are personalized by utilizing state information from computer-readable program instructions. These electronic circuits can execute computer-readable program instructions to implement various aspects of this application.

[0396] Various aspects of this application are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-readable program instructions.

[0397] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that, when executed by the processor of the computer or other programmable data processing apparatus, they create means for implementing the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium that causes a computer, programmable data processing apparatus, and / or other device to operate in a particular manner; thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing aspects of the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0398] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to perform the functions / actions specified in one or more boxes of a flowchart and / or block diagram.

[0399] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of an instruction containing one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than those shown in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved.

[0400] It should also be noted that each block in the block diagram and / or flowchart, as well as combinations of blocks in the block diagram and / or flowchart, can be implemented using hardware (such as circuits or ASICs (Application Specific Integrated Circuits)) that performs the corresponding function or action, or using a combination of hardware and software, such as firmware.

[0401] Although this application has been described herein in conjunction with various embodiments, those skilled in the art, by reviewing the accompanying drawings, disclosure, and appended claims, will understand and implement other variations of the disclosed embodiments in carrying out the claimed application. In the claims, the word "comprising" does not exclude other components or steps, and "a" or "an" does not exclude multiple instances. A single processor or other unit can implement several functions listed in the claims. While different dependent claims may recite certain measures, this does not mean that these measures cannot be combined to produce good results.

[0402] The various embodiments of this application have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or improvement of the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A lane-changing decision-making method, characterized in that, The method includes: In the first lane where the target vehicle is located, when there is a first obstacle in front of the target vehicle, the longitudinal driving information of the target vehicle is obtained. The longitudinal driving information indicates the longitudinal driving information of the target vehicle, and the longitudinal direction is parallel to the lane line of the first lane. Lane changing is performed when the longitudinal driving information meets the preset lane changing conditions. The preset lane-changing conditions include a first relative speed less than zero and a second relative speed less than zero. The first relative speed is the relative speed between a first speed and a set first desired speed. The second relative speed is the relative speed between the first speed and a second desired speed. The first speed is the speed of the first obstacle in the longitudinal direction. The second desired speed is the difference between the first desired speed and a set speed threshold value.

2. The method according to claim 1, characterized in that, The preset lane-changing condition also includes the existence of a solution for the objective function corresponding to the second lane to be changed to. The objective function is established based on the relative speed and relative distance between the target vehicle and the second obstacle in the second lane in the longitudinal direction.

3. The method according to claim 2, characterized in that, The preset lane-changing condition also includes that the absolute value of the difference between the first longitudinal motion value and the second longitudinal motion value of the target vehicle is greater than a preset threshold. Wherein, the first longitudinal motion value is the actual value of the target motion parameter of the target vehicle in the first lane, and the second longitudinal motion value is the virtual value of the target motion parameter of the target vehicle in the second lane, wherein the target motion parameter includes the motion parameter of the target vehicle in the longitudinal direction.

4. The method according to claim 3, characterized in that, The target motion parameters include the acceleration or generalized force of the target vehicle in the longitudinal direction.

5. The method according to claim 3 or 4, characterized in that, The method further includes: If the objective function has no solution, or if the absolute value of the difference between the first longitudinal motion value and the second longitudinal motion value is less than or equal to the preset threshold, a preset following mode is adopted for driving. The preset following mode is such that the distance between the target vehicle and the first obstacle in the first lane is kept within a preset distance range.

6. The method according to claim 3 or 4, characterized in that, The method further includes: If the objective function has no solution, or if the absolute value of the difference between the first longitudinal motion value and the second longitudinal motion value is less than or equal to the preset threshold, and if the first obstacle in the first lane is a stationary obstacle, then a parking operation is performed.

7. The method according to any one of claims 2 to 6, characterized in that, The method further includes: During lane changing, the objective function is solved in real time or at preset time intervals; If the objective function has no solution, cancel the lane change.

8. The method according to any one of claims 3 to 7, characterized in that, The method further includes: During lane changing, it is determined in real time or at preset time intervals whether the lane change cancellation condition is met; If the lane change cancellation conditions are met, then the lane change is cancelled; The lane change cancellation conditions include: The target vehicle remains in the first lane, and the absolute value of the difference between the second longitudinal motion value and the first longitudinal motion value is less than the preset threshold; and / or, The target vehicle has entered the second lane but its center of gravity or geometric center has not yet entered the second lane, and the second longitudinal motion value is less than or equal to the first longitudinal motion value; and / or, The target vehicle's center of gravity or geometric center has entered the second lane, and the absolute value of the difference between the first longitudinal motion value and the second longitudinal motion value is greater than or equal to the preset threshold.

9. The method according to any one of claims 1 to 8, characterized in that, The preset lane-changing condition also includes a first relative distance less than or equal to a preset distance threshold, wherein the first relative distance is the relative distance between the target vehicle and the first obstacle in the first lane in the longitudinal direction.

10. The method according to claim 9, characterized in that, The method further includes: When the first relative distance is greater than the preset distance threshold, a preset following mode is adopted for driving. The preset following mode is that the distance between the target vehicle and the first obstacle is kept within a preset distance range.

11. The method according to any one of claims 1 to 10, characterized in that, The method further includes: When the first relative speed is greater than or equal to zero, travel at the first desired speed.

12. The method according to any one of claims 1 to 11, characterized in that, The method further includes: When the first relative speed is less than zero and the second relative speed is greater than or equal to zero, a preset following mode is adopted, wherein the preset following mode is such that the distance between the target vehicle and the first obstacle is maintained within a preset distance range.

13. A lane-changing decision-making device, characterized in that, The device includes: The acquisition unit is used to acquire longitudinal driving information of the target vehicle in the first lane where the target vehicle is located when there is a first obstacle in front of the target vehicle. The longitudinal driving information indicates the longitudinal driving information of the target vehicle, and the longitudinal direction is the direction parallel to the lane line of the first lane. The lane-changing unit is used to change lanes when the longitudinal driving information meets the preset lane-changing conditions. The preset lane-changing conditions include a first relative speed less than zero and a second relative speed less than zero. The first relative speed is the relative speed between a first speed and a set first desired speed. The second relative speed is the relative speed between the first speed and a second desired speed. The first speed is the speed of the first obstacle in the longitudinal direction. The second desired speed is the difference between the first desired speed and a set speed threshold value.

14. The apparatus according to claim 13, characterized in that, The preset lane-changing condition also includes the existence of a solution for the objective function corresponding to the second lane to be changed to. The objective function is established based on the relative speed and relative distance between the target vehicle and the second obstacle in the second lane in the longitudinal direction.

15. The apparatus according to claim 14, characterized in that, The preset lane-changing condition also includes that the absolute value of the difference between the first longitudinal motion value and the second longitudinal motion value of the target vehicle is greater than a preset threshold. Wherein, the first longitudinal motion value is the actual value of the target motion parameter of the target vehicle in the first lane, and the second longitudinal motion value is the virtual value of the target motion parameter of the target vehicle in the second lane, wherein the target motion parameter includes the motion parameter of the target vehicle in the longitudinal direction.

16. The apparatus according to claim 15, characterized in that, The target motion parameters include the acceleration or generalized force of the target vehicle in the longitudinal direction.

17. The apparatus according to claim 15 or 16, characterized in that, The device further includes: The driving unit is configured to drive in a preset following mode when the objective function has no solution or the absolute value of the difference between the first longitudinal motion value and the second longitudinal motion value is less than or equal to the preset threshold. The preset following mode is configured to keep the distance between the target vehicle and the first obstacle in the first lane within a preset distance range.

18. The apparatus according to claim 15 or 16, characterized in that, The device further includes: The parking unit is configured to perform a parking operation if the first obstacle in the first lane is a stationary obstacle, when the objective function has no solution or the absolute value of the difference between the first longitudinal motion value and the second longitudinal motion value is less than or equal to the preset threshold.

19. The apparatus according to any one of claims 14 to 18, characterized in that, The device further includes: a first lane-changing cancellation unit, used for: During lane changing, the objective function is solved in real time or at preset time intervals; If the objective function has no solution, cancel the lane change.

20. The apparatus according to any one of claims 15 to 19, characterized in that, The device further includes: a second lane-changing cancellation unit, used for: During lane changing, it is determined in real time or at preset time intervals whether the lane change cancellation condition is met; If the lane change cancellation conditions are met, then the lane change is cancelled; The lane change cancellation conditions include: The target vehicle remains in the first lane, and the absolute value of the difference between the second longitudinal motion value and the first longitudinal motion value is less than the preset threshold; and / or, The target vehicle has entered the second lane but its center of gravity or geometric center has not yet entered the second lane, and the second longitudinal motion value is less than or equal to the first longitudinal motion value; and / or, The target vehicle's center of gravity or geometric center has entered the second lane, and the absolute value of the difference between the first longitudinal motion value and the second longitudinal motion value is greater than or equal to the preset threshold.

21. The apparatus according to any one of claims 13 to 20, characterized in that, The preset lane-changing condition also includes a first relative distance less than or equal to a preset distance threshold, wherein the first relative distance is the relative distance between the target vehicle and the first obstacle in the first lane in the longitudinal direction.

22. The apparatus according to claim 21, characterized in that, The device further includes: The driving unit is used to drive in a preset following mode when the first relative distance is greater than the preset distance threshold. The preset following mode is to keep the distance between the target vehicle and the first obstacle within a preset distance range.

23. The apparatus according to any one of claims 13 to 22, characterized in that, The device further includes: The driving unit is used to drive at the first desired speed when the first relative speed is greater than or equal to zero.

24. The apparatus according to any one of claims 13 to 23, characterized in that, The device further includes: The driving unit is used to drive in a preset following mode when the first relative speed is less than zero and the second relative speed is greater than or equal to zero. The preset following mode is such that the distance between the target vehicle and the first obstacle is kept within a preset distance range.

25. A lane-changing decision-making device, characterized in that, The device includes: processor; Memory used to store processor-executable instructions; The processor is configured to implement the method according to any one of claims 1-12 when executing the instructions.

26. A non-volatile computer-readable storage medium storing computer program instructions thereon, characterized in that, When the computer program instructions are executed by the processor, they implement the method described in any one of claims 1-12.

27. A computer program product comprising computer-readable code, or a non-volatile computer-readable storage medium carrying the computer-readable code, characterized in that, When the computer-readable code is run in an electronic device, the processor in the electronic device performs the method according to any one of claims 1-12.

28. A vehicle, characterized in that, The vehicles include: processor; Memory used to store processor-executable instructions; The processor is configured to implement the method according to any one of claims 1-12 when executing the instructions.

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