Autonomous lane changing method, device, vehicle and storage medium for vehicle

Abstract

This application relates to a method, apparatus, vehicle, and storage medium for autonomous lane changing of a vehicle. The method includes: when the vehicle is in an autonomous lane-changing condition, collecting the vehicle's current driving parameters and / or the current road parameters of the road it is on; based on the current driving parameters and / or the current road parameters, combined with the vehicle's desired speed and / or globally planned path, identifying the vehicle's actual needs; if the actual need is a lane-changing need, determining the vehicle's current lane-changing scenario, executing the autonomous lane-changing strategy corresponding to the current lane-changing scenario, and completing the lane change. This solves the technical problems in related technologies where the lane-changing request results have high uncertainty, poor descriptiveness, and difficulty in adjusting the output results for specific scenarios.

Description

Technical Field

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

[0002] When vehicles are driving on the road, there is often a need to change lanes. Traditional lane-changing methods are mainly for assisted lane-changing scenarios where there is a driver in the vehicle's cockpit, that is, to anticipate road conditions and remind the driver to perform targeted lane-changing operations.

[0003] In related technologies, methods such as adjusting weights based on the feature values ​​of surrounding targets can be used to make lane change decision-making logic judgments in order to reduce the instability caused by human judgment. However, in related technologies, the uncertainty of lane change request results is high, the describability is poor, it is difficult to adjust the output results for specific scenarios, the reliability is poor, and there is room for improvement. Summary of the Invention

[0004] This application provides a method, device, vehicle, and storage medium for autonomous lane changing of a vehicle, in order to solve the technical problem in the related art that the lane change request result has high uncertainty, poor descriptibility, and difficulty in adjusting the output result for specific scenarios.

[0005] The first aspect of this application provides a method for autonomous lane changing of a vehicle, comprising the following steps: when the vehicle is in an autonomous lane changing condition, collecting the vehicle's current driving parameters and / or the current road parameters of the road in which it is located; based on the current driving parameters and / or the current road parameters, combined with the vehicle's expected speed and / or globally planned path, identifying the vehicle's actual needs; if the actual needs are lane changing needs, determining the vehicle's current lane changing scenario, executing the autonomous lane changing strategy corresponding to the current lane changing scenario, and completing the lane change.

[0006] Optionally, in one embodiment of this application, after determining the current lane-changing scenario of the vehicle, the method further includes: determining whether there are multiple lane-changing scenarios; if there are multiple lane-changing scenarios, determining the lane-changing scenario with the highest priority from the lane-changing scenarios according to a preset scenario priority as the current lane-changing scenario.

[0007] Optionally, in one embodiment of this application, determining the current lane-changing scenario of the vehicle includes: when the expected vehicle speed is greater than a preset vehicle speed threshold, the current lane-changing scenario is a rapid lane-changing scenario; when the current road segment in which the vehicle is traveling is determined to meet preset danger conditions based on the current road parameters, the current lane-changing scenario is a dangerous vehicle lane-changing scenario; when there are other vehicles in front of the vehicle that meet preset speed control conditions, the current lane-changing scenario is an efficient lane-changing scenario.

[0008] Optionally, in one embodiment of this application, executing the autonomous lane-changing strategy corresponding to the current lane-changing scenario includes: when the current lane-changing scenario is the rapid lane-changing scenario, determining the target lane of the vehicle based on the current road parameters, and planning and controlling the vehicle to change lanes until the vehicle travels to the target lane.

[0009] Optionally, in one embodiment of this application, executing the autonomous lane-changing strategy corresponding to the current lane-changing scenario includes: when the current lane-changing scenario is the dangerous vehicle lane-changing scenario, determining the target lane of the vehicle based on the current road parameters, and planning and controlling the vehicle to change lanes until the vehicle travels to the target lane.

[0010] Optionally, in one embodiment of this application, executing the autonomous lane-changing strategy corresponding to the current lane-changing scenario includes: when the current lane-changing scenario is the efficiency lane-changing scenario, calculating the traffic efficiency of adjacent lanes based on the current road parameters, and determining the target lane of the vehicle based on the traffic efficiency.

[0011] A second aspect of this application provides an autonomous lane-changing device for a vehicle, comprising: a data acquisition module, configured to acquire the vehicle's current driving parameters and / or the current road parameters of the road in which the vehicle is located when the vehicle is in an autonomous lane-changing condition; an identification module, configured to identify the vehicle's actual needs based on the current driving parameters and / or the current road parameters, combined with the vehicle's desired speed and / or a globally planned path; and a planning and control module, configured to determine the vehicle's current lane-changing scenario when the actual need is a lane-changing need, execute the autonomous lane-changing strategy corresponding to the current lane-changing scenario, and complete the lane change.

[0012] Optionally, in one embodiment of this application, it further includes: a judgment module, used to judge whether there are multiple lane change scenarios; and a determination module, used to determine the lane change scenario with the highest priority from the lane change scenarios as the current lane change scenario when there are multiple lane change scenarios, according to a preset scenario priority.

[0013] Optionally, in one embodiment of this application, the planning control module includes: a first determining unit, configured to determine that the current lane change scenario is a fast lane change scenario when the expected vehicle speed is greater than a preset vehicle speed threshold; a second determining unit, configured to determine that the current lane change scenario is a dangerous vehicle lane change scenario when the current road segment in which the vehicle is traveling meets preset danger conditions based on the current road parameters; and a third determining unit, configured to determine that the current lane change scenario is an efficient lane change scenario when there are other vehicles in front of the vehicle that meet preset speed control conditions.

[0014] Optionally, in one embodiment of this application, the planning and control module includes: a first control unit, configured to determine the target lane of the vehicle based on the current road parameters when the current lane-changing scenario is the rapid lane-changing scenario, and plan and control the vehicle to change lanes until the vehicle travels to the target lane.

[0015] Optionally, in one embodiment of this application, the planning control module includes: a second control unit, configured to determine the target lane of the vehicle based on the current road parameters when the current lane-changing scenario is the dangerous vehicle lane-changing scenario, and plan and control the vehicle to change lanes until the vehicle travels to the target lane.

[0016] Optionally, in one embodiment of this application, the planning control module includes: a third control unit, configured to calculate the traffic efficiency of adjacent lanes based on the current road parameters when the current lane-changing scenario is the efficiency lane-changing scenario, and determine the target lane of the vehicle based on the traffic efficiency.

[0017] A third aspect of this application provides a vehicle, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the autonomous lane-changing method of the vehicle as described in the above embodiments.

[0018] A fourth aspect of this application provides a computer-readable storage medium storing computer instructions for causing the computer to perform the autonomous lane-changing method for a vehicle as described in the above embodiments.

[0019] This application's embodiments can determine the hazardous conditions and traffic restrictions of each lane based on current road parameters. By combining these with constraints such as the globally planned path and the driver's desired speed, the actual needs of the vehicle are determined. This allows for the determination of whether the vehicle needs to autonomously change lanes and the specific lane-changing scenario, enabling targeted autonomous lane changes. This results in lane-change request outcomes that are more human-like, describable, safer, more reliable, and more comfortable. Therefore, it solves the technical problems in related technologies where lane-change request outcomes have high uncertainty, poor describability, and difficulty in adjusting the output results for specific scenarios.

[0020] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0021] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0022] Figure 1 This is a schematic diagram illustrating the principle of an autonomous lane-changing method for a vehicle according to an embodiment of this application.

[0023] Figure 2 This is a flowchart of a vehicle autonomous lane-changing method according to an embodiment of this application;

[0024] Figure 3 This is a schematic diagram illustrating the principle of an autonomous lane-changing method for a vehicle according to another embodiment of this application;

[0025] Figure 4 This is a schematic diagram of the structure of an autonomous lane-changing device for a vehicle according to an embodiment of this application;

[0026] Figure 5 This is a structural schematic diagram of a vehicle provided according to an embodiment of this application. Detailed Implementation

[0027] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0028] The following description, with reference to the accompanying drawings, describes an autonomous lane-changing method, apparatus, vehicle, and storage medium for vehicles according to embodiments of this application. Addressing the technical problems mentioned in the background art, such as high uncertainty and poor descriptibility of lane-change request results, making it difficult to adjust the output results for specific scenarios, this application provides an autonomous lane-changing method for vehicles. In this method, the hazardous conditions and traffic restrictions of each lane can be determined based on current road parameters. This, combined with constraints such as the globally planned path and the driver's desired speed, determines the vehicle's actual needs, thereby determining whether the vehicle needs to autonomously change lanes and the lane-changing scenario. This allows for targeted autonomous lane-changing, making the lane-change request results more human-like, more descriptive, safer, more reliable, and more comfortable. Thus, it solves the technical problems of high uncertainty and poor descriptibility of lane-change request results, making it difficult to adjust the output results for specific scenarios in related technologies.

[0029] Before explaining the autonomous lane-changing method of the vehicle according to the embodiments of this application, the structure involved in the embodiments of this application will be described first.

[0030] The embodiments of this application can be based on Figure 1 The structure shown implements the autonomous lane-changing method for vehicles according to embodiments of this application.

[0031] like Figure 1As shown, the structure may include: a map and positioning module 101, a perception fusion module 102, a prediction module 103, a vehicle state management module 104, a horizontal and vertical trajectory planning module 105, a decision-making module 106, and a planning and control module 107.

[0032] The map and positioning module 101 can be used to process navigation map and high-precision map information, and integrate positioning information, etc.

[0033] The perception fusion module 102 can be used to perceive and fuse surrounding static and dynamic obstacles, and identify information such as lane lines, traffic signs and traffic lights.

[0034] The prediction module 103 can be used to predict the trajectory of surrounding dynamic obstacles, including traffic participants such as vehicles, bicycles, motorcycles, and pedestrians.

[0035] The vehicle status management module 104 can be used to process and send vehicle function status information, driver status monitoring, etc.

[0036] The horizontal and vertical trajectory planning module 105 can be used to receive the lane change status and reference line information from the decision module 106 and plan the vehicle's driving trajectory.

[0037] The decision module 106 can be used to filter and process the surrounding obstacles output by the perception fusion module 102. Based on global path navigation information and surrounding static obstacle information, it generates a mandatory lane change request; based on desired vehicle speed, lane efficiency, and interaction with surrounding obstacles, it generates a comfortable lane change request. Upon receiving a corresponding lane change request, the vehicle can determine whether to execute the request based on current road information and surrounding obstacles, obtain the judgment result, and adjust the relevant lane change state accordingly, outputting the corresponding lane reference lines to the lateral and longitudinal trajectory planning modules 105.

[0038] The planning and control module 107 can control the vehicle to change lanes based on the planning results of the horizontal and vertical trajectory planning module 105.

[0039] Specifically, Figure 2 This is a flowchart illustrating an autonomous lane-changing method for a vehicle provided in an embodiment of this application.

[0040] like Figure 2 As shown, the autonomous lane-changing method of this vehicle includes the following steps:

[0041] In step S201, when the vehicle is in autonomous lane-changing mode, the current driving parameters of the vehicle and / or the current road parameters of the road in which it is located are collected.

[0042] In actual implementation, the embodiments of this application can first identify the current operating condition of the vehicle. When the vehicle is on a one-way street or other road conditions where lane changing is not allowed, the embodiments of this application do not need to identify autonomous lane changing scenarios.

[0043] When the vehicle is in a road condition that allows lane changing, the vehicle in this embodiment of the application can determine that the vehicle is in an autonomous lane changing condition, and then collect the vehicle's current driving data and / or the current road parameters of the road it is on.

[0044] The current driving data may include the vehicle's current speed, whether the vehicle has received a turn signal, and the vehicle's command execution parameters; the current road parameters may include lane line location, lane line type, lane type, and the status of traffic participants in each lane.

[0045] For example, current driving data can be obtained from the vehicle's overall controller;

[0046] Current road parameters can be obtained by fusing navigation map and high-precision map information with vehicle positioning information, and by fusing static and dynamic obstacles around the vehicle.

[0047] In step S202, based on the current driving parameters and / or current road parameters, combined with the vehicle's desired speed and / or globally planned path, the vehicle's actual needs are identified.

[0048] As one possible approach, embodiments of this application can obtain the local road environment and surrounding traffic speed based on current road parameters, and, in conjunction with conditions such as vehicle type, identify the actual needs of vehicles, such as acceleration needs, deceleration needs, and lane-changing needs. The desired vehicle speed can be the desired speed set by the driver.

[0049] For example, when the global planning path determines that the vehicle will exit the highway or expressway at the next exit, the embodiments of this application can obtain the vehicle's current lane and the lateral relationship between the current lane and the ramp from the current road parameters. If the current lane is the leftmost lane, the vehicle needs to change lanes to the right lane. After completing one lane change, the vehicle will drive forward for a period of time according to traffic regulations and change lanes again until it enters the ramp. At this time, the actual need of the vehicle is the lane change need.

[0050] Based on the global path planning, it is determined that the vehicle will continue to travel on the current road. Based on the current driving parameters and the current road parameters, it is determined that the vehicle's speed differs significantly from that of surrounding vehicles. Therefore, the embodiments of this application can determine that the actual needs of the vehicle are such as gear shifting requirements.

[0051] In step S203, if the actual need is a lane change, the current lane change scenario of the vehicle is determined, the autonomous lane change strategy corresponding to the current lane change scenario is executed, and the lane change is completed.

[0052] Furthermore, in the case of a lane change requirement, this application embodiment can match the vehicle's current lane change scenario based on data such as current driving parameters, current road parameters, global planning path, and the driver's desired speed, thereby determining the vehicle's autonomous lane change strategy based on the current lane change scenario and completing the lane change.

[0053] For example, embodiments of this application can consider events such as whether there is a roadblock ahead, entering a ramp, merging into the main road, or changing lanes along the navigation path to determine the lane change scenario. When it is determined to be a fast lane change scenario, the reverse lane change request is suppressed for a certain period of time. Embodiments of this application can determine the current lane change scenario as an efficiency lane change scenario, i.e., a scenario where the driver changes lanes to the corresponding lane to improve vehicle traffic efficiency, based on the driver's set desired speed, traffic flow speed, and speed limit information for each lane, and initiate a fast lane change request. Embodiments of this application can combine the dangerous vehicle identification situation of each lane to determine the current lane change scenario as an active lane change request dangerous vehicle lane change scenario, etc.

[0054] Optionally, in one embodiment of this application, determining the current lane-changing scenario of the vehicle includes: when the expected vehicle speed is greater than a preset vehicle speed threshold, the current lane-changing scenario is a fast lane-changing scenario; when the current road segment on which the vehicle is traveling is determined to meet preset danger conditions based on current road parameters, the current lane-changing scenario is a dangerous vehicle lane-changing scenario; and when there are other vehicles in front of the vehicle that meet preset speed control conditions, the current lane-changing scenario is an efficient lane-changing scenario.

[0055] The embodiments of this application can determine the current lane change scenario of the vehicle based on data such as current driving parameters, current road parameters, the driver's desired speed, and the global planned path.

[0056] For example, the criteria for determining a rapid lane change scenario may include: whether the road is a main road, whether the driver's desired speed exceeds a preset speed threshold, the number of lanes on the main road, the speed limit for each lane on the main road, whether the target lane is a globally planned point-to-point path lane, the traffic efficiency of the target lane, and whether there are dangerous vehicles ahead of the target lane. The preset speed threshold can be set according to actual road traffic rules, and is not specifically limited here.

[0057] The criteria for determining dangerous vehicle lane-changing scenarios may include: whether the road is a main road; whether the target lane is a globally point-to-point path planning lane; whether there are no dangerous vehicles in front of, to the side, or behind the vehicle (considering the type of target vehicle perceived in front of the vehicle's lane); whether there are a large number of dangerous vehicles on the current road segment; and the traffic efficiency of the road and the target lane. Among these, determining whether there are a large number of dangerous vehicles on the current road segment can be based on whether the number of dangerous vehicles within the vehicle's perception range in front of it exceeds a preset number. This preset number can be set by those skilled in the art based on actual conditions, and no specific restrictions are imposed here.

[0058] The criteria for determining efficient lane changing scenarios may include: whether the road is a main road, whether the vehicle in front is slowing down, the traffic efficiency of the adjacent lanes on the left and right or the next adjacent lane, whether the target lane is a global point-to-point path planning lane, and whether there are dangerous vehicles in front of, to the side and behind the vehicle.

[0059] Among them, the pressure velocity ratio is calculated as follows:

[0060] Speed ​​reduction ratio = (Driver's desired speed - Current lane speed) / Driver's desired speed.

[0061] Pressure speed determination criteria:

[0062] The pressure rate is relatively high (≥ a certain threshold, which can be set by those skilled in the art) and lasts for a certain duration (which can be set by those skilled in the art).

[0063] The pressure speed level is relatively low (within a specific range, which can be set accordingly by those skilled in the art), based on the pressure speed ratio cumulative value α (different thresholds are used depending on different driving modes or lane change modes);

[0064] When α ≥ a certain threshold (which can be set by those skilled in the art), an efficiency lane change request is triggered, and the cumulative α is calculated in each cycle: α = α + cur_α;

[0065] Where cur_α is the current period α.

[0066] The pressure speed level is extremely low (< a certain threshold, which can be set by those skilled in the art), based on the cumulative pressure speed ratio α (different thresholds are used depending on different driving modes or lane change modes);

[0067] Calculate the cumulative α for each period: α = α + cur_α;

[0068] Where, cur_α is the current cycle α, until the cumulative pressure-speed ratio α is cleared to zero.

[0069] Optionally, in one embodiment of this application, after determining the current lane-changing scenario of the vehicle, the method further includes: determining whether there are multiple lane-changing scenarios; if there are multiple lane-changing scenarios, determining the lane-changing scenario with the highest priority from the lane-changing scenarios according to the preset scenario priority as the current lane-changing scenario.

[0070] It is understandable that when determining the current lane change scenario, based on data such as the vehicle's current driving parameters, current road parameters, the driver's desired speed, and the global planning path, this application embodiment can match multiple corresponding lane change scenarios. For example, if it is determined that a lane change is needed ahead based on the global planning path, and an obstacle is detected ahead of the vehicle's current road, that is, the vehicle simultaneously meets the planned lane change scenario and the obstacle avoidance lane change scenario, then this application embodiment can select the lane change scenario with the highest priority as the current lane change scenario according to the preset scenario priority.

[0071] The preset scenario priorities can be, in order, rapid lane change scenario, dangerous vehicle lane change scenario, and efficient lane change scenario.

[0072] Optionally, in one embodiment of this application, executing the autonomous lane-changing strategy corresponding to the current lane-changing scenario includes: when the current lane-changing scenario is a rapid lane-changing scenario, determining the target lane of the vehicle based on the current road parameters, and planning and controlling the vehicle to change lanes until the vehicle travels to the target lane.

[0073] In some embodiments, when the current lane change scenario is a rapid lane change scenario, the embodiments of this application can combine the speed limit values ​​of each lane and the driver's desired speed to plan and control the vehicle to change lanes until the vehicle travels to a suitable lane.

[0074] It should be noted that in the case of rapid lane change, the embodiments of this application can select the corresponding target lane based on the driver's desired speed, taking into account the speed limit information of each lane obtained from the map and perception information, and initiating the relevant active lane change request in combination with the information of the current lane of the vehicle.

[0075] Optionally, in one embodiment of this application, executing the autonomous lane-changing strategy corresponding to the current lane-changing scenario includes: when the current lane-changing scenario is a dangerous vehicle lane-changing scenario, determining the target lane of the vehicle based on the current road parameters, and planning and controlling the vehicle to change lanes until the vehicle travels to the target lane.

[0076] In other embodiments, when the current lane-changing scenario is a dangerous vehicle lane-changing scenario, the embodiments of this application can determine that there is a dangerous vehicle or other obstacle in front of the vehicle, and then select the target lane for the vehicle lane change based on the current road parameters, such as the traffic flow speed of the adjacent lane, the driving direction of the adjacent lane, and whether there is an obstacle in front of the adjacent lane, and adjust the vehicle speed to ensure that the vehicle can safely change lanes when there are other vehicles in the target lane.

[0077] It should be noted that in dangerous vehicle lane-changing scenarios, the lane-changing direction in this application embodiment is to prioritize changing lanes to the left. If the conditions for changing lanes to the left are not met, this application embodiment can plan and control the vehicle to stop or determine whether changing lanes is allowed in the right lane.

[0078] Optionally, in one embodiment of this application, executing the autonomous lane-changing strategy corresponding to the current lane-changing scenario includes: when the current lane-changing scenario is an efficiency lane-changing scenario, calculating the traffic efficiency of adjacent lanes based on the current road parameters, and determining the target lane of the vehicle based on the traffic efficiency.

[0079] In some embodiments, when the current lane-changing scenario is an efficiency-oriented lane-changing scenario, the present application embodiments can determine the target lane by calculating the traffic efficiency of adjacent lanes, thereby planning and controlling the vehicle to change lanes.

[0080] The traffic efficiency calculation (taking the left lane as an example) can be performed as follows:

[0081] The speed of traffic flow in the left lane is determined by comparing the speeds of all vehicles in the adjacent left lane that are longitudinally ahead of the vehicle and selecting the minimum value among them;

[0082] The passable speed (traffic efficiency) is the minimum value between the traffic flow speed and the lane speed limit.

[0083] For example, the target lane selection rule in this application embodiment can be as follows:

[0084] Left lane change activation condition: The speed of the vehicle in the left lane exceeds a certain threshold of the speed of the vehicle in front of it (which can be set by those skilled in the art);

[0085] Right lane change activation conditions: a. When the left lane does not meet the activation conditions: the right lane change activation judgment conditions are the same as the left lane change judgment conditions; b. When the left lane meets the activation conditions: the right lane change activation conditions need to be increased by adding a judgment, and the right lane speed needs to exceed the left lane speed by a certain threshold (which can be set by those skilled in the art).

[0086] Combination Figure 3 As shown, the working principle of the autonomous lane-changing method for vehicles according to an embodiment of this application will be explained in detail with reference to one example.

[0087] like Figure 3 As shown, embodiments of this application may include the following steps:

[0088] Step S1: The vehicle status management outputs data such as the vehicle's current driving parameters, current road parameters, the driver's desired speed, and global path planning.

[0089] Step S2: Suppress lane change event judgment. The judgment conditions may include: whether there is a forced lane change request; no entry onto the ramp within a certain distance threshold ahead; no merging into the main road within a certain distance threshold ahead; the target lane is a globally point-to-point path planning lane; there is a dangerous vehicle in the target lane; a certain time threshold has elapsed since the end of the last lane change in the same direction; a certain time threshold has elapsed since the end of the last lane change in the opposite direction, etc.

[0090] For example, in the embodiments of this application, when it is determined that there is a forced lane change request, the reverse lane change request can be suppressed according to the direction and distance of the forced lane change request. The forced lane change request includes, but is not limited to, lane change request to enter the ramp, lane change request to merge into the main road, and lane change request in the navigation lane (lane change request when the vehicle is in a lane that is not in the globally planned path lane recommended by the navigation).

[0091] The embodiments of this application can also make a non-mandatory lane change request when it is determined that there is a dangerous vehicle in the target lane, such as the vehicle in front being a dangerous vehicle.

[0092] Step S3: Determine lane change activation conditions. In this embodiment, the decision on whether to issue a lane change request can be based on the driver's desired speed, the speed limits and traffic speeds of each lane, and the detection status of dangerous vehicles in each lane.

[0093] Step S4: Arbitrate lane change priority using preset scenario priority conditions. This embodiment of the application can determine the type of request sent and the direction of lane change according to priority order.

[0094] Step S5: Determine the feasibility of changing lanes.

[0095] In actual implementation, the autonomous lane-changing scenarios in this application embodiment may include rapid lane-changing scenarios, dangerous vehicle lane-changing scenarios, and efficient lane-changing scenarios.

[0096] In the scenario of rapid lane change, when a vehicle is traveling on a highway / elevated main road, if the driver sets a high desired speed (≥ a certain threshold, which can be set by those skilled in the art), the embodiments of this application can combine the speed limit values ​​of each lane to change lanes to a suitable lane.

[0097] The conditions for triggering a quick lane change may include: whether the road is a main road, whether the driver's desired speed is greater than the preset speed threshold, the number of lanes on the main road, the speed limit of each lane on the main road, whether the target lane of the vehicle is a globally point-to-point path planning lane, the traffic efficiency of the target lane, and whether there are dangerous vehicles in front of, to the side and behind the vehicle in the target lane.

[0098] In dangerous vehicle lane-changing scenarios, when a vehicle is traveling on a highway / elevated main road, there is a specific type of dangerous vehicle in front of the vehicle's lane (which can be set by those skilled in the art according to the actual situation), and it is necessary to change lanes to other lanes.

[0099] Dangerous lane change triggering conditions may include: whether the road attribute is a main road, whether the target lane is a global point-to-point path planning lane, and whether there are no dangerous vehicles in front of, to the side and behind the target lane, whether there are many dangerous vehicles in the current road segment (such as dangerous vehicles within the forward perception range ≥ a certain number, which can be set by those skilled in the art), and the traffic efficiency of the vehicle's lane and the target lane.

[0100] This application embodiment can also suppress lane change requests from dangerous vehicles when there are many dangerous vehicles, and after triggering the dangerous vehicle large number flag, the suppression of this lane change request will be cancelled until the number of dangerous vehicles is small (< a certain number, which can be set by those skilled in the art) for a certain period of time.

[0101] In the efficient lane-changing scenario, when a vehicle is traveling on a highway / elevated main road, the vehicles in front of the vehicle are traveling slower, the current lane speed is different from the driver's desired speed, and the adjacent lane has higher traffic efficiency, so the vehicle changes lanes to the lane with higher traffic efficiency.

[0102] Efficient lane change triggering conditions may include: whether the road is a main road, whether the vehicle in front is slowing down, the traffic efficiency of the left and right adjacent lanes or the next adjacent lane, whether the target lane is a global point-to-point path planning lane, and whether there are dangerous vehicles in front of, to the side and behind the vehicle.

[0103] The autonomous lane-changing method for vehicles proposed in this application can determine the hazardous conditions and traffic restrictions of each lane based on current road parameters. This, combined with constraints such as the globally planned path and the driver's desired speed, determines the vehicle's actual needs, thereby determining whether autonomous lane changing is necessary and the specific lane-changing scenario. This allows for targeted autonomous lane changing, resulting in more human-like, describable, safer, more reliable, and more comfortable lane-changing requests. This solves the technical problems in related technologies where lane-changing request results are highly uncertain, poorly describable, and difficult to adjust for specific scenarios.

[0104] Next, referring to the accompanying drawings, an autonomous lane-changing device for a vehicle according to an embodiment of this application is described.

[0105] Figure 4 This is a block diagram of an autonomous lane-changing device for a vehicle according to an embodiment of this application.

[0106] like Figure 4 As shown, the autonomous lane-changing device 40 of the vehicle includes: a data acquisition module 100, an identification module 200, and a planning and control module 300.

[0107] Specifically, the data acquisition module 100 is used to acquire the vehicle's current driving parameters and / or the current road parameters of the road in which the vehicle is located when the vehicle is in an autonomous lane-changing condition.

[0108] The recognition module 200 is used to identify the actual needs of the vehicle based on the current driving parameters and / or current road parameters, combined with the vehicle's expected speed and / or globally planned path.

[0109] The planning and control module 300 is used to determine the current lane-changing scenario of the vehicle when the actual demand is a lane-changing demand, execute the autonomous lane-changing strategy corresponding to the current lane-changing scenario, and complete the lane change.

[0110] Optionally, in one embodiment of this application, the autonomous lane-changing device 40 of the vehicle further includes a judgment module and a determination module.

[0111] The judgment module is used to determine whether there are multiple lane change scenarios.

[0112] The determination module is used to determine the highest priority lane change scenario from the multiple lane change scenarios according to the preset scenario priority as the current lane change scenario.

[0113] Optionally, in one embodiment of this application, the planning control module 300 includes: a first determining unit, a second determining unit, and a third determining unit.

[0114] The first determining unit is used to determine that the current lane change scenario is a rapid lane change scenario when the expected vehicle speed is greater than a preset vehicle speed threshold.

[0115] The second determining unit is used to determine that the current lane change scenario is a dangerous vehicle lane change scenario if the current road segment where the vehicle is traveling meets the preset dangerous conditions based on the current road parameters.

[0116] The third determining unit is used to determine that the current lane-changing scenario is an efficiency lane-changing scenario when there are other vehicles in front of the vehicle that meet the preset speed control conditions.

[0117] Optionally, in one embodiment of this application, the planning control module 300 includes: a first control unit.

[0118] The first control unit is used to determine the target lane of the vehicle based on the current road parameters when the current lane change scenario is a rapid lane change scenario, and to plan and control the vehicle to change lanes until the vehicle travels to the target lane.

[0119] Optionally, in one embodiment of this application, the planning control module 300 includes a second control unit.

[0120] The second control unit is used to determine the target lane of the vehicle based on the current road parameters when the current lane change scenario is a dangerous vehicle lane change scenario, and to plan and control the vehicle to change lanes until the vehicle travels to the target lane.

[0121] Optionally, in one embodiment of this application, the planning control module 300 includes a third control unit.

[0122] The third control unit is used to calculate the traffic efficiency of adjacent lanes based on current road parameters when the current lane-changing scenario is an efficiency-based lane-changing scenario, and to determine the vehicle's target lane based on the traffic efficiency. It should be noted that the foregoing explanation of the autonomous lane-changing method embodiment also applies to the autonomous lane-changing device of this embodiment, and will not be repeated here.

[0123] The autonomous lane-changing device for vehicles proposed in this application can determine the hazardous conditions and traffic restrictions of each lane based on current road parameters. By combining this with constraints such as the globally planned path and the driver's desired speed, it determines the vehicle's actual needs, thereby determining whether autonomous lane changing is necessary and the specific lane-changing scenario. This allows for targeted autonomous lane changing, making the lane-changing request results more human-like, describable, safer, more reliable, and more comfortable. This solves the technical problems in related technologies where lane-changing request results are highly uncertain, poorly describable, and difficult to adjust the output results for specific scenarios.

[0124] Figure 5 A schematic diagram of the structure of a vehicle provided in an embodiment of this application. The vehicle may include:

[0125] The memory 501, the processor 502, and the computer program stored on the memory 501 and capable of running on the processor 502.

[0126] When the processor 502 executes the program, it implements the autonomous lane-changing method for vehicles provided in the above embodiments.

[0127] Furthermore, the vehicle also includes:

[0128] Communication interface 503 is used for communication between memory 501 and processor 502.

[0129] The memory 501 is used to store computer programs that can run on the processor 502.

[0130] The memory 501 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0131] If the memory 501, processor 502, and communication interface 503 are implemented independently, then the communication interface 503, memory 501, and processor 502 can be interconnected via a bus to complete communication between them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of representation, Figure 5 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0132] Optionally, in a specific implementation, if the memory 501, processor 502, and communication interface 503 are integrated on a single chip, then the memory 501, processor 502, and communication interface 503 can communicate with each other through an internal interface.

[0133] Processor 502 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application.

[0134] This embodiment also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described autonomous lane-changing method for vehicles.

[0135] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0136] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0137] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0138] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0139] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0140] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0141] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0142] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

Claims

1. A method for autonomous lane changing of a vehicle, characterized in that, Includes the following steps: When the vehicle is in autonomous lane-changing mode, collect the vehicle's current driving parameters and / or the current road parameters of the road it is on; Based on the current driving parameters and / or the current road parameters, combined with the vehicle's expected speed and / or globally planned path, the actual needs of the vehicle are identified. When the actual demand is a lane change demand, the current lane change scenario of the vehicle is determined, and the autonomous lane change strategy corresponding to the current lane change scenario is executed to complete the lane change. Determining the current lane change scenario of the vehicle includes: when there are other vehicles in front of the vehicle that meet the preset speed control conditions, the current lane change scenario is an efficiency lane change scenario. Executing the autonomous lane change strategy corresponding to the current lane change scenario includes: when the current lane change scenario is the efficiency lane change scenario, calculating the traffic efficiency of adjacent lanes based on the current road parameters, and determining the target lane of the vehicle based on the traffic efficiency. When there are other vehicles in front of the vehicle that meet the preset speed control conditions, the method includes: calculating the speed control ratio, wherein the speed control ratio = (the driver's desired speed - the current lane's travel speed) / the driver's desired speed; accumulating a speed control ratio cumulative value α in each control cycle, wherein α = α + cur_α, and cur_α is the current cycle α; and triggering an efficiency lane change request when the speed control ratio cumulative value α reaches or exceeds a predetermined threshold.

2. The method according to claim 1, characterized in that, After determining the current lane-changing scenario of the vehicle, the process also includes: Determine if there are multiple lane change scenarios; If there are multiple lane change scenarios, the lane change scenario with the highest priority is determined from the preset scenario priority as the current lane change scenario.

3. The method according to claim 1, characterized in that, Determining the current lane-changing scenario of the vehicle further includes: If the desired vehicle speed is greater than a preset vehicle speed threshold, the current lane change scenario is a rapid lane change scenario. If, based on the current road parameters, it is determined that the current road segment in which the vehicle is traveling meets preset dangerous conditions, then the current lane-changing scenario is a dangerous vehicle lane-changing scenario.

4. The method according to claim 3, characterized in that, The execution of the autonomous lane-changing strategy corresponding to the current lane-changing scenario includes: When the current lane change scenario is the rapid lane change scenario, the target lane of the vehicle is determined based on the current road parameters, and the vehicle is planned and controlled to change lanes until the vehicle travels to the target lane.

5. The method according to claim 3, characterized in that, The execution of the autonomous lane-changing strategy corresponding to the current lane-changing scenario includes: When the current lane-changing scenario is the dangerous vehicle lane-changing scenario, the target lane of the vehicle is determined based on the current road parameters, and the vehicle is planned and controlled to change lanes until the vehicle travels to the target lane.

6. An autonomous lane-changing device for a vehicle, characterized in that, A method for implementing the autonomous lane-changing of a vehicle as described in any one of claims 1-5, comprising: The data acquisition module is used to collect the vehicle's current driving parameters and / or the current road parameters of the road in which the vehicle is located when the vehicle is in autonomous lane changing mode. The identification module is used to identify the actual needs of the vehicle based on the current driving parameters and / or the current road parameters, combined with the vehicle's expected speed and / or the globally planned path; The planning and control module is used to determine the current lane-changing scenario of the vehicle when the actual demand is a lane-changing demand, execute the autonomous lane-changing strategy corresponding to the current lane-changing scenario, and complete the lane change.

7. The apparatus according to claim 6, characterized in that, Also includes: The judgment module is used to determine whether there are multiple lane change scenarios; The determination module is used to determine the lane change scenario with the highest priority from the lane change scenarios according to the preset scenario priority when there are multiple lane change scenarios.

8. A vehicle, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the program to implement the autonomous lane-changing method for a vehicle as described in any one of claims 1-5.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the autonomous lane-changing method for vehicles as described in any one of claims 1-5.

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