Adjustment methods, devices, lane change state machines, and vehicles for lane changing maneuvers.

Abstract

This application relates to a method, device, state-based lane changer, and vehicle for adjusting vehicle lane change actions. The method includes: receiving a lane change request from a vehicle; acquiring historical lane change data of the vehicle; determining whether the vehicle meets preset safe lane change conditions based on the historical lane change data; if the vehicle meets the preset safe lane change conditions, then, in response to the lane change request, controlling the vehicle to execute the corresponding lane change action, and identifying the lane change stage of the vehicle based on the vehicle's current driving parameters and road environment parameters, so as to adjust the lane change action according to the lane change stage to complete the lane change. This solves the technical problem in related technologies where it is difficult to adjust the lane change action according to the actual state of the vehicle during the lane change process, thus making it difficult to adapt to flexible and changing lane change conditions.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a method, device, state-controlled lane changer, and vehicle for adjusting vehicle lane change actions. 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, lane-changing decision-making logic can be judged by adjusting weights based on the feature values ​​of surrounding targets, thereby reducing the instability caused by human judgment. However, these technologies cannot adjust lane-changing actions according to the actual state of the vehicle during the lane-changing process, making it difficult to adapt to flexible and ever-changing lane-changing conditions, and thus require improvement. Summary of the Invention

[0004] This application provides a method, device, state-based lane changer, and vehicle for adjusting vehicle lane-changing actions, in order to solve the technical problem in the related art that it is difficult to adjust lane-changing actions according to the actual state of the vehicle during the lane-changing process, thus making it difficult to adapt to flexible and ever-changing lane-changing conditions.

[0005] The first aspect of this application provides a method for adjusting a vehicle's lane-changing action, comprising the following steps: receiving a lane-changing request from a vehicle; acquiring historical lane-changing data of the vehicle; determining, based on the historical lane-changing data, whether the vehicle meets preset safe lane-changing conditions; if the vehicle meets the preset safe lane-changing conditions, then, in response to the lane-changing request, controlling the vehicle to perform a corresponding lane-changing action, and identifying the lane-changing stage of the vehicle based on the vehicle's current driving parameters and road environment parameters, so as to adjust the lane-changing action according to the lane-changing stage to complete the lane-changing.

[0006] Optionally, in one embodiment of this application, the preset safe lane change conditions include: when the lane change request is a same-direction lane change request, the time interval between the vehicle's last lane change time and the current time is greater than a first preset time threshold; when the lane change request is a reverse lane change request, the time interval between the vehicle's last lane change time and the current time is greater than a second preset time threshold.

[0007] Optionally, in one embodiment of this application, determining the lane-changing stage of the vehicle based on the vehicle's current driving parameters and road environment parameters includes: identifying the vehicle's lane lines based on the road environment parameters; determining whether the vehicle has received a lane-changing cancellation request based on the current driving parameters, and obtaining a determination result; and determining the lane-changing stage of the vehicle by combining the lane lines and the determination result.

[0008] Optionally, in one embodiment of this application, determining the lane change process stage of the vehicle by combining the lane line and the lane change cancellation request includes: if the rear axle center of the vehicle crosses the lane line, then the lane change process stage is determined to be the post-lane change crossing stage; if the rear axle center of the vehicle does not cross the lane line and the vehicle receives the lane change cancellation request, then the lane change process stage is determined to be the lane change termination and return to the original lane stage; if the rear axle center of the vehicle does not cross the lane line and the vehicle does not receive the lane change cancellation request, then the lane change process stage is determined to be the pre-lane change crossing stage.

[0009] Optionally, in one embodiment of this application, adjusting the lane change action according to the lane change progress stage includes: when the lane change progress stage is the post-lane change crossing stage, controlling the vehicle to continue the lane change action until the distance between the vehicle and the target reference line and the vehicle's current heading angle meet a preset lane change termination condition; when the lane change progress stage is the lane change termination and return to the original lane stage, prohibiting the vehicle from performing the lane change action, and updating the target reference line based on the road environment parameters to obtain an updated target reference line, so as to adjust the vehicle's driving direction until the distance between the vehicle and the updated target reference line and the vehicle's current heading angle meet the preset lane change termination condition; when the lane change progress stage is the pre-lane change crossing stage, controlling the vehicle to continue the lane change action until the rear axle center of the vehicle meets a preset crossing condition, so as to redetermine the lane change progress stage of the vehicle if the preset crossing condition is met.

[0010] Optionally, in one embodiment of this application, after determining whether the vehicle meets the preset safe lane change conditions, the method further includes: if the vehicle does not meet the preset safe lane change conditions, then suppressing the lane change request.

[0011] A second aspect of this application provides a vehicle lane-changing maneuver adjustment device, comprising: a receiving module for receiving a lane-changing request from a vehicle; a judging module for acquiring historical lane-changing data of the vehicle and judging whether the vehicle meets preset safe lane-changing conditions based on the historical lane-changing data; and an adjusting module for, in response to the lane-changing request, controlling the vehicle to perform a corresponding lane-changing maneuver when the vehicle meets the preset safe lane-changing conditions, and identifying the lane-changing stage of the vehicle based on the vehicle's current driving parameters and road environment parameters, so as to adjust the lane-changing maneuver according to the lane-changing stage to complete the lane-changing.

[0012] Optionally, in one embodiment of this application, the preset safe lane change conditions include: when the lane change request is a same-direction lane change request, the time interval between the vehicle's last lane change time and the current time is greater than a first preset time threshold; when the lane change request is a reverse lane change request, the time interval between the vehicle's last lane change time and the current time is greater than a second preset time threshold.

[0013] Optionally, in one embodiment of this application, the adjustment module includes: an identification unit, configured to identify the lane lines of the vehicle based on the road environment parameters; a judgment unit, configured to determine whether the vehicle has received a lane change cancellation request based on the current driving parameters, and obtain a judgment result; and a determination unit, configured to combine the lane lines and the judgment result to determine the lane change stage of the vehicle.

[0014] Optionally, in one embodiment of this application, the determining unit includes: a first determining subunit, configured to determine that the lane change process is a lane change after crossing the lane line when the rear axle center of the vehicle crosses the lane line; a second determining subunit, configured to determine that the lane change process is a lane change termination and return to the original lane when the rear axle center of the vehicle does not cross the lane line and the vehicle receives the lane change cancellation request; and a third determining subunit, configured to determine that the lane change process is a lane change before crossing the lane line when the rear axle center of the vehicle does not cross the lane line and the vehicle does not receive the lane change cancellation request.

[0015] Optionally, in one embodiment of this application, the adjustment module includes: a first control unit, configured to, when the lane change phase is the post-lane change crossing phase, control the vehicle to continue the lane change action until the distance between the vehicle and the target reference line and the vehicle's current heading angle meet a preset lane change termination condition; a second control unit, configured to, when the lane change phase is the lane change termination and return to the original lane phase, prohibit the vehicle from performing the lane change action, and update the target reference line based on the road environment parameters to obtain an updated target reference line, so as to adjust the vehicle's driving direction until the distance between the vehicle and the updated target reference line and the vehicle's current heading angle meet the preset lane change termination condition; and a third control unit, configured to, when the lane change phase is the pre-lane change crossing phase, control the vehicle to continue the lane change action until the rear axle center of the vehicle meets a preset crossing condition, so as to re-determine the lane change phase of the vehicle if the preset crossing condition is met.

[0016] Optionally, in one embodiment of this application, it further includes: a suppression module, used to suppress the lane change request when the vehicle does not meet the preset safe lane change conditions.

[0017] A third aspect of this application provides a lane change state machine, including: a memory, a processor, and a computer program stored in the memory and executable on the processor. The processor executes the program to implement the vehicle lane change action adjustment method as described in the above embodiments.

[0018] A fourth 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 vehicle lane-changing maneuver adjustment method as described in the above embodiments.

[0019] A fifth aspect of this application provides a computer-readable storage medium storing computer instructions for causing the computer to perform the adjustment method for vehicle lane-changing actions as described in the above embodiments.

[0020] This application embodiment can, upon receiving a lane-change request from a vehicle, determine whether the vehicle meets preset safe lane-change conditions based on the vehicle's historical lane-change data. If the vehicle meets the preset safe lane-change conditions, it responds to the lane-change request by controlling the vehicle to execute the corresponding lane-change action. Furthermore, it identifies the lane-change progress stage based on the vehicle's current driving parameters and road environment parameters, adjusting the lane-change action accordingly to ensure a smooth lane-change process and save computing power, thus reducing costs. This solves the technical problem in related technologies where it is difficult to adjust lane-change actions based on the actual state of the vehicle during the lane-change process, making it difficult to adapt to flexible and changing lane-change conditions.

[0021] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through practice of the present application. Attached Figure Description

[0022] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0023] Figure 1 This is a schematic diagram illustrating the principle of a vehicle lane-changing action adjustment method according to an embodiment of this application;

[0024] Figure 2 This is a flowchart of a method for adjusting a vehicle lane-changing maneuver according to an embodiment of this application;

[0025] Figure 3 This is a schematic diagram illustrating the principle of a vehicle lane-changing maneuver adjustment method according to another embodiment of this application;

[0026] Figure 4 This is a schematic diagram of the principle of a lane change state machine according to an embodiment of this application;

[0027] Figure 5 This is a schematic diagram of lane-changing logic according to one embodiment of this application;

[0028] Figure 6 This is a schematic diagram of the structure of an adjustment device for vehicle lane changing action according to an embodiment of this application;

[0029] Figure 7 This is a schematic diagram of the lane change state machine provided according to an embodiment of this application.

[0030] Figure 8 This is a structural schematic diagram of a vehicle provided according to an embodiment of this application. Detailed Implementation

[0031] 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.

[0032] The following description, with reference to the accompanying drawings, outlines a method, apparatus, lane-change state machine, and vehicle for adjusting lane-changing actions according to embodiments of this application. Addressing the technical problem mentioned in the background art—that it is difficult to adjust lane-changing actions based on the actual state of the vehicle during lane-changing, thus hindering its adaptability to flexible and changing lane-changing conditions—this application provides a method for adjusting vehicle lane-changing actions. In this method, after receiving a lane-changing request from a vehicle, the system determines whether the vehicle meets preset safe lane-changing conditions based on the vehicle's historical lane-changing data. If the vehicle meets the preset safe lane-changing conditions, the system responds to the lane-changing request by controlling the vehicle to execute the corresponding lane-changing action. Furthermore, the system identifies the lane-changing stage based on the vehicle's current driving parameters and road environment parameters, adjusting the lane-changing action accordingly to ensure a smooth lane-changing process and save computing power, thus reducing costs. This solves the technical problem in related technologies where it is difficult to adjust lane-changing actions based on the actual state of the vehicle during lane-changing, making it difficult to adapt to flexible and changing lane-changing conditions.

[0033] Before explaining the embodiments of this application, we will first use an embodiment to illustrate the structure involved in the vehicle lane change adjustment method of this application.

[0034] like Figure 1 As shown, the structure involved in the embodiments of this application includes: 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 module 106, a lane change state machine 107, and a reference line module.

[0035] Among them, the map and positioning module 101 is used to process navigation map and high-precision map information, and integrate positioning information, etc.

[0036] The perception fusion module 102 is used to perceive and fuse surrounding static and dynamic obstacles, and to identify information such as lane lines, traffic signs and traffic lights.

[0037] The prediction module 103 is used to predict the trajectory of surrounding dynamic obstacles, including traffic participants such as vehicles, bicycles, motorcycles, and pedestrians.

[0038] The vehicle status management module 104 is used to process and send vehicle function status information, user status monitoring, etc.

[0039] The horizontal and vertical trajectory planning module 105 is used to receive the lane change status and reference line information from the decision module 106 and plan the vehicle's driving trajectory.

[0040] The decision module 106 is 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 the driver's set desired speed, lane efficiency, and interaction with surrounding obstacles, it generates a comfortable lane change request. Upon receiving the corresponding lane change request, it determines whether to execute the current lane change request based on current road information and surrounding obstacles.

[0041] The lane change state machine 107 receives the direction and reason for a lane change request, ensures a certain time interval between the completion of the previous lane change in the same direction and the reverse lane change, considers the priority of the lane change request, determines the state transition based on the current state and conditions, and sends the current lane change state information. It controls the lane change state and related state transitions to ensure the autonomous vehicle safely completes the lane change.

[0042] The reference line module 108 is used to receive the output of the map and positioning module 101 and the lane change state machine 107. According to the lane change state, it preprocesses the multi-lane reference line output by the map and positioning module 101 and locks the target reference line. This ensures a smooth lane change process to a certain extent and saves computing power and reduces costs.

[0043] Specifically, Figure 2 This is a flowchart illustrating a method for adjusting a vehicle lane-changing maneuver, as provided in an embodiment of this application.

[0044] like Figure 2 As shown, the adjustment method for this vehicle's lane-changing maneuver includes the following steps:

[0045] In step S201, a lane change request from a vehicle is received.

[0046] In actual implementation, the embodiments of this application can receive lane change requests from vehicles, such as through data such as vehicle turn signal signals, steering wheel angle, voice commands or touch commands, to determine the lane change request and control the vehicle to perform a lane change action according to the lane change request.

[0047] In step S202, historical lane change data of the vehicle is obtained, and it is determined whether the vehicle meets the preset safe lane change conditions based on the historical lane change data.

[0048] As one possible implementation, this application embodiment can read the vehicle's historical lane-changing data while preparing for a lane change after receiving the vehicle's lane-changing request, thereby determining whether the vehicle meets the preset safe lane-changing conditions, that is, whether the vehicle is safe to change lanes in the current environment, and whether the vehicle's lane-changing in the current environment complies with traffic rules, etc.

[0049] Lane change preparation may include turning on the corresponding turn signal and adjusting the relative position longitudinally.

[0050] Optionally, in one embodiment of this application, the preset safe lane change conditions include: when the lane change request is a same-direction lane change request, the time interval between the vehicle's last lane change time and the current time is greater than a first preset time threshold; when the lane change request is a reverse lane change request, the time interval between the vehicle's last lane change time and the current time is greater than a second preset time threshold.

[0051] Specifically, in this application embodiment, the lane change decision result can be determined based on feasibility decisions, including whether there are obstacles in the target lane and whether there are factors in front of the vehicle that affect the lane change.

[0052] In some embodiments, when the lane change request is determined to be a same-direction lane change request, it can be determined whether the time interval between the vehicle's last lane change time and the current time is greater than a first preset time threshold. When the lane change request is determined to be a reverse lane change request, it can be determined whether the time interval between the vehicle's last lane change time and the current time is greater than a second preset time threshold. The first preset time threshold and the second preset time threshold can each be 3 seconds as stipulated by traffic regulations, or can be set by those skilled in the art according to the actual situation of the vehicle, in order to avoid continuous lane changes and leave sufficient reaction time for following vehicles, thereby improving the safety of vehicle passage.

[0053] Optionally, in one embodiment of this application, after determining whether the vehicle meets the preset safe lane change conditions, the method further includes: if the vehicle does not meet the preset safe lane change conditions, then suppressing the lane change request.

[0054] In other embodiments, if the vehicle does not meet the preset safe lane-changing conditions, such as the possibility of continuous lane changes, the embodiments of this application can suppress the lane-changing request and wait until the preset safe lane-changing conditions are met before performing the lane-changing action, or send a lane-changing failure reminder to the user and wait for the user or vehicle to initiate a lane-changing request again.

[0055] In step S203, if the vehicle meets the preset safe lane change conditions, in response to the lane change request, the vehicle is controlled to perform the corresponding lane change action, and the lane change stage of the vehicle is identified according to the current driving parameters and road environment parameters, so as to adjust the lane change action according to the lane change stage to complete the lane change.

[0056] In actual implementation, this application embodiment can respond to a lane change request and control the vehicle to perform the corresponding lane change action when the vehicle meets the preset safe lane change conditions. At the same time as the vehicle changes lanes, the vehicle's current driving parameters and road environment parameters are used to identify the stage of the lane change, so as to make real-time adjustments to the vehicle's lane change according to environmental changes and improve the safety of the vehicle's lane change.

[0057] Optionally, in one embodiment of this application, determining the lane-changing stage of the vehicle based on the vehicle's current driving parameters and road environment parameters includes: identifying the vehicle's lane lines based on the road environment parameters; determining whether the vehicle has received a lane-changing cancellation request based on the current driving parameters, and obtaining a determination result; and combining the lane lines and the determination result to determine the vehicle's lane-changing stage.

[0058] As one possible approach, embodiments of this application can identify lane lines based on road environment parameters.

[0059] Furthermore, embodiments of this application can determine the stage of a lane change based on the relative position of the lane line and the vehicle, as well as whether the vehicle has received a lane change cancellation request. Based on the vehicle's driving status at different stages, the vehicle body can be adjusted using a target reference line to ensure safe driving.

[0060] Optionally, in one embodiment of this application, the lane change process is determined by combining the lane lines and the lane change cancellation request, including: if the rear axle center of the vehicle crosses the lane line, the lane change process is determined to be the post-lane change crossing stage; if the rear axle center of the vehicle does not cross the lane line and the vehicle receives a lane change cancellation request, the lane change process is determined to be the lane change termination and return to the original lane stage; if the rear axle center of the vehicle does not cross the lane line and the vehicle does not receive a lane change cancellation request, the lane change process is determined to be the pre-lane change crossing stage.

[0061] The embodiments of this application can divide the lane change of a vehicle into stages based on the rear axle center and lane lines.

[0062] When a vehicle changes lanes, the embodiments of this application can determine whether the center of the rear axle of the vehicle is about to cross the lane line, and when it is about to cross the lane line, perform the next judgment to determine whether the vehicle has crossed the lane line. Thus, when the center of the rear axle of the vehicle crosses the lane line, the lane change stage is determined to be the stage after the lane change crosses the lane line.

[0063] If the rear axle center of the vehicle does not cross the lane line and the vehicle receives a lane change cancellation request, the embodiments of this application can adjust the vehicle's posture in a timely manner. Since the vehicle has not crossed the line at this time, the vehicle can return to the original lane, thereby determining the lane change process as the lane change termination and return to the original lane stage.

[0064] If the rear axle center of the vehicle has not crossed the lane line and the vehicle has not received a lane change cancellation request, the embodiments of this application can determine the lane change process as the pre-lane-crossing stage, and switch states based on the subsequent relationship between the rear axle center and the lane line.

[0065] Optionally, in one embodiment of this application, adjusting the lane change action according to the lane change stage includes: when the lane change stage is the post-lane change crossing stage, controlling the vehicle to continue the lane change action until the distance between the vehicle and the target reference line and the vehicle's current heading angle meet the preset lane change termination condition; when the lane change stage is the lane change termination and return to the original lane stage, prohibiting the vehicle from performing the lane change action, and updating the target reference line based on road environment parameters to obtain the updated target reference line, so as to adjust the vehicle's driving direction until the distance between the vehicle and the updated target reference line and the vehicle's current heading angle meet the preset lane change termination condition; when the lane change stage is the pre-lane change crossing stage, controlling the vehicle to continue the lane change action until the rear axle center of the vehicle meets the preset crossing condition, so as to redetermine the lane change stage of the vehicle when the preset crossing condition is met.

[0066] The preset crossing condition can be that the vehicle's rear axle center crosses the lane line or is about to cross the lane line. The selection logic for the target reference line can be as follows: Figure 3 As shown, the reference line with the highest priority output by this logic is the target reference line, which enables the vehicle to adjust its body according to the target reference line.

[0067] In actual execution, when a vehicle is in the stage after crossing the lane change line, the vehicle will not be able to exit the lane change state. At this time, the embodiment of this application can control the vehicle to complete the lane change action. At this time, the target reference line is the right lane line of the target lane (the vehicle changes lanes to the right) or the left lane line of the target lane (the vehicle changes lanes to the left). The lateral distance between the vehicle and the target reference line and the angle between the vehicle's heading angle and the target reference line are used to determine whether the lane change termination condition is met. For example, the lateral distance is less than αm (which can be set by those skilled in the art) and the angle is less than βrad (which can be set by those skilled in the art).

[0068] When a vehicle is in the process of returning to its original lane after a lane change has ended, if the vehicle has not crossed the lane line, the vehicle is prohibited from continuing to change lanes, and the target reference line is updated. The target reference line is set as the left lane line of the vehicle's current lane (if the vehicle is changing lanes to the right) or the right lane line of the vehicle's current lane (if the vehicle is changing lanes to the left). The vehicle's driving direction is adjusted until the lateral distance between the vehicle and the target reference line and the angle between the vehicle's heading angle and the target reference line determine whether the lane change termination condition is met.

[0069] If a vehicle is in the pre-lane change phase but has not crossed the line, the vehicle will continue to change lanes until the lane change phase switches to the post-lane change phase or the lane change ends and the vehicle returns to its original lane.

[0070] Combination Figure 1 , Figure 3 , Figure 4 and Figure 5 As shown, the working principle of the vehicle lane-changing action adjustment method of this application embodiment is explained in detail with reference to one embodiment.

[0071] Combination Figure 1 and Figure 4 As shown, the lane change control in this application embodiment can be implemented based on a lane change state machine. In this application embodiment, the output result of lane change feasibility, namely lane change request and direction, can be used as the input of the lane change state machine, and the lane change request and direction, and the lane change stage (lane change execution state) can be output.

[0072] The embodiments of this application can perform reference line processing based on the output of the lane change state machine.

[0073] like Figure 3 As shown, this is the selection logic for the target reference line. The reference line with the highest priority output by this logic is the target reference line, which allows the vehicle to adjust its body according to the target reference line.

[0074] In this embodiment, the reference line with the closest lateral distance can be regarded as the lane line. During the lane change process, as the lateral distance changes, the lane line and the target reference line are transformed into each other. In this embodiment, the target reference line can be determined according to whether the lane line is switched and the stage of the lane change.

[0075] Furthermore, such as Figure 5 The execution logic shown is that of an embodiment of this application, and can be as follows:

[0076] 1. Stay in your lane:

[0077] When the lane change is cancelled, continue driving in the original lane;

[0078] Once the lane change is complete, remain in the target lane.

[0079] Conditions for transitioning from lane keeping to lane change preparation phase (all of the following conditions must be met):

[0080] Received a lane change request;

[0081] Determine if the time interval between the last lane change and the previous lane change exceeds a certain duration (forced lane changes adjust the time interval between the two lane changes as needed, which can be set by those skilled in the art).

[0082] After the last lane change ends, suppress lane change requests in the opposite direction for a certain period of time.

[0083] 2. Lane change preparation phase:

[0084] After receiving a lane change request, the lane change state machine immediately enters the lane change preparation stage. During this stage, the turn signal is activated, the relative position is adjusted longitudinally, and the following conditions are continuously checked: if they are met, the process jumps to the lane change implementation stage; if they are not met for a certain period of time, the process jumps to the lane keeping stage.

[0085] Conditions for transitioning from the lane change preparation phase to the lane change implementation phase (all of the following conditions must be met):

[0086] Lane change request continues;

[0087] The duration of the lane change preparation phase is ≥ a certain duration (which can be set by those skilled in the art).

[0088] Conditions for transitioning from the lane change preparation phase to the lane-keeping driving phase (one of the following conditions must be met for the transition to the next phase):

[0089] No lane change request.

[0090] 3. Lane change implementation phase:

[0091] At this stage, lateral planning begins. The lane change process is divided into two phases depending on whether the lane line is about to be crossed: the pre-crossing phase and the post-crossing phase.

[0092] The stage before changing lanes and crossing the line:

[0093] During this phase, the following conditions will be continuously monitored: if they are not met, the system will return to the original lane.

[0094] Conditions for transitioning from the pre-lane change / crossing stage to the post-lane change / crossing stage (all of the following conditions must be met):

[0095] No lane change cancellation request;

[0096] Calculate whether the lane line is crossed (to avoid crossing the lane line when returning to the original lane).

[0097] Conditions for transitioning from the pre-lane change / crossing phase to the lane change termination and return to the original lane phase (one of the following conditions must be met for the transition to the new lane):

[0098] There is a lane change cancellation request;

[0099] After the center of the rear axle of the vehicle crosses the lane line, the process jumps to the stage after changing lanes and crossing the line.

[0100] Phase after lane change and crossing the line:

[0101] At this stage, the vehicle already has the right-of-way to the target lane and therefore cannot exit the lane change state. If the following conditions are met, the vehicle will proceed to the lane change end stage.

[0102] Conditions for jumping from the lane change after crossing the line to the lane change end stage (all of the following conditions must be met):

[0103] The lateral distance between the vehicle and the target reference line is less than a certain distance threshold (which can be set by those skilled in the art).

[0104] The angle between the vehicle's heading angle and the target reference line is less than a certain angle threshold (which can be set by those skilled in the art).

[0105] 4. Returning to the original lane after lane change termination:

[0106] When performing a lane change, return to the original lane to ensure that the vehicle can safely return to the original lane if the lane change conditions are not met. (Special circumstances should be considered if returning to the original lane is not feasible: switch directly to lane keeping.)

[0107] The system will switch to lane keeping when the following conditions are met:

[0108] The transition from the lane change termination and return to the original lane phase to the lane-keeping driving condition (all of the following conditions must be met):

[0109] The lateral distance between the vehicle and the target reference line is less than a certain distance threshold (which can be set by those skilled in the art).

[0110] The angle between the vehicle's heading angle and the target reference line is less than a certain angle threshold (which can be set by those skilled in the art).

[0111] 5. Lane change completion phase:

[0112] At this stage, the vehicle has changed lanes to the vicinity of the target reference line and gradually completed the adjustment of its own position. After this state continues for a certain period of time, it will switch to maintaining lane driving.

[0113] The system will switch to lane keeping when the following conditions are met:

[0114] The transition from the lane change completion phase to lane-keeping conditions (all of the following conditions must be met):

[0115] The duration of the lane change termination phase exceeds a certain time (which can be set by those skilled in the art).

[0116] The method for adjusting vehicle lane-changing actions according to the embodiments of this application can, upon receiving a lane-changing request, determine whether the vehicle meets preset safe lane-changing conditions based on the vehicle's historical lane-changing data. If the vehicle meets the preset safe lane-changing conditions, the method responds to the lane-changing request by controlling the vehicle to execute the corresponding lane-changing action. Furthermore, the method identifies the lane-changing stage based on the vehicle's current driving parameters and road environment parameters, adjusting the lane-changing action accordingly to ensure a smooth lane-changing process and save computing power, thus reducing costs. This solves the technical problem in related technologies where it is difficult to adjust lane-changing actions based on the actual state of the vehicle during the lane-changing process, making it difficult to adapt to flexible and changing lane-changing conditions.

[0117] Next, referring to the accompanying drawings, an adjustment device for vehicle lane changing actions according to an embodiment of this application is described.

[0118] Figure 6 This is a block diagram of a vehicle lane-changing adjustment device according to an embodiment of this application.

[0119] like Figure 6 As shown, the adjustment device 10 for the vehicle lane-changing action includes: a receiving module 100, a judging module 200, and an adjustment module 300.

[0120] Specifically, the receiving module 100 is used to receive lane change requests from vehicles.

[0121] The judgment module 200 is used to acquire the vehicle's historical lane change data and determine whether the vehicle meets the preset safe lane change conditions based on the historical lane change data.

[0122] The adjustment module 300 is used to respond to a lane change request when the vehicle meets the preset safe lane change conditions, control the vehicle to perform the corresponding lane change action, and identify the lane change stage of the vehicle based on the vehicle's current driving parameters and road environment parameters, so as to adjust the lane change action according to the lane change stage to complete the lane change.

[0123] Optionally, in one embodiment of this application, the preset safe lane change conditions include: when the lane change request is a same-direction lane change request, the time interval between the vehicle's last lane change time and the current time is greater than a first preset time threshold; when the lane change request is a reverse lane change request, the time interval between the vehicle's last lane change time and the current time is greater than a second preset time threshold.

[0124] Optionally, in one embodiment of this application, the adjustment module 300 includes: an identification unit, a judgment unit, and a determination unit.

[0125] The identification unit is used to identify the lane markings of vehicles based on road environment parameters.

[0126] The judgment unit is used to determine whether the vehicle has received a lane change cancellation request based on the current driving parameters, and obtain the judgment result.

[0127] The determination unit is used to combine lane lines and judgment results to determine the stage at which a vehicle changes lanes.

[0128] Optionally, in one embodiment of this application, the determining unit includes: a first determining subunit, a second determining subunit, and a third determining subunit.

[0129] The first determining subunit is used to determine the lane change process as the post-lane change-crossing stage when the rear axle center of the vehicle crosses the lane line.

[0130] The second determining subunit is used to determine the lane change process as the lane change termination and return to the original lane stage when the rear axle center of the vehicle has not crossed the lane line and the vehicle has received a lane change cancellation request.

[0131] The third determining subunit is used to determine the lane change process as the pre-lane-crossing stage when the rear axle center of the vehicle has not crossed the lane line and the vehicle has not received a lane change cancellation request.

[0132] Optionally, in one embodiment of this application, the adjustment module 300 includes: a first control unit, a second control unit, and a third control unit.

[0133] The first control unit is used to control the vehicle to continue the lane change action when the lane change is in the post-lane change phase, until the distance between the vehicle and the target reference line and the vehicle's current heading angle meet the preset lane change termination conditions.

[0134] The second control unit is used to prohibit the vehicle from performing a lane change when the lane change is in progress or when the vehicle is returning to its original lane after the lane change has ended. It also updates the target reference line based on road environment parameters to obtain the updated target reference line, so as to adjust the vehicle's driving direction until the distance between the vehicle and the updated target reference line and the vehicle's current heading angle meet the preset lane change termination conditions.

[0135] The third control unit is used to control the vehicle to continue the lane change action when the lane change is in the pre-crossing stage, until the rear axle center of the vehicle meets the preset crossing conditions, so as to redetermine the lane change stage of the vehicle when the preset crossing conditions are met.

[0136] Optionally, in one embodiment of this application, the vehicle lane change adjustment device 10 further includes a suppression module, used to suppress the lane change request when the vehicle does not meet the preset safe lane change conditions.

[0137] It should be noted that the explanation of the above-described method for adjusting vehicle lane changing actions also applies to the vehicle lane changing action adjustment device of this embodiment, and will not be repeated here.

[0138] The vehicle lane-changing action adjustment device proposed in this application can, upon receiving a lane-changing request from a vehicle, determine whether the vehicle meets preset safe lane-changing conditions based on the vehicle's historical lane-changing data. If the vehicle meets the preset safe lane-changing conditions, the device responds to the lane-changing request by controlling the vehicle to execute the corresponding lane-changing action. Furthermore, it identifies the lane-changing stage based on the vehicle's current driving parameters and road environment parameters, adjusting the lane-changing action accordingly to ensure a smooth lane-changing process and save computing power, thus reducing costs. This solves the technical problem in related technologies where it is difficult to adjust lane-changing actions based on the actual state of the vehicle during the lane-changing process, making it difficult to adapt to flexible and changing lane-changing conditions.

[0139] Figure 7 This is a schematic diagram of the vehicle structure provided in an embodiment of this application. The lane change state machine may include:

[0140] The memory 701, the processor 702, and the computer program stored on the memory 701 and executable on the processor 702.

[0141] When the processor 702 executes the program, it implements the method for adjusting vehicle lane-changing actions provided in the above embodiments.

[0142] Furthermore, the lane change state machine also includes:

[0143] Communication interface 703 is used for communication between memory 701 and processor 702.

[0144] The memory 701 is used to store computer programs that can run on the processor 702.

[0145] The memory 701 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0146] If the memory 701, processor 702, and communication interface 703 are implemented independently, then the communication interface 703, memory 701, and processor 702 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 7 Only one thick line is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0147] Optionally, in a specific implementation, if the memory 701, processor 702, and communication interface 703 are integrated on a single chip, then the memory 701, processor 702, and communication interface 703 can communicate with each other through an internal interface.

[0148] The processor 702 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.

[0149] Figure 8 A schematic diagram of the structure of a vehicle provided in an embodiment of this application. The vehicle may include:

[0150] The memory 801, the processor 802, and the computer program stored on the memory 801 and capable of running on the processor 802.

[0151] When the processor 802 executes the program, it implements the method for adjusting vehicle lane-changing actions provided in the above embodiments.

[0152] Furthermore, the vehicle also includes:

[0153] Communication interface 803 is used for communication between memory 801 and processor 802.

[0154] The memory 801 is used to store computer programs that can run on the processor 802.

[0155] The memory 801 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0156] If the memory 801, processor 802, and communication interface 803 are implemented independently, then the communication interface 803, memory 801, and processor 802 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 divided into address buses, data buses, control buses, etc. For ease of representation, Figure 8 Only one thick line is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0157] Optionally, in a specific implementation, if the memory 801, processor 802, and communication interface 803 are integrated on a single chip, then the memory 801, processor 802, and communication interface 803 can communicate with each other through an internal interface.

[0158] The processor 802 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.

[0159] This embodiment also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method for adjusting vehicle lane-changing actions.

[0160] 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.

[0161] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Thus, a feature specified as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this application, "N" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0162] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or N executable instructions for implementing a custom logical function or process step, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may be performed in a different order than shown or discussed, including performing functions in a substantially simultaneous manner or in a reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present application pertain.

[0163] 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.

[0164] 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.

[0165] 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.

[0166] 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.

[0167] 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 adjusting vehicle lane-changing actions, characterized in that, Includes the following steps: Receive lane change requests from vehicles; Obtain the vehicle's historical lane change data, and determine whether the vehicle meets the preset safe lane change conditions based on the historical lane change data; If the vehicle meets the preset safe lane change conditions, in response to the lane change request, the system controls the vehicle to perform the corresponding lane change action, and identifies the lane change progress stage of the vehicle based on the vehicle's current driving parameters and road environment parameters, so as to adjust the lane change action according to the lane change progress stage to complete the lane change. Determining the lane change progress stage of the vehicle based on the vehicle's current driving parameters and road environment parameters includes: identifying the vehicle's lane lines based on the road environment parameters; determining whether the vehicle has received a lane change cancellation request based on the current driving parameters, and obtaining a determination result; combining the lane lines and the... The determination of the lane change process based on the judgment result, combined with the lane line and the lane change cancellation request, includes: if the rear axle center of the vehicle crosses the lane line, the lane change process is determined to be the post-lane change crossing stage; if the rear axle center of the vehicle does not cross the lane line and the vehicle receives the lane change cancellation request, the lane change process is determined to be the lane change termination and return to the original lane stage; if the rear axle center of the vehicle does not cross the lane line and the vehicle does not receive the lane change cancellation request, the lane change process is determined to be the pre-lane change crossing stage.

2. The method according to claim 1, characterized in that, The preset safe lane-changing conditions include: When the lane change request is a lane change request in the same direction, the time interval between the vehicle's last lane change time and the current time is greater than a first preset time threshold. When the lane change request is a reverse lane change request, the time interval between the vehicle's last lane change time and the current time is greater than a second preset time threshold.

3. The method according to claim 1, characterized in that, The step of adjusting the lane-changing action in stages according to the lane change includes: If the lane change is performed after the lane change has crossed the line, the vehicle is controlled to continue the lane change action until the distance between the vehicle and the target reference line and the vehicle's current heading angle meet the preset lane change termination conditions. When the lane change is in progress and the lane change is terminated and the vehicle returns to its original lane, the vehicle is prohibited from performing the lane change action. The target reference line is updated based on the road environment parameters to obtain the updated target reference line, so as to adjust the vehicle's driving direction until the distance between the vehicle and the updated target reference line and the vehicle's current heading angle meet the preset lane change termination conditions. If the lane change process is in the pre-crossing phase, the vehicle is controlled to continue the lane change action until the rear axle center of the vehicle meets the preset crossing condition, so that the lane change process phase of the vehicle is redefined if the preset crossing condition is met.

4. The method according to claim 1, characterized in that, After determining whether the vehicle meets the preset safe lane-changing conditions, the process also includes: If the vehicle does not meet the preset safe lane change conditions, the lane change request is suppressed.

5. An adjustment device for vehicle lane-changing actions, characterized in that, The method for adjusting vehicle lane-changing actions as described in any one of claims 1-4 includes: The receiving module is used to receive lane change requests from vehicles; The judgment module is used to acquire the vehicle's historical lane change data and determine whether the vehicle meets the preset safe lane change conditions based on the historical lane change data. The adjustment module is used to respond to the lane change request when the vehicle meets the preset safe lane change conditions, control the vehicle to perform the corresponding lane change action, and identify the lane change stage of the vehicle based on the vehicle's current driving parameters and road environment parameters, so as to adjust the lane change action according to the lane change stage to complete the lane change.

6. A lane-changing state machine, 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 method for adjusting vehicle lane-changing actions as described in any one of claims 1-4.

7. 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 method for adjusting vehicle lane-changing actions as described in any one of claims 1-4.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the method for adjusting vehicle lane-changing actions as described in any one of claims 1-4.

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