Intelligent driving method, electronic device and vehicle

Abstract

A kind of intelligent driving method, electronic equipment and vehicle, the method comprises: obtaining the current driving environment around the vehicle, obtaining first driving environment, and determining whether the first driving environment meets the lane change condition of changing to target lane;When the first driving environment does not meet the lane change condition, determine whether the first driving environment meets the lane change waiting condition;When the first driving environment meets the lane change waiting condition, perform lane change waiting operation;Again obtain the current driving environment, obtain second driving environment, and determine whether the second driving environment meets the lane change condition;When the second driving environment meets the lane change condition within a preset time, perform lane change operation.The scheme will control the vehicle to drive a safe distance to the target lane and wait for lane change according to the lane change waiting condition determination result when determining that the driving environment does not meet the lane change condition, which is more in line with reality, so as to remind the rear vehicle of the target lane, and thus improve the success rate of automatic lane change.

Description

Technical Field

[0001] This application relates to the field of intelligent driving technology, and more specifically to an intelligent driving method, electronic device, and vehicle. Background Technology

[0002] With the development of intelligent driving technology, more and more vehicles are equipped with automatic lane changing functions. Once the automatic lane changing function is triggered, the vehicle autonomously steers to change lanes.

[0003] Under the automatic lane change function, the system detects the driving environment around the vehicle based on high-precision maps and high-precision positioning or sensors. When the system determines that the environment is suitable for lane changing, it triggers the automatic lane change function. However, if the system detects that the space in the adjacent lane is insufficient and would affect the lane change, the lane change is immediately canceled, and the lane change will not be executed again. The above lane change method will reduce the success rate of lane changes. Summary of the Invention

[0004] The summary section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. This summary section is not intended to limit the key and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0005] To address the existing problems, this application provides an intelligent driving method, comprising: based on a lane change command, acquiring the current driving environment around the vehicle to obtain a first driving environment, and determining whether the first driving environment meets the lane change conditions for changing lanes from the current lane to a target lane; if the first driving environment does not meet the lane change conditions, determining whether the first driving environment meets the lane change waiting conditions; if the first driving environment meets the lane change waiting conditions, controlling the vehicle to perform a lane change waiting operation, wherein the lane change waiting operation refers to driving a safe distance away from the target lane to wait for a lane change; during the lane change waiting operation, acquiring the current driving environment around the vehicle again to obtain a second driving environment, and determining whether the second driving environment meets the lane change conditions; if the second driving environment meets the lane change conditions, controlling the vehicle to perform a lane change operation.

[0006] For example, the lane change waiting condition includes a first condition, which includes: there is no moving object in the first waiting decision area on the side of the vehicle closest to the target lane; when the first driving environment meets the first condition, the safe distance in the lane change waiting operation is a first safe distance.

[0007] For example, the lane change waiting condition further includes a second condition, which includes: there is no moving object in the second waiting decision area on the side of the vehicle closer to the target lane, and the second waiting decision area is a part of the first waiting decision area; when the first driving environment does not meet the first condition, it is determined whether the first driving environment meets the second condition; when the first driving environment meets the second condition, the safe distance in the lane change waiting operation is the second safe distance, and the second safe distance is less than the first safe distance.

[0008] For example, when the first driving environment meets the second condition, it is determined whether there is a collision risk between the vehicle and a moving object in the first waiting decision area; when it is determined that there is a collision risk between the vehicle and a moving object in the first waiting decision area, the safe distance in the lane change waiting operation is a third safe distance, which is less than or equal to the second safe distance.

[0009] For example, when it is determined that there is no risk of collision between the vehicle and a moving object in the first waiting decision area, the safe distance in the lane change waiting operation is a fourth safe distance, which is greater than or equal to the second safe distance and less than or equal to the first safe distance.

[0010] For example, the lane change waiting condition further includes a third condition, which includes: there is no moving object in the third waiting decision area on the side of the vehicle closest to the target lane, and the third waiting decision area is a part of the second waiting decision area; when the first driving environment does not meet the second condition, it is determined whether the first driving environment meets the third condition; when the first driving environment meets the third condition, the safe distance in the lane change waiting operation is a fifth safe distance, and the fifth safe distance is less than the second safe distance.

[0011] For example, the lane change waiting condition further includes a third condition, which includes: there is no moving object in the third waiting decision area on the side of the vehicle closest to the target lane, and there is no risk of collision between the vehicle and the moving object in the second waiting decision area, wherein the third waiting decision area is a part of the second waiting decision area;

[0012] If the first driving environment does not meet the second condition, it is determined whether the first driving environment meets the third condition. If the first driving environment meets the third condition, the safe distance in the lane change waiting operation is the fifth safe distance, which is less than the second safe distance.

[0013] For example, determining whether there is a risk of collision between the vehicle and the moving object includes: determining whether there is a risk of collision between the vehicle and the moving object based on the motion information of the vehicle and the moving object.

[0014] For example, the method further includes: when the second driving environment still does not meet the lane changing conditions after a preset time, exiting the automatic lane changing function.

[0015] In another aspect, this application provides an electronic device including a processor and a memory, wherein the memory stores a computer program that, when executed by the processor, causes the processor to perform the aforementioned intelligent driving method.

[0016] In another aspect, this application provides a vehicle that includes the aforementioned electronic equipment and sensors, the sensors being used to detect the current driving environment around the vehicle.

[0017] The intelligent driving method, electronic device, and vehicle of this application can acquire the current driving environment around the vehicle. When it is determined that the current driving environment does not meet the conditions for lane changing, it can further determine that the current driving environment meets the conditions for lane changing and then control the vehicle to perform a lane changing and waiting operation, that is, to move a safe distance away from the target lane and wait for a lane change. During the process of the vehicle performing the lane changing and waiting operation, the current driving environment around the vehicle is acquired again. When the current driving environment around the vehicle meets the conditions for lane changing, the vehicle is controlled to immediately perform a lane changing operation. This is more realistic and can give a signal to vehicles behind in the target lane that they are preparing to change lanes while probing the lane changing conditions, thereby reminding vehicles behind in the target lane to slow down and give way, thus improving the success rate of automatic lane changing. Attached Figure Description

[0018] The above and other objects, features, and advantages of the present invention will become more apparent from the more detailed description of the embodiments of the invention in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same parts or steps.

[0019] In the attached image:

[0020] Figure 1 A schematic flowchart of an intelligent driving method according to a specific embodiment of this application is shown.

[0021] Figures 2A-2D A schematic diagram of an intelligent driving method according to a specific embodiment of this application is shown.

[0022] Figure 3A schematic flowchart illustrating a lane change waiting operation according to a specific embodiment of this application is shown.

[0023] Figure 4 A schematic diagram of the waiting decision area according to a specific embodiment of this application is shown.

[0024] Figure 5 This diagram illustrates a lane change waiting operation according to a specific embodiment of this application.

[0025] Figure 6 A schematic diagram of a lane change waiting operation according to another specific embodiment of this application is shown.

[0026] Figure 7 A schematic structural block diagram of an electronic device according to a specific embodiment of this application is shown. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of the present invention more apparent, exemplary embodiments according to the present invention will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are merely a part of the embodiments of the present invention, and not all of the embodiments of the present invention. It should be understood that the present invention is not limited to the exemplary embodiments described herein. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention described herein without inventive effort should fall within the protection scope of the present invention.

[0028] Figure 1 A schematic flowchart of an intelligent driving method according to a specific embodiment of this application is shown. Figures 2A-2D A schematic diagram of an intelligent driving method according to a specific embodiment of this application is shown. Figure 1 As shown, the intelligent driving method 100 may include the following steps:

[0029] In step S110, based on the lane change command, the current driving environment around the vehicle is obtained to obtain the first driving environment, and it is determined whether the first driving environment meets the lane change conditions for changing from the current lane to the target lane.

[0030] In step S120, if the first driving environment does not meet the lane change conditions, it is determined whether the first driving environment meets the lane change waiting conditions.

[0031] In step S130, when the first driving environment meets the lane change waiting conditions, the vehicle is controlled to perform a lane change waiting operation, which means driving at a safe distance away from the target lane to wait for a lane change.

[0032] In step S140, during the process of the vehicle performing a lane change waiting operation, the current driving environment around the vehicle is acquired again to obtain a second driving environment, and it is determined whether the second driving environment meets the lane change conditions.

[0033] In step S150, when the second driving environment meets the lane-changing conditions, the vehicle is controlled to perform a lane-changing operation.

[0034] like Figures 2A-2D As shown, in this embodiment, the target lane is located to the right of the vehicle's lane. First, as... Figure 2A As shown, this vehicle is preparing to change lanes to the target lane, but it has been detected that the current driving conditions do not meet the requirements for lane changing; then, as... Figure 2B As shown, the system determines that the current environment meets the conditions for lane-changing and waiting, and controls the vehicle to perform a lane-changing and waiting operation, that is, to deviate a safe distance from the target lane and drive to wait for a lane change within a preset time; then, as... Figure 2C As shown, if the current environment is detected to meet the lane-changing conditions within a preset time, the vehicle is controlled to perform a lane-changing operation; finally, as... Figure 2D As shown, the vehicle successfully changed lanes to the target lane and drove along the center of the target lane.

[0035] In an embodiment of this application, the vehicle is traveling in its own lane and preparing to automatically change lanes to a target lane. Exemplarily, the target lane should be adjacent to the vehicle's own lane, and can be located to the left or right of the vehicle's own lane. Exemplarily, the user (driver) can activate the automatic lane-changing function by moving the turn signal lever after confirming the surrounding environment, or the vehicle's automatic lane-changing function can trigger the automatic lane-changing operation autonomously. Exemplarily, after triggering the automatic lane-changing operation, under the automatic lane-changing function, the current driving environment of the vehicle can be obtained to obtain a first driving environment. Simultaneously, the automatic lane-changing function can detect the first driving environment and determine whether the first driving environment meets the lane-changing conditions. Exemplarily, the determination of whether the lane-changing conditions are met includes: detecting the vehicle's speed, the distance between the vehicle and the vehicle in front, the distance between the vehicle behind the target lane and the vehicle, the speed of the vehicle behind the target lane, the lateral distance between the vehicle and the target lane, and whether the lane line between the vehicle's own lane and the target lane is a dashed line, etc. When the first driving environment is determined to meet the aforementioned lane-changing conditions, the vehicle immediately performs an automatic lane-changing operation to change lanes to the target lane. However, when the first driving environment is determined not to meet at least one of the aforementioned lane-changing conditions, as in step S120, the vehicle will not perform an automatic lane-changing operation. In this case, it is further determined whether the first driving environment meets the lane-changing waiting conditions. When the first driving environment is determined to meet the lane-changing waiting conditions, as in step S130, the vehicle is controlled to perform a lane-changing waiting operation, that is, the vehicle is controlled to deviate a safe distance from the target lane and wait for a lane change. For example, the safe distance that the vehicle deviates from the target lane should be set within a reasonable range based on the first driving environment and actual needs. During the process of the vehicle performing the lane-changing waiting operation, under the lane-changing command, the current driving environment of the vehicle is obtained to obtain the second driving environment. When the second driving environment meets the lane-changing conditions, the vehicle is immediately controlled to perform an automatic lane-changing operation to change lanes to the target lane.

[0036] Therefore, the autonomous driving method of this application embodiment can acquire the current driving environment around the vehicle. When it is determined that the driving environment does not meet the lane-changing conditions, it can continue to determine that the current driving environment meets the lane-changing waiting conditions. It can control the vehicle to move a safe distance away from the target lane and wait for the lane change. During the lane-changing waiting operation, the current driving environment around the vehicle is acquired again. When the current driving environment around the vehicle meets the lane-changing conditions, the vehicle is controlled to immediately perform the lane-changing operation. This is more realistic and can give a signal to the vehicle behind the target lane to prepare to change lanes while probing the lane-changing conditions. This can remind the vehicle behind the target lane to slow down and give way, thereby improving the success rate of automatic lane changing.

[0037] In the embodiments of this application, the lane change waiting condition includes a first condition, which includes: there is no moving object in the first waiting decision area on the side of the vehicle closest to the target lane. Exemplarily, the target lane should be adjacent to the vehicle's lane, and the target lane can be located to the left or right of the vehicle's lane. Exemplarily, taking the target lane as being located to the right of the vehicle's lane as an example, the first waiting decision area is located on the right side of the vehicle. Exemplarily, the first waiting decision area is rectangular, and its width is a first width, i.e., the distance from the right edge of the first waiting decision area to the outermost right edge of the vehicle (excluding the exterior rearview mirror) is the first width; the length of the first waiting decision area is a first length, i.e., the distance from the front edge of the first waiting decision area to the rear edge of the first waiting decision area is the first length. Exemplarily, those skilled in the art should understand that the first width and first length should be selected within an appropriate range of values ​​according to actual needs. Exemplarily, the first width is 2.5 meters, and the first length is the vehicle's body length plus a distance of 6 meters in front of the vehicle and 6 meters behind the vehicle. In other embodiments, the first waiting decision area can also be any other suitable shape.

[0038] In embodiments of this application, when the first driving environment meets the first condition, the safe distance during lane-changing waiting operations is the first safe distance, that is, the safe distance for controlling the vehicle to deviate towards the target lane is the first safe distance. Exemplarily, the first safe distance should be selected from an appropriate numerical range based on the size of the first waiting decision area. Exemplarily, the first safe distance should be less than the width of the first waiting decision area. Exemplarily, the first safe distance can be greater than the distance between the lane lines of the vehicle and the target lane.

[0039] In embodiments of this application, the lane-change waiting condition further includes a second condition, which includes: there is no moving object in the second waiting decision area on the side of the vehicle's lane closest to the target lane, and the second waiting decision area is a portion of the first waiting decision area. Exemplarily, the target lane should be adjacent to the vehicle's lane, and the target lane can be located to the left or right of the vehicle's lane. Exemplarily, taking the target lane as being located to the right of the vehicle's lane as an example, the second waiting decision area is located on the right side of the vehicle. Exemplarily, the second waiting decision area is rectangular, and its width is a second width, i.e., the distance from the right edge of the second waiting decision area to the outermost right edge of the vehicle (excluding the exterior rearview mirror) is the second width; the length of the second waiting decision area is a second length, i.e., the distance from the front edge of the second waiting decision area to the rear edge of the second waiting decision area is the second length. Exemplarily, those skilled in the art should understand that the second width and second length should be selected within an appropriate numerical range according to actual needs. Exemplarily, the second width is 1.5 meters, and the second length is the vehicle's body length plus a 3-meter distance in front of the vehicle and a 3-meter distance behind the vehicle. In other embodiments, the second waiting decision region may also be any other suitable shape.

[0040] In the embodiments of this application, when the first driving environment does not meet the first condition, it is further determined whether the first driving environment meets the second condition. When the first driving environment meets the second condition, the safe distance during the lane-changing waiting operation is the second safe distance, that is, the safe distance for controlling the vehicle to deviate towards the target lane is the second safe distance, which is less than the first safe distance. Exemplarily, the second safe distance should be selected from an appropriate numerical range based on the size of the second waiting decision area. Exemplarily, the second safe distance should be less than the width of the second waiting decision area.

[0041] In the embodiments of this application, when the first driving environment meets the second condition, it is further determined whether there is a collision risk between the vehicle and a moving object in the first waiting decision area. When it is determined that there is a collision risk between the vehicle and a moving object in the first waiting decision area, the safe distance during the lane change waiting operation is the third safe distance, that is, the safe distance for controlling the vehicle to deviate towards the target lane is the third safe distance, and the third safe distance is less than or equal to the second safe distance. Exemplarily, the third safe distance should be selected according to an appropriate numerical range based on the determination of the actual collision risk.

[0042] In the embodiments of this application, when the first driving environment meets the second condition, it is further determined whether there is a collision risk between the vehicle and a moving object in the first waiting decision area. When it is determined that there is no collision risk between the vehicle and the moving object in the first waiting decision area, the safe distance during the lane change waiting operation is the fourth safe distance, that is, the safe distance for controlling the vehicle to deviate towards the target lane is the fourth safe distance. The fourth safe distance is greater than or equal to the second safe distance and less than or equal to the first safe distance. Exemplarily, the fourth safe distance should be selected according to the determination of the actual collision risk, choosing an appropriate numerical range.

[0043] In embodiments of this application, the lane-change waiting condition further includes a third condition, which includes: there is no moving object in the third waiting decision area on the side of the vehicle closest to the target lane, and the third waiting decision area is a portion of the second waiting decision area. Exemplarily, the target lane should be adjacent to the vehicle's lane, and the target lane can be located to the left or right of the vehicle's lane. Exemplarily, taking the target lane as being located to the right of the vehicle's lane as an example, the third waiting decision area is located on the right side of the vehicle. Exemplarily, the third waiting decision area is rectangular, and its width is a third width, i.e., the distance from the right edge of the third waiting decision area to the outermost right edge of the vehicle (excluding the exterior rearview mirror) is the third width; the length of the third waiting decision area is a third length, i.e., the distance from the front edge of the third waiting decision area to the rear edge of the third waiting decision area is the third length. Exemplarily, those skilled in the art should understand that the third width and third length should be selected within an appropriate range of values ​​according to actual needs. Exemplarily, the third width is 1 meter, and the third length is the vehicle's body length plus a 2-meter distance in front of the vehicle and a 2-meter distance behind the vehicle. In other embodiments, the third waiting decision area can also be any other suitable shape.

[0044] In the embodiments of this application, when the first driving environment does not meet the second condition, it is further determined whether the first driving environment meets the third condition. When the first driving environment meets the third condition, the safe distance during the lane-changing waiting operation is the fifth safe distance, that is, the safe distance for controlling the vehicle to deviate towards the target lane is the fifth safe distance. Exemplarily, the fifth safe distance should be selected from an appropriate numerical range based on the size of the third waiting decision area. Exemplarily, the fifth safe distance should be less than the width of the third waiting decision area.

[0045] In embodiments of this application, the lane-changing waiting condition further includes a third condition, which includes: there are no moving objects in the third waiting decision area on the side of the vehicle closest to the target lane, and there is no risk of collision between the vehicle and moving objects in the second waiting decision area. The third waiting decision area is a portion of the second waiting decision area. Exemplarily, the target lane should be adjacent to the vehicle's lane, and the target lane can be located to the left or right of the vehicle's lane. Exemplarily, taking the target lane as being located to the right of the vehicle's lane as an example, the third waiting decision area is located on the right side of the vehicle. Exemplarily, the third waiting decision area is rectangular, and its width is the third width, i.e., the distance from the right edge of the third waiting decision area to the outermost right edge of the vehicle (excluding the exterior rearview mirror) is the third width; the length of the third waiting decision area is the third length, i.e., the distance from the front edge of the third waiting decision area to the rear edge of the third waiting decision area is the third length. Exemplarily, those skilled in the art should understand that the third width and third length should be selected within an appropriate range of values ​​according to actual needs. Exemplarily, the third width is 1 meter, and the third length is the vehicle's body length plus a 2-meter distance in front of the vehicle and a 2-meter distance behind the vehicle. In other embodiments, the third waiting decision region may also be any other suitable shape.

[0046] In the embodiments of this application, when it is determined that the vehicle and the second waiting decision do not meet the second condition of the first driving environment, it is further determined whether the first driving environment meets the third condition. When the first driving environment meets the third condition, the safe distance in the lane change waiting operation is the fifth safe distance, that is, the safe distance for controlling the vehicle to deviate towards the target lane is the fifth safe distance. Exemplarily, the fifth safe distance should be selected from an appropriate numerical range based on the size of the third waiting decision area. Exemplarily, the fifth safe distance should be less than the width of the third waiting decision area.

[0047] In embodiments of this application, determining whether there is a collision risk between the vehicle and a moving object includes: determining whether there is a collision risk between the vehicle and the moving object based on the motion information of the vehicle and the moving object. For example, the motion information of the vehicle and the moving object includes: the speed of the vehicle and the moving object, the acceleration of the vehicle and the moving object, the direction of motion of the vehicle and the moving object, and the position information of the vehicle and the moving object, etc. For example, when it is determined that there is a collision risk between the vehicle and a moving object within the first waiting decision area, it can be considered that the moving object within the first waiting decision area may enter the second waiting decision area, and in this case, the safe distance offset by the vehicle needs to be adjusted to a third safe distance; when it is determined that there is no collision risk between the vehicle and a moving object within the first waiting decision area, it can be considered that the moving object within the first waiting decision area does not have the possibility of entering the second waiting decision area, and in this case, the safe distance offset by the vehicle needs to be adjusted to a fourth safe distance. For example, when it is determined that there is a collision risk between the vehicle and a moving object in the second waiting decision area, it can be assumed that the moving object in the second waiting decision area may enter the third waiting decision area. In this case, the vehicle needs to immediately disengage from the automatic lane change function. When it is determined that there is no collision risk between the vehicle and a moving object in the second waiting decision area, it can be assumed that the moving object in the second waiting decision area may not enter the third waiting decision area. In this case, the vehicle's safe distance for offset needs to be adjusted to the sixth safe distance. For example, determining that there is a collision risk between the vehicle and a moving object includes: the relative speed between the moving object and the vehicle is greater than 3.6 km / h, and the arctangent angle of the ratio of the longitudinal relative speed to the lateral relative speed between the moving object and the vehicle is between 80 degrees and 100 degrees.

[0048] In the embodiments of this application, after controlling the vehicle to deviate a safe distance from the target lane and wait for a lane change, the current driving environment of the vehicle is acquired again to obtain a second driving environment. If the second driving environment still does not meet the lane change conditions after a preset time, the vehicle is controlled to exit the automatic lane change function. For example, when the vehicle exits the automatic lane change function, corresponding prompts can be output through the human-machine interface to notify the user (driver). For example, the determination of whether the lane change conditions are met includes: detecting the vehicle's speed, the distance between the vehicle and the vehicle in front, the distance between the vehicle behind in the target lane and the vehicle, the speed of the vehicle behind in the target lane, the lateral distance between the vehicle and the target lane, and whether the lane line between the vehicle's lane and the target lane is a dashed line, etc.

[0049] Various embodiments of the intelligent driving method of this application have been described above by way of example. These embodiments can be freely combined. The following is an embodiment of a combination of the above embodiments.

[0050] The following reference Figures 3 to 6 This application describes a specific embodiment of an intelligent driving method. Wherein, Figure 3 This diagram illustrates a schematic flowchart of a lane change waiting operation according to a specific embodiment of this application. Figure 4 This diagram illustrates a waiting decision area according to a specific embodiment of this application. Figure 5 The diagram illustrates a lane change waiting operation according to a specific embodiment of this application. Figure 6 A schematic diagram of a lane change waiting operation according to another specific embodiment of this application is shown.

[0051] For example, when it is determined that the current driving environment does not meet the lane-changing conditions, it is further determined whether the current driving environment meets the lane-changing waiting conditions, such as... Figure 3 As shown, first, step S310 is executed to determine whether there is a moving object in the first waiting decision area. If it is determined that there is a moving object in the first waiting decision area, then step S320 is executed; if it is determined that there is no moving object in the first waiting decision area, then step S360 is executed.

[0052] In step S320, it is determined whether there is a moving object in the second waiting decision area. If it is determined that there is a moving object in the second waiting decision area, the process proceeds to step S330; if it is determined that there is no moving object in the second waiting decision area, the process proceeds to step S340.

[0053] In step S330, it is determined whether there is a moving object in the third waiting decision area. If it is determined that there is a moving object in the third waiting decision area, the process proceeds to step S380; if it is determined that there is no moving object in the third waiting decision area, the process proceeds to step S350.

[0054] In step S340, when it is determined that there is a moving object in the first waiting decision area and there is no moving object in the second waiting decision area, it is further determined whether there is a collision risk between the vehicle and the moving object in the first waiting decision area. If it is determined that there is a collision risk between the vehicle and the moving object in the first waiting decision area, then proceed to step S370; if it is determined that there is no collision risk between the vehicle and the moving object in the first waiting decision area, then proceed to step S360.

[0055] In step S350, when it is determined that there is a moving object in the second waiting decision area and there is no moving object in the third waiting decision area, it is further determined whether there is a collision risk between the vehicle and the moving object in the second waiting decision area. If it is determined that there is a collision risk between the vehicle and the moving object in the second waiting decision area, then proceed to step S380; if it is determined that there is no collision risk between the vehicle and the moving object in the second waiting decision area, then proceed to step S370.

[0056] In step S360, as Figure 5 As shown, control the vehicle to deviate from the target lane by a first safe distance.

[0057] In step S370, as Figure 6 As shown, the vehicle is controlled to deviate from the target lane by a second safe distance, which is less than the first safe distance.

[0058] In step S380, the vehicle is controlled to deactivate the automatic lane changing function.

[0059] For example, such as Figure 4 As shown, the first waiting decision area, the second waiting decision area, and the third waiting decision area are located on the side of the vehicle closest to the target lane. For example, as... Figure 5 As shown, the first safe distance can be greater than the distance between the lane lines of the vehicle and the target lane.

[0060] The above description exemplarily illustrates an intelligent driving method according to a specific embodiment of this application. Based on the above description, the intelligent driving method 100 of this application can acquire the current driving environment around the vehicle. When it is determined that the current driving environment does not meet the lane-changing conditions, and further determines that the current driving environment meets the lane-changing waiting conditions, it can control the vehicle to move a safe distance away from the target lane and wait for the lane change. When the current driving environment meets the lane-changing conditions, it controls the vehicle to immediately perform the lane-changing operation, avoiding panic caused to the user (driver) due to the vehicle not driving in the center of the lane for a long time. When the current driving environment still does not meet the lane-changing conditions after a preset time, it controls the vehicle to exit the automatic lane-changing function. This intelligent driving method is more realistic and can provide a signal to vehicles behind in the target lane to prepare for a lane change while probing the lane-changing conditions, thereby reminding vehicles behind in the target lane to slow down and give way, thus improving the success rate of automatic lane changing.

[0061] Below, refer to Figure 7 To describe the electronic device of this application. Figure 7 A schematic structural block diagram of an electronic device according to a specific embodiment of this application is shown. Figure 7 As shown, the electronic device 700 includes a processor 710 and a memory 720. The memory 720 stores a computer program. When the computer program is run by the processor 710, the processor 710 executes the intelligent driving method described above.

[0062] For example, processor 710 may include, but is not limited to, ADAS (Advanced Driver Assistance Systems) domain controllers for issuing instructions through a series of algorithmic processing flows.

[0063] For example, the electronic device may also include a human-machine interface for receiving input information from the user (driver), including but not limited to confirmation and cancellation operations, and for outputting corresponding prompts to notify the user (driver), including but not limited to sound, text, images, vibration and other information.

[0064] This application also provides a vehicle that includes the electronic devices and sensors described above, the sensors being used to detect the current driving environment around the vehicle.

[0065] For example, sensors include, but are not limited to, multi-functional video controllers, millimeter-wave radar, lidar, 4D imaging radar, V2X (vehicle-to-everything wireless communication technology), speed sensors, and cornering sensors.

[0066] For example, the vehicle may also include other components, such as a signal transmission system for signal transmission, etc., which are not limited in this application embodiment.

[0067] Although exemplary embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above exemplary embodiments are merely illustrative and are not intended to limit the scope of the invention. Various changes and modifications can be made therein by those skilled in the art without departing from the scope and spirit of the invention. All such changes and modifications are intended to be included within the scope of the invention as claimed in the appended claims.

[0068] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0069] In the several embodiments provided by this invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed.

[0070] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0071] Similarly, it should be understood that, in order to streamline the invention and aid in understanding one or more of the various aspects of the invention, features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof in the description of exemplary embodiments of the invention. However, the method of the invention should not be construed as reflecting an intention that the claimed invention requires more features than are expressly recited in each claim. Rather, as reflected in the corresponding claims, its inventive point lies in solving the corresponding technical problem with fewer features than all of those in a single disclosed embodiment. Therefore, the claims following the detailed description are hereby expressly incorporated into that detailed description, wherein each claim itself is a separate embodiment of the invention.

[0072] Those skilled in the art will understand that, apart from the mutual exclusion of features, all features disclosed in this specification (including the accompanying claims, abstract, and drawings) and all processes or units of any method or apparatus so disclosed can be combined in any combination. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstract, and drawings) may be replaced by an alternative feature that serves the same, equivalent, or similar purpose.

[0073] Furthermore, those skilled in the art will understand that although some embodiments herein include certain features included in other embodiments but not others, combinations of features from different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments can be used in any combination.

[0074] The various component embodiments of the present invention can be implemented in hardware, or as software modules running on one or more processors, or a combination thereof. Those skilled in the art will understand that microprocessors or digital signal processors (DSPs) can be used in practice to implement some or all of the functions of some modules in the article analysis device according to embodiments of the present invention. The present invention can also be implemented as an apparatus program (e.g., a computer program and computer program product) for performing part or all of the methods described herein. Such programs implementing the present invention can be stored on a computer-readable medium, or can be in the form of one or more signals. Such signals can be downloaded from an Internet website, provided on a carrier signal, or provided in any other form.

[0075] It should be noted that the above embodiments are illustrative of the invention and not restrictive, and that those skilled in the art can devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names.

[0076] The above are merely specific embodiments or descriptions of the present invention, and the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. The scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. An intelligent driving method, characterized in that, The method includes: Based on the lane change command, the current driving environment around the vehicle is obtained to obtain the first driving environment, and it is determined whether the first driving environment meets the lane change conditions for changing from the current lane to the target lane. When the first driving environment does not meet the lane-changing conditions, it is determined whether the first driving environment meets the lane-changing waiting conditions. When the first driving environment meets the lane-changing waiting conditions, the vehicle is controlled to perform a lane-changing waiting operation. The lane-changing waiting operation involves moving a safe distance away from the target lane to wait for a lane change. The lane-changing waiting conditions include a first condition, a second condition, and a third condition, wherein: The first condition includes: there are no moving objects in the first waiting decision area on the side of the vehicle closest to the target lane; when the first driving environment meets the first condition, the safe distance in the lane change waiting operation is the first safe distance; The second condition includes: there are no moving objects in the second waiting decision area on the side of the vehicle closest to the target lane, and the second waiting decision area is a part of the first waiting decision area; when the first driving environment does not meet the first condition, it is determined whether the first driving environment meets the second condition; when the first driving environment meets the second condition, the safe distance in the lane change waiting operation is the second safe distance, and the second safe distance is less than the first safe distance; The third condition includes: there are no moving objects in the third waiting decision area on the side of the vehicle closest to the target lane, and the third waiting decision area is a part of the second waiting decision area; when the first driving environment does not meet the second condition, it is determined whether the first driving environment meets the third condition; when the first driving environment meets the third condition, the safe distance in the lane change waiting operation is the fifth safe distance, and the fifth safe distance is less than the second safe distance; During the process of the vehicle performing a lane change waiting operation, the current driving environment around the vehicle is acquired again to obtain a second driving environment, and it is determined whether the second driving environment meets the lane change conditions; When the lane-changing conditions are met in the second driving environment, the vehicle is controlled to perform a lane-changing operation.

2. The method according to claim 1, characterized in that, When the first driving environment meets the second condition, it is determined whether there is a risk of collision between the vehicle and a moving object in the first waiting decision area; When it is determined that there is a risk of collision between the vehicle and a moving object in the first waiting decision area, the safe distance during the lane change waiting operation is the third safe distance, which is less than or equal to the second safe distance.

3. The method according to claim 2, characterized in that, When it is determined that there is no risk of collision between the vehicle and a moving object in the first waiting decision area, the safe distance during the lane change waiting operation is the fourth safe distance, which is greater than or equal to the second safe distance and less than or equal to the first safe distance.

4. The method according to any one of claims 1-3, characterized in that, The third condition in the lane change waiting conditions also includes: there is no risk of collision between the vehicle and a moving object in the second waiting decision area.

5. The method according to claim 4, characterized in that, Determining whether there is a risk of collision between the vehicle and the moving object includes: determining whether there is a risk of collision between the vehicle and the moving object based on the motion information of the vehicle and the moving object.

6. The method according to any one of claims 1-3, characterized in that, The method further includes: If the second driving environment still does not meet the lane-changing conditions after the preset time has elapsed, the automatic lane-changing function will be deactivated.

7. An electronic device, characterized in that, It includes a processor and a memory, wherein the memory stores a computer program that, when executed by the processor, causes the processor to perform the intelligent driving method according to any one of claims 1-6.

8. A vehicle, characterized in that, The vehicle includes the electronic equipment and sensors of claim 7, the sensors being used to detect the current driving environment around the vehicle.

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