Lane changing control method and device, computer equipment and readable storage medium

Abstract

The embodiment of the invention discloses a lane changing control method and device, computer equipment and a readable storage medium, and relates to the technical field of automatic driving. The method comprises the steps that when it is determined that a vehicle meets lane changing conditions, the current lane where the vehicle is located and a target lane are determined; obtaining a single lane changing distance value, and obtaining a latest lane changing line where a latest lane changing point corresponding to the target lane is located according to the map data; each target lane line between the current lane and the target lane and each tangent line at the intersection point of the latest lane changing line and each target lane line are perpendicular to the latest lane changing line; based on the single lane changing distance value, calculating a lane changing starting distance corresponding to each lane from the current lane to the target lane; the start lane changing distance is a distance value between the start lane changing point corresponding to each lane and the latest lane changing line; and based on the start lane changing distance and the latest lane changing line corresponding to each lane, sequentially controlling the own vehicle to change the lane to the target lane. According to the embodiment of the invention, the lane changing operation of the autonomous vehicle can be accurately controlled.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving technology, and in particular to a lane change control method, device, computer equipment and readable storage medium. Background Art

[0002] In autonomous driving technology, autonomous driving vehicles often encounter situations where they need to change lanes, such as when the planned trajectory shows that a left or right turn is required ahead, and the vehicle is not in the corresponding turning lane; or when the autonomous driving vehicle is driving on a highway or elevated road and is about to enter a ramp to exit the highway or elevated road, and the vehicle is not in the rightmost lane, it is necessary to change lanes in advance.

[0003] However, in actual driving, there are the following problems: when the autonomous vehicle changes lanes too late, it may not be able to change lanes successfully, resulting in the vehicle being unable to drive according to the planned trajectory, and then the route needs to be replanned, which will cause the autonomous vehicle to detour, especially after missing a ramp on a highway or elevated road, it usually takes a long distance to reach the next ramp; or, when the autonomous vehicle changes lanes too early, the turning lanes or ramps usually have slow traffic, which will affect the vehicle's driving speed and increase the vehicle's travel time. Therefore, how to control the accurate lane change of the autonomous vehicle has become a technical problem that needs to be solved urgently. Summary of the invention

[0004] The present invention provides a lane change control method, device, computer equipment and readable storage medium to accurately control an autonomous driving vehicle to change lanes. The specific technical solution is as follows.

[0005] In a first aspect, an embodiment of the present invention provides a lane change control method, which is applied to an autonomous driving vehicle, and the method includes:

[0006] When it is determined that the ego vehicle meets the lane change conditions, the current lane of the ego vehicle is determined, and the target lane is determined based on the planned trajectory and map data;

[0007] Obtaining a preset single lane change distance value, and obtaining a latest lane change line at which the latest lane change point corresponding to the target lane is located according to the map data; each tangent line of each target lane line between the current lane and the target lane at the intersection of the latest lane change line and each target lane line is perpendicular to the latest lane change line;

[0008] Based on the single lane change distance value, calculating the starting lane change distance from the current lane to each lane in the target lane; the starting lane change distance is the distance value between the starting lane change point corresponding to each lane and the latest lane change line;

[0009] Based on the starting lane change distances corresponding to the lanes and the latest lane change line, the vehicle is controlled to change lanes to the target lane in sequence.

[0010] As can be seen from the above content, a lane change control method provided by the present embodiment can accurately plan the starting lane change distance corresponding to each lane of the self-vehicle when the self-vehicle needs to change lanes based on a preset single lane change distance value, that is, the average distance required for the self-vehicle to change lanes once, and the latest lane change line obtained from the map data, that is, the latest position corresponding to the self-vehicle being able to successfully change lanes from the target lane to the turning lane or ramp, beyond which the self-vehicle will not be able to successfully change lanes. Lanes are changed based on the starting lane change distance corresponding to each lane, which can ensure that the self-vehicle changes lanes at the appropriate time. That is to say, while ensuring that the self-vehicle changes lanes successfully, since the single lane change distance value of each lane change of the self-vehicle is taken into account, only the appropriate lane change distance is reserved for the self-vehicle, and excessive congestion in the turning lane or ramp due to premature lane change will not occur, thereby improving the accuracy of lane change of the autonomous driving vehicle.

[0011] Optionally, the step of calculating the starting lane change distances from the current lane to each lane in the target lane based on the single lane change distance value includes:

[0012] Acquire, according to the map data, the length values ​​of each long solid line in each target lane line from the starting point of the long solid line in the direction of travel of the vehicle to the latest lane change line;

[0013] Based on the single lane change distance value and the length values ​​of each long solid line, the starting lane change distance from the current lane to each lane in the target lane is calculated.

[0014] Optionally, the step of calculating the lane change start distances from the current lane to each lane in the target lane based on the single lane change distance value and the length values ​​of each long solid line includes:

[0015] Determine the starting lane change distance corresponding to the target lane as the single lane change distance value;

[0016] For any other lane n, the starting lane change distance corresponding to the lane is calculated using the following formula:

[0017] Max{a+D 1 +a*(n-1),a+D 2 +a*(n-2), ..., a+D n-1 +a*1}

[0018] Where n≧2, the target lane is lane 1, the lane adjacent to lane 1 is lane 2, and the other lanes are numbered in sequence; a is the single lane change distance value, and the long solid line length value of the lane line between lane n and lane n-1 is D n-1 .

[0019] When there is a long solid line in the lane before the ramp, the length of the long solid line and the single lane change distance value can be considered at the same time, so as to accurately calculate the starting lane change distance corresponding to each lane.

[0020] Optionally, the method further includes:

[0021] Obtain preset lane change time and driver reaction time;

[0022] Based on the lane change time, the latest lane change distance corresponding to each lane is calculated; the latest lane change distance is the distance value between the latest lane change point corresponding to each lane and the latest lane change line;

[0023] For each lane, a lane change reminder distance corresponding to the lane is calculated according to the driver's reaction time and the latest lane change distance corresponding to the lane; the lane change reminder distance is the distance value between the lane change reminder point corresponding to each lane and the latest lane change line;

[0024] When the vehicle travels to any lane, it is determined whether the distance between the vehicle and the latest lane change line is less than or equal to the lane change reminder distance corresponding to the lane, and if so, a reminder message is output.

[0025] Optionally, the step of calculating the latest lane change distance corresponding to each lane based on the lane change time includes:

[0026] Determine that the latest lane change distance corresponding to the target lane is 0;

[0027] The current speed of the vehicle is obtained, and the product of the current speed and the lane change time is used as the preset parameter b. For any other lane n, the latest lane change distance corresponding to the lane is calculated by the following formula:

[0028] Max{b*(n-1),D 1 +b*(n-2), ..., D n-1}.

[0029] Optionally, the step of calculating, for each lane, the lane change reminder distance corresponding to the lane according to the driver's reaction time and the latest lane change distance corresponding to the lane includes:

[0030] Get the preset buffer distance value;

[0031] Obtaining the current speed of the vehicle, and taking the product of the current speed and the driver's reaction time as the reaction distance value;

[0032] A larger value between the buffer distance value and the reaction distance value is identified, and for each lane, a sum of a latest lane change distance corresponding to the lane and the larger value is used as a lane change reminder distance corresponding to the lane.

[0033] Optionally, the step of sequentially controlling the vehicle to change lanes to the target lane based on the starting lane change distances corresponding to the lanes and the latest lane change line includes:

[0034] When the vehicle travels to any lane, determining whether the distance between the vehicle and the latest lane change line is less than or equal to the lane change start distance corresponding to the lane;

[0035] If yes, control the vehicle to change lanes.

[0036] By calculating the latest lane change distance and lane change reminder distance corresponding to each lane, when the vehicle travels to a distance from the latest lane change line that is less than or equal to the corresponding lane change reminder distance, a reminder message is output to remind the driver that the ramp is about to be missed and that takeover is required, thereby ensuring that the autonomous driving vehicle can successfully change lanes and avoid detours caused by missing the ramp.

[0037] Optionally, the method further includes:

[0038] When the vehicle travels to the target lane, the distance between the vehicle and the latest lane change line is less than a first preset distance, and the current speed of the vehicle is greater than a preset speed value, the vehicle is controlled to decelerate with the goal that the vehicle's travel speed is less than the preset speed value when it reaches a second preset distance from the latest lane change line;

[0039] Calculating a comfortable vehicle speed value corresponding to the latest lane change line;

[0040] When the distance between the vehicle and the latest lane change line is less than the second preset distance, and the current speed of the vehicle is greater than the comfortable speed value, the vehicle is controlled to decelerate with the goal of making the vehicle's speed less than the comfortable speed value when it reaches the latest lane change line.

[0041] Optionally, the step of calculating the comfortable vehicle speed value corresponding to the latest lane change line includes:

[0042] Determine a relevant vehicle speed value, wherein the relevant vehicle speed value includes at least one of the following: a ramp speed limit, a ramp curvature speed limit, and a maximum ramp speed preset by a driver; the ramp speed limit is obtained according to the map data, and the ramp curvature speed limit is calculated according to a maximum curvature point within a calculation range;

[0043] The minimum value among the relevant vehicle speed values ​​is determined as the comfortable vehicle speed value.

[0044] In this embodiment, when the autonomous driving vehicle enters the rightmost lane and is about to enter the ramp, it decelerates in advance to avoid a dangerous accident caused by the need to decelerate quickly after entering the ramp at too high a speed.

[0045] In a second aspect, an embodiment of the present invention provides a lane change control device, which is applied to an autonomous driving vehicle, and the device includes:

[0046] The lane determination module is used to determine the current lane of the ego vehicle when it is determined that the ego vehicle meets the lane change conditions, and determine the target lane based on the planned trajectory and map data;

[0047] a lane change line determination module, for obtaining a preset single lane change distance value, and obtaining a latest lane change line at which the latest lane change point corresponding to the target lane is located according to the map data; each tangent line of each target lane line between the current lane and the target lane at the intersection of the latest lane change line and each target lane line is perpendicular to the latest lane change line;

[0048] a lane change distance calculation module, configured to calculate, based on the single lane change distance value, a starting lane change distance corresponding to each lane in the target lane from the current lane; the starting lane change distance being a distance value between a starting lane change point corresponding to each lane and the latest lane change line;

[0049] The lane change control module is used to control the vehicle to change lanes to the target lane in sequence based on the starting lane change distance corresponding to each lane and the latest lane change line.

[0050] Optionally, the lane change distance calculation module includes:

[0051] A long solid line length value determination submodule is used to obtain, according to the map data, the length values ​​of each long solid line in each target lane line from the starting point of the long solid line in the direction of the vehicle to the latest lane change line;

[0052] The lane change distance calculation submodule is used to calculate the starting lane change distance corresponding to each lane in the target lane from the current lane based on the single lane change distance value and the length values ​​of each long solid line.

[0053] Optionally, the lane change distance calculation submodule is specifically used to:

[0054] Determine the starting lane change distance corresponding to the target lane as the single lane change distance value;

[0055] For any other lane n, the starting lane change distance corresponding to the lane is calculated using the following formula:

[0056] Max{a+D 1 +a*(n-1),a+D 2 +a*(n-2), ..., a+D n-1 +a*1}

[0057] Where n≧2, the target lane is lane 1, the lane adjacent to lane 1 is lane 2, and the other lanes are numbered in sequence; a is the single lane change distance value, and the long solid line length value of the lane line between lane n and lane n-1 is D n-1 .

[0058] Optionally, the device further comprises:

[0059] A time acquisition module, used to obtain the preset lane change time and driver reaction time;

[0060] A latest lane change distance calculation module, used to calculate the latest lane change distance corresponding to each lane based on the lane change time; the latest lane change distance is the distance value between the latest lane change point corresponding to each lane and the latest lane change line;

[0061] a lane change reminder distance calculation module, configured to calculate, for each lane, a lane change reminder distance corresponding to the lane according to the driver's reaction time and the latest lane change distance corresponding to the lane; the lane change reminder distance is the distance value between the lane change reminder point corresponding to each lane and the latest lane change line;

[0062] The reminder information output module is used to determine whether the distance between the vehicle and the latest lane change line is less than or equal to the lane change reminder distance corresponding to the lane when the vehicle travels to any lane, and if so, output reminder information.

[0063] Optionally, the latest lane change distance calculation module is specifically used to:

[0064] Determine that the latest lane change distance corresponding to the target lane is 0;

[0065] The current speed of the vehicle is obtained, and the product of the current speed and the lane change time is used as the preset parameter b. For any other lane n, the latest lane change distance corresponding to the lane is calculated by the following formula:

[0066] Max{b*(n-1),D 1 +b*(n-2), ..., D n-1}.

[0067] Optionally, the lane change reminder distance calculation module is specifically used to:

[0068] Get the preset buffer distance value;

[0069] Obtaining the current speed of the vehicle, and taking the product of the current speed and the driver's reaction time as the reaction distance value;

[0070] A larger value between the buffer distance value and the reaction distance value is identified, and for each lane, a sum of a latest lane change distance corresponding to the lane and the larger value is used as a lane change reminder distance corresponding to the lane.

[0071] Optionally, the lane change control module is specifically used to:

[0072] When the vehicle travels to any lane, determining whether the distance between the vehicle and the latest lane change line is less than or equal to the lane change start distance corresponding to the lane;

[0073] If yes, control the vehicle to perform lane change.

[0074] Optionally, the device further comprises:

[0075] a deceleration control module, for controlling the vehicle to decelerate when the vehicle travels to the target lane, the distance between the vehicle and the latest lane change line is less than a first preset distance, and the current speed of the vehicle is greater than a preset speed value, with the goal that the vehicle's travel speed is less than the preset speed value when the vehicle reaches a second preset distance from the latest lane change line;

[0076] A vehicle speed value calculation module, used to calculate a comfortable vehicle speed value corresponding to the latest lane change line;

[0077] The deceleration control module is further used to control the vehicle to decelerate with the goal of making the vehicle's driving speed less than the comfortable speed value when it reaches the latest lane change line, when the distance between the vehicle and the latest lane change line is less than the second preset distance and the current speed of the vehicle is greater than the comfortable speed value.

[0078] Optionally, the vehicle speed value calculation module is specifically used to:

[0079] Determine a relevant vehicle speed value, wherein the relevant vehicle speed value includes at least one of the following: a ramp speed limit, a ramp curvature speed limit, and a maximum ramp speed preset by a driver; the ramp speed limit is obtained according to the map data, and the ramp curvature speed limit is calculated according to a maximum curvature point within a calculation range;

[0080] The minimum value among the relevant vehicle speed values ​​is determined as the comfortable vehicle speed value.

[0081] In a third aspect, an embodiment of the present invention provides a computer device, comprising at least one processor, wherein the processor is coupled to a memory, wherein the memory stores a program or instruction running on the processor, and when the program or instruction is executed by the processor, the lane change control method as described in the first aspect above is implemented.

[0082] In a fourth aspect, an embodiment of the present invention provides a readable storage medium having a program or instruction stored thereon, wherein the program or instruction, when executed by a processor, implements the lane change control method as described in the first aspect above.

[0083] In a fifth aspect, the present application provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, it implements the lane change control method described in the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0084] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative work.

[0085] Figure 1 Schematic diagram of different lane change positions for an autonomous driving vehicle;

[0086] Figure 2 A schematic flow chart of a lane change control method provided by an embodiment of the present invention;

[0087] FIG3( a ) is a schematic diagram of the latest lane change point and the latest lane change line when the lane line is a straight line in an embodiment of the present invention;

[0088] FIG3( b ) is a schematic diagram of the latest lane change line when the lane line is a curve in an embodiment of the present invention;

[0089] Figure 4 This is a schematic diagram of a lane change situation when there is a long solid line before the ramp according to an embodiment of the present invention;

[0090] Figure 5 Another schematic flow chart of a lane change control method provided by an embodiment of the present invention;

[0091] Figure 6 A schematic diagram of a speed limiting process according to an embodiment of the present invention;

[0092] Figure 7 A schematic diagram of the structure of a lane change control device provided by an embodiment of the present invention;

[0093] Figure 8 A schematic diagram of the structure of a computer device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0094] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0095] It should be noted that the terms "including" and "having" and any variations thereof in the embodiments of the present invention and the accompanying drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products or devices.

[0096] In autonomous driving technology, autonomous vehicles often encounter situations where they need to change lanes, such as when the planned trajectory shows that a left or right turn is required ahead, and the vehicle is not in the corresponding turning lane; or when the autonomous vehicle is driving on a highway or elevated road, and is about to enter a ramp to exit the highway or elevated road, and the vehicle is not in the rightmost lane, it is necessary to change lanes in advance. However, in actual driving, there are the following problems: when the autonomous vehicle changes lanes late, it may not be able to change lanes successfully, resulting in the vehicle being unable to drive according to the planned trajectory, and then the route needs to be replanned, which will cause the autonomous vehicle to detour, especially after missing the ramp on the highway or elevated road, it usually takes a long distance to reach the next ramp; or, when the autonomous vehicle changes lanes early, the turning lane or ramp usually has slow traffic, which will affect the vehicle's driving speed and increase the vehicle's travel time.

[0097] In order to solve the above problems, the embodiments of the present invention provide a lane change control method, device, computer equipment and readable storage medium. And, for the convenience of explanation, in the embodiments of the present invention, the solution provided by the present application is explained by taking the case that the autonomous driving vehicle needs to drive from the highway to the ramp as an example. It can be understood that for other scenarios that require lane change, the solution provided by the embodiments of the present application is also applicable.

[0098] like Figure 1 As shown, when the autonomous driving vehicle is currently traveling in lane L4 of a highway and needs to travel to a ramp, it first needs to change lanes three times and finally change lanes to lane L1, and then it can travel from lane L1 to the ramp.

[0099] As shown in the figure, when the vehicle changes lanes from lane L4 to lane L1, the position after entering lane L1 will be different when the lane change timing is different. Specifically, when the lane change time is early, the vehicle may be at a position 110 far from the ramp after entering lane L1; when the lane change time is late, the vehicle may be at a position 130 beyond the ramp exit after entering lane L1; when the lane change time is in the above two time intervals, the vehicle may be at a position 120 between the above two positions after entering lane L1. It can be seen that after the vehicle enters lane L1, if it is at position 110, it is still far away from the ramp entrance, and the ramp usually has a low speed limit, which will affect the overall driving speed of the vehicle; after the vehicle enters lane L1, if it is at position 130, it will not be able to successfully enter the ramp because it has missed the ramp exit; after the vehicle enters lane L1, if it is at position 120, it can successfully enter the ramp without affecting the vehicle's driving speed.

[0100] It can be seen that different lane change strategies will lead to different consequences before the autonomous driving vehicle enters the ramp. In order to accurately control the autonomous driving vehicle to change lanes so that it can be near position 120 when entering the target lane L1, the embodiment of the present invention discloses a lane change control method, device, computer equipment and readable storage medium, which can accurately control the autonomous driving vehicle to change lanes. The embodiment of the present invention is described in detail below.

[0101] Figure 2 A flow chart of a lane change control method provided by an embodiment of the present invention. The method is applied to an autonomous driving vehicle. The method specifically includes the following steps.

[0102] S210: When it is determined that the vehicle meets the lane change condition, the current lane of the vehicle is determined, and the target lane is determined according to the planned trajectory and map data.

[0103] For example, the autonomous driving vehicle can detect the current position of the vehicle and calculate the distance between the vehicle and the next ramp in the planned route. When the distance is less than a certain set value, such as 3 kilometers, 2 kilometers, etc., it can be determined that the lane change condition is met. The above distance setting value can be specifically set according to different factors, such as different road widths can correspond to different values, and different highway speed limits can also correspond to different values. This is all possible, and the embodiments of the present invention do not specifically limit this.

[0104] When it is determined that the vehicle meets the lane change conditions, the autonomous vehicle can determine the current lane where the vehicle is located, and determine the target lane based on the planned trajectory and map data. The target lane is the lane adjacent to the ramp, that is, the lane that the vehicle needs to drive before entering the ramp. Figure 1 In the example shown, the current lane of the vehicle is lane L4, and the target lane is lane L1.

[0105] Among them, the source of the above-mentioned map data, in one implementation method, may include a pre-constructed map, such as a high-precision map or a navigation map; or, in another implementation method, it may also be obtained through a perception system. For example, an autonomous driving vehicle can be pre-trained to obtain a model. During the driving process of the vehicle, the images captured by the image acquisition device and the position of the vehicle relative to the starting point are input into the model. The model can then output the landmarks in the image as map data of the current environment.

[0106] S220: Obtain a preset single lane change distance value, and obtain a latest lane change line at which the latest lane change point corresponding to the target lane is located according to the map data; each tangent line of each target lane line between the current lane and the target lane at the intersection of the latest lane change line and each target lane line is perpendicular to the latest lane change line.

[0107] It can be understood that when the autonomous driving vehicle is traveling at a normal speed, the distance required for a lane change is relatively fixed. In the embodiment of the present invention, the fixed distance value may be referred to as a single lane change distance value. For example, the single lane change distance value may be calculated by taking into account the vehicle speed and the average lane change time. The embodiment of the present invention does not limit its specific value.

[0108] Furthermore, in order to ensure that the autonomous vehicle changes lanes successfully, the latest lane change point corresponding to the target lane and the latest lane change line corresponding to the latest lane change point can be stored in advance in the map data. The latest lane change point is the latest point that the autonomous vehicle can pass from the target lane to the ramp according to the driving direction of the autonomous vehicle; beyond this point, the autonomous vehicle will not be able to successfully drive to the ramp due to reasons such as crossing the line or driving out of the lane.

[0109] It can be understood that when each target lane line is a straight line, the tangent lines of each target lane line at the intersection of the latest lane change line and each target lane line are the target lane lines themselves, that is, the latest lane change line is perpendicular to each target lane line; when each target lane line is a curve, in this case, the tangent lines of each target lane line at the intersection of the latest lane change line and each target lane line are perpendicular to the latest lane change line.

[0110] As shown in FIG3(a), point 310 in target lane L1 is the latest lane change point, and the corresponding line 320 is the latest lane change line, which is perpendicular to each target lane line. As shown in FIG3(b), when each target lane line is a curve, each tangent line 331, 332, 333 of each target lane line at the intersection of the latest lane change line 330 and each target lane line is perpendicular to the latest lane change line 330.

[0111] S230: Based on the single lane change distance value, calculate the starting lane change distance corresponding to each lane from the current lane to the target lane; the starting lane change distance is the distance value between the starting lane change point corresponding to each lane and the latest lane change line.

[0112] That is, based on the single lane change distance value, it is possible to calculate how far the vehicle is from the latest lane change line in each lane before it can start changing lanes. Changing lanes at each calculated distance can ensure that the vehicle successfully enters the ramp after multiple lane changes.

[0113] In one implementation, when the lane lines before the ramp are all dotted lines, that is, when the lane lines before the latest lane change line are all dotted lines, the starting lane change distance corresponding to each lane can be obtained by multiplying the number of lane changes required for the vehicle to enter the ramp from each lane by the single lane change distance value. For example, in the high-speed scene shown in Figure 3(a), the vehicle needs to change lanes once to enter the ramp from lane L1, twice to enter the ramp from lane L2, three times to enter the ramp from lane L3, and four times to enter the ramp from lane L4. The starting lane change distance corresponding to each lane can be obtained by multiplying the number of lane changes corresponding to each lane by the single lane change distance value. That is, the starting lane change distance corresponding to lane L1 is the single lane change distance value a, the starting lane change distance corresponding to lane L2 is 2a, the starting lane change distance corresponding to lane L3 is 3a, and the starting lane change distance corresponding to lane L4 is 4a.

[0114] In actual roads, there are situations where the lane line before the latest lane change line is a solid line, or the lane line before the latest lane change line is partly solid and partly dotted, such as Figure 4 In this case, in order to avoid illegal operations such as crossing the line, the length of the long solid line needs to be considered when calculating the starting lane change distance corresponding to each lane.

[0115] In one implementation, the length values ​​of each long solid line from the starting point of the long solid line in the direction of the vehicle to the latest lane change line in each target lane line can be obtained according to the map data; then based on the single lane change distance value and the length values ​​of each long solid line, the corresponding lane change start distance from the current lane to each lane in the target lane is calculated. In other words, the distance from the starting point of each solid line to the latest lane change line can be used as the length value of each long solid line.

[0116] like Figure 4 As shown, in the target lane line between lanes L1 and L2, the length of the long solid line is D1; ​​in the target lane line between lanes L2 and L3, the length of the long solid line is D2; in the target lane line between lanes L3 and L4, the length of the long solid line is D3.

[0117] Specifically, when calculating the starting lane change distance corresponding to each lane, since only one lane change is required from the target lane to the ramp, and the lane line between the target lane and the ramp has no effect on the lane change of the vehicle, the starting lane change distance corresponding to the target lane can be first determined as a single lane change distance value; then, for any other lane n, the starting lane change distance corresponding to the lane can be calculated using the following formula:

[0118] Max{a+D 1 +a*(n-1),a+D 2 +a*(n-2), ..., a+D n-1 +a*1}

[0119] Where n≧2, the target lane is lane 1, the lane adjacent to lane 1 is lane 2, and the other lanes are numbered in sequence; a is the single lane change distance value, and the long solid line length of the lane line between lane n and lane n-1 is D n-1 .

[0120] Among them, when there is no long solid line in the lane before the ramp, the corresponding D{D1, D2, D3, Dn} is 0. And, assuming that the vehicle speed is 30m / s, the lane change time is 5-10s, and considering the situation of more vehicles, 100 meters is added as compensation. Therefore, the above single lane change distance value a can be set to: 30*10+100=400 meters. Figure 4 In the high-speed scenario shown, the lane change starting distances for each lane are as follows:

[0121]

[0122] That is to say, when the vehicle is in lane L1, only a single lane change distance of 400 is required to ensure that the vehicle can successfully drive to the ramp; when the vehicle is in lane L2, in addition to the reserved long solid line length D 1 In addition, in order to deal with emergencies, some more distance is reserved as compensation, and the single lane change distance is doubled to 400. When the vehicle is in lane L3, it is similar to lane L2, except that a long solid line length D is reserved. 2 In addition, the single lane change distance is doubled to 400. At the same time, in order to ensure that after changing from lane L3 to lane L2, you can also successfully change from lane L2 to the ramp, so 400 is added to the starting lane change distance corresponding to lane L2, and the total distance is 400+D. 2 +400*1 takes the maximum value as the starting lane change distance corresponding to lane L3; when the vehicle is in lane L4, it is similar to lane L3, except that a long solid line length D is reserved. 3In addition, the single lane change distance is doubled to 400. At the same time, in order to ensure that after changing from lane L4 to L3, you can also successfully change from lane L3 to the ramp, so 400 is added to the starting lane change distance corresponding to lane L3, and the total distance is 400+D 3 +400*1 takes the maximum value as the starting lane change distance corresponding to lane L4.

[0123] When there is a long solid line in the lane before the ramp, the length of the long solid line and the single lane change distance value can be considered at the same time, so as to accurately calculate the starting lane change distance corresponding to each lane.

[0124] S240: Based on the starting lane change distance and the latest lane change line corresponding to each lane, control the vehicle to change lanes to the target lane in sequence.

[0125] The lane change start distances corresponding to the lanes above, that is, how far away from the latest lane change line the vehicle has to travel before it can start changing lanes. Therefore, the vehicle can detect the distance between it and the latest lane change line, and when it reaches any lane, it determines whether the distance between it and the latest lane change line is less than or equal to the lane change start distance corresponding to the lane; if so, the vehicle can be controlled to perform the lane change operation.

[0126] As can be seen from the above content, a lane change control method provided by the present embodiment can accurately plan the starting lane change distance corresponding to each lane of the self-vehicle when the self-vehicle needs to change lanes based on a preset single lane change distance value, that is, the average distance required for the self-vehicle to change lanes once, and the latest lane change line obtained from the map data, that is, the latest position corresponding to the self-vehicle being able to successfully change lanes from the target lane to the turning lane or ramp, beyond which the self-vehicle will not be able to successfully change lanes. Lanes are changed based on the starting lane change distance corresponding to each lane, which can ensure that the self-vehicle changes lanes at the appropriate time. That is to say, while ensuring that the self-vehicle changes lanes successfully, since the single lane change distance value of each lane change of the self-vehicle is taken into account, only the appropriate lane change distance is reserved for the self-vehicle, and excessive congestion in the turning lane or ramp due to premature lane change will not occur, thereby improving the accuracy of lane change of the autonomous driving vehicle.

[0127] It can be understood that the above lane change control strategy is formulated based on normal road conditions and normal vehicle speeds. However, in some cases, such as bad weather, heavy traffic, etc., the autonomous driving vehicle may not be able to change lanes normally.

[0128] As an implementation method of an embodiment of the present invention, in order to ensure that the autonomous driving vehicle successfully changes lanes and avoids missing the ramp exit, the driver can be reminded to take over when the lane change opportunity is about to be missed. For example, the corresponding latest lane change distance can be determined for each lane, that is, the distance between the position where the driver can successfully change lanes after taking over and the latest lane change line. In this way, it can be ensured that the driver takes over the vehicle when the lane change cannot be successfully made in the intelligent driving mode.

[0129] Specifically, Figure 5 As shown, the process may include the following steps:

[0130] S510: Obtaining a preset lane change time and driver reaction time.

[0131] The lane change time can be determined and stored based on the average lane change time of most autonomous driving vehicles, such as 3 seconds, 3.5 seconds, 4 seconds, etc.; similarly, the driver reaction time can also be set based on the driver's average reaction time during driving, such as 5 seconds, 6 seconds, 7 seconds, etc., which are all possible, and the embodiments of the present invention do not limit their specific values.

[0132] S520: Calculate the latest lane change distance corresponding to each lane based on the lane change time; the latest lane change distance is the distance value between the latest lane change point and the latest lane change line corresponding to each lane.

[0133] The latest lane change point corresponding to each lane, that is, the latest point from which a lane change can still be successfully made to the ramp, is related to the lane change time. It can be understood that the shorter the lane change time, the closer the point can be to the latest lane change line, and the longer the lane change time, the farther the point needs to be from the latest lane change line to reserve enough time for lane change.

[0134] In one implementation, the latest lane change distance for each lane can be determined based on the following method: determine that the latest lane change distance corresponding to the target lane is 0; obtain the current speed of the vehicle, take the product of the current speed and the lane change time as the preset parameter b, and for any other lane n, calculate the latest lane change distance corresponding to the lane by the following formula:

[0135] Max{b*(n-1),D 1 +b*(n-2), ..., D n-1}.

[0136] Where n≧2, the target lane is lane 1, the lane adjacent to lane 1 is lane 2, and the other lanes are numbered in sequence; b is a preset parameter, that is, the distance required for the autonomous vehicle to complete a lane change, and the length of the long solid line between lane n and lane n-1 is D n-1 .

[0137] Among them, when there is no long solid line in the lane before the ramp, the corresponding D{D1, D2, D3, Dn} is 0. In addition, the latest lane change point needs to take into account the long solid line of the current lane, that is, a certain distance ahead of the starting point of the long solid line, because it is necessary to consider the time from changing lanes to entering the next lane. For example, the lane change evaluation time is 6.5s. According to the data performance, it takes about 3 seconds from the beginning of the lane change to entering the next lane. Therefore, the above parameter b can be taken as the current vehicle speed multiplied by 3 seconds.

[0138] If Figure 4 In the high-speed scenario shown, the latest lane change distances corresponding to each lane are as follows:

[0139] Lane Latest lane change distance L1 0 L2 <![CDATA[Max{b,D 1 }]]> L3 <![CDATA[Max{b*2,b+D 1 ,D 2 }]]> L4 <![CDATA[Max{b*3,b*2+D 1 ,b+D 2 ,D 3 }]]>

[0140] That is to say, when the vehicle is in lane L1, it can still drive to the ramp when it reaches the latest lane change line, so the latest lane change distance corresponding to it can be set to 0. When the vehicle is in lane L2, it is necessary to consider a lane change, that is, the distance reserved for parameter b. At the same time, considering that the vehicle cannot pass through the long solid line, the latest lane change distance corresponding to lane L2 is the sum of parameters b and D. 1 When the vehicle is in lane L3, it is necessary to add the distance required for lane change once to the latest lane change distance corresponding to L2, that is, parameter b. Considering that the vehicle cannot pass through the long solid line, the latest lane change distance corresponding to lane L3 is 2 times parameter b, b plus D 1 and D 2 When the vehicle is in lane L4, it is necessary to add the distance required for lane change once to the latest lane change distance corresponding to L3, that is, parameter b. Considering that the vehicle cannot pass through the long solid line, the latest lane change distance corresponding to lane L4 is 3 times parameter b, 2 times parameter b plus D 1 , b plus D 2 and D 3 The maximum value in .

[0141] S530: For each lane, calculate the lane change reminder distance corresponding to the lane according to the driver's reaction time and the latest lane change distance corresponding to the lane; the lane change reminder distance is the distance value between the lane change reminder point corresponding to each lane and the latest lane change line.

[0142] The latest lane change distance corresponding to each lane is the latest point from which the lane change can still be successfully changed to the ramp. When the driver needs to take over, the driver's reaction time needs to be reserved, that is, the driver needs to be reminded some time before reaching the latest lane change distance.

[0143] In the embodiment of the present invention, a preset buffer distance value can be obtained; and the current speed of the vehicle can be obtained, and the product of the current speed and the driver's reaction time can be used as the reaction distance value; the larger value of the buffer distance value and the reaction distance value can be identified, and for each lane, the sum of the latest lane change distance corresponding to the lane and the larger value can be used as the lane change reminder distance corresponding to the lane. The above buffer distance value can be set according to actual conditions, such as 50 meters, 60 meters, 80 meters, etc., and the driver's reaction time can be set, for example, to 3 seconds, 5 seconds, 6 seconds, etc., and the embodiment of the present invention does not limit this specific value.

[0144] During the actual driving of an autonomous driving vehicle, various road conditions may be encountered. In a non-congested situation, the current vehicle speed is relatively fast, and the product of the current vehicle speed and the driver's reaction time may be greater than the preset buffer distance value, that is, the driver has 1-3 seconds to react, and this time is sufficient to fully react; in a congested situation, the current vehicle speed is very slow, and the preset buffer distance value may be greater than the product of the current vehicle speed and the driver's reaction time, that is, the distance for the driver to react is the buffer distance value, such as setting it to 50 meters, which is approximately the distance between 5 vehicles; when any of the above conditions is met, a reminder will be given, and only once, that is, 50 meters before the latest lane change point, or 6 times the vehicle speed before the latest lane change point, whichever condition is met first.

[0145] S540: When the vehicle travels to any lane, determine whether the distance between the vehicle and the latest lane change line is less than or equal to the lane change reminder distance corresponding to the lane. If so, output reminder information.

[0146] For example, voice messages such as “We are about to miss the train and need your help” or “Please take over the vehicle” may be output.

[0147] In this embodiment, by calculating the latest lane change distance and lane change reminder distance corresponding to each lane, when the vehicle travels to a distance from the latest lane change line that is less than or equal to the corresponding lane change reminder distance, a reminder message is output to remind the driver that he is about to miss the ramp and needs to take over, thereby ensuring that the autonomous driving vehicle can successfully change lanes and avoid detours caused by missing the ramp.

[0148] It is understandable that ramps generally have many curves, so their speed limits are usually low. In this case, when the autonomous vehicle is traveling too fast before entering the ramp, it needs to decelerate quickly in order to reduce the speed to meet the speed limit, which will cause users to feel panic and other uncomfortable experiences.

[0149] As an implementation method of an embodiment of the present invention, in order to ensure that the speed of the autonomous driving vehicle is controlled within a certain range before entering the ramp and avoid dangerous accidents caused by excessive speed, the speed of the autonomous driving vehicle can be controlled before the autonomous driving vehicle enters the target lane and enters the ramp.

[0150] Specifically, a speed range at a certain distance from the latest lane change line can be pre-set. For example, when the vehicle travels to the target lane and the distance between the vehicle and the latest lane change line is less than a first preset distance, and the current speed of the vehicle is greater than a preset speed value, the vehicle is controlled to decelerate with the goal of having the vehicle speed be less than the preset speed value when the vehicle arrives at a second preset distance from the latest lane change line; and the comfortable speed value corresponding to the latest lane change line is calculated; when the vehicle travels to a distance less than the second preset distance from the latest lane change line, and the current speed of the vehicle is greater than the comfortable speed value, the vehicle is controlled to decelerate with the goal of having the vehicle speed be less than the comfortable speed value when the vehicle arrives at the latest lane change line.

[0151] In this way, the vehicle speed can be controlled below the comfortable speed value when the vehicle reaches the latest lane change line, so that after entering the ramp, the ramp speed limit requirement can be met without rapid deceleration.

[0152] Among them, when the autonomous driving vehicle calculates the comfortable speed value corresponding to the latest lane change line, the relevant speed values ​​can be determined, and the relevant speed values ​​include at least one of the following: ramp speed limit, ramp curvature speed limit and the driver-preset maximum ramp speed; the ramp speed limit is obtained according to map data, and the ramp curvature speed limit is calculated according to the maximum curvature point within the calculation range; and the minimum value of the relevant speed values ​​is determined as the comfortable speed value.

[0153] like Figure 6 As shown, the speed limit scheme in this embodiment is divided into two stages of speed reduction:

[0154] Point A: When entering the first right lane and the speed is > 100kph, in order to avoid speeding up at the ramp and being unable to slow down due to the short distance, and not slowing down too much in advance to affect traffic efficiency, you can start slowing down 800 meters in advance. When you are 300 meters away from the ramp, the speed cannot exceed 100kph.

[0155] Point B: Start slowing down 300 meters in advance (the longest distance that can be obtained based on the current map), and when entering the ramp (Point C), control the speed at a comfortable speed.

[0156] The comfortable speed at point C = min{ramp speed limit, minimum curvature speed limit within the range of ramp start + 30 meters, driver set speed}. The curvature speed limit is the smaller curvature speed limit within the calculation range. The curvature speed limit is calculated as follows: max_curavture, the point with the largest curvature on the lane line, and the set lateral comfort acceleration (e.g., empirical value lat_acc_thres 1.6~2.0m / s 2 ) calculates the speed limit value v_x = sqrt(lat_acc_thres / max_curavture).

[0157] In this embodiment, when the autonomous driving vehicle enters the rightmost lane and is about to enter the ramp, it decelerates in advance to avoid a dangerous accident caused by the need to decelerate quickly after entering the ramp at too high a speed.

[0158] like Figure 7 As shown, a lane change control device provided by an embodiment of the present invention is applied to an automatic driving vehicle, and the device includes:

[0159] A lane determination module 710 is used to determine the current lane of the ego vehicle when it is determined that the ego vehicle meets the lane change condition, and determine the target lane according to the planned trajectory and map data;

[0160] The lane change line determination module 720 is used to obtain a preset single lane change distance value, and obtain the latest lane change line where the latest lane change point corresponding to the target lane is located according to the map data; each tangent line of each target lane line between the current lane and the target lane at the intersection of the latest lane change line and each target lane line is perpendicular to the latest lane change line;

[0161] A lane change distance calculation module 730 is used to calculate the starting lane change distance from the current lane to each lane in the target lane based on the single lane change distance value; the starting lane change distance is the distance value between the starting lane change point corresponding to each lane and the latest lane change line;

[0162] The lane change control module 740 is used to control the vehicle to change lanes to the target lane in sequence based on the starting lane change distance corresponding to each lane and the latest lane change line.

[0163] Optionally, the lane change distance calculation module 730 includes:

[0164] A long solid line length value determination submodule is used to obtain, according to the map data, the length values ​​of each long solid line in each target lane line from the starting point of the long solid line in the direction of the vehicle to the latest lane change line;

[0165] The lane change distance calculation submodule is used to calculate the starting lane change distance corresponding to each lane in the target lane from the current lane based on the single lane change distance value and the length values ​​of each long solid line.

[0166] Optionally, the lane change distance calculation submodule is specifically used to:

[0167] Determine the starting lane change distance corresponding to the target lane as the single lane change distance value;

[0168] For any other lane n, the starting lane change distance corresponding to the lane is calculated using the following formula:

[0169] Max{a+D 1+a*(n-1),a+D 2 +a*(n-2), ..., a+D n-1 +a*1}

[0170] Where n≧2, the target lane is lane 1, the lane adjacent to lane 1 is lane 2, and the other lanes are numbered in sequence; a is the single lane change distance value, and the long solid line length value of the lane line between lane n and lane n-1 is D n-1 .

[0171] Optionally, the device further comprises:

[0172] A time acquisition module, used to obtain the preset lane change time and driver reaction time;

[0173] A latest lane change distance calculation module, used to calculate the latest lane change distance corresponding to each lane based on the lane change time; the latest lane change distance is the distance value between the latest lane change point corresponding to each lane and the latest lane change line;

[0174] a lane change reminder distance calculation module, configured to calculate, for each lane, a lane change reminder distance corresponding to the lane according to the driver's reaction time and the latest lane change distance corresponding to the lane; the lane change reminder distance is a distance value between the lane change reminder point corresponding to each lane and the latest lane change line;

[0175] The reminder information output module is used to determine whether the distance between the vehicle and the latest lane change line is less than or equal to the lane change reminder distance corresponding to the lane when the vehicle travels to any lane, and if so, output reminder information.

[0176] Optionally, the latest lane change distance calculation module is specifically used to:

[0177] Determine that the latest lane change distance corresponding to the target lane is 0;

[0178] The current speed of the vehicle is obtained, and the product of the current speed and the lane change time is used as the preset parameter b. For any other lane n, the latest lane change distance corresponding to the lane is calculated by the following formula:

[0179] Max{b*(n-1),D 1 +b*(n-2), ..., D n-1}.

[0180] Optionally, the lane change reminder distance calculation module is specifically used to:

[0181] Get the preset buffer distance value;

[0182] Obtaining the current speed of the vehicle, and taking the product of the current speed and the driver's reaction time as the reaction distance value;

[0183] A larger value between the buffer distance value and the reaction distance value is identified, and for each lane, a sum of a latest lane change distance corresponding to the lane and the larger value is used as a lane change reminder distance corresponding to the lane.

[0184] Optionally, the lane change control module 740 is specifically configured to:

[0185] When the vehicle travels to any lane, determining whether the distance between the vehicle and the latest lane change line is less than or equal to the lane change start distance corresponding to the lane;

[0186] If yes, control the vehicle to change lanes.

[0187] Optionally, the device further comprises:

[0188] a deceleration control module, for controlling the vehicle to decelerate when the vehicle travels to the target lane, the distance between the vehicle and the latest lane change line is less than a first preset distance, and the current speed of the vehicle is greater than a preset speed value, with the goal that the vehicle's travel speed is less than the preset speed value when the vehicle reaches a second preset distance from the latest lane change line;

[0189] A vehicle speed value calculation module, used to calculate a comfortable vehicle speed value corresponding to the latest lane change line;

[0190] The deceleration control module is further used to control the vehicle to decelerate with the goal of making the vehicle's driving speed less than the comfortable speed value when it reaches the latest lane change line, when the distance between the vehicle and the latest lane change line is less than the second preset distance and the current speed of the vehicle is greater than the comfortable speed value.

[0191] Optionally, the vehicle speed value calculation module is specifically used to:

[0192] Determine a relevant vehicle speed value, wherein the relevant vehicle speed value includes at least one of the following: a ramp speed limit, a ramp curvature speed limit, and a maximum ramp speed preset by a driver; the ramp speed limit is obtained according to the map data, and the ramp curvature speed limit is calculated according to a maximum curvature point within a calculation range;

[0193] The minimum value among the relevant vehicle speed values ​​is determined as the comfortable vehicle speed value.

[0194] As can be seen from the above content, a lane change control device provided in the present embodiment can accurately plan the starting lane change distance corresponding to each lane of the self-vehicle when the self-vehicle needs to change lanes based on a preset single lane change distance value, that is, the average distance required for the self-vehicle to change lanes once, and the latest lane change line obtained from the map data, that is, the latest position corresponding to the self-vehicle being able to successfully change lanes from the target lane to the turning lane or ramp, beyond which the self-vehicle will not be able to successfully change lanes. Lanes are changed based on the starting lane change distance corresponding to each lane, which can ensure that the self-vehicle changes lanes at the appropriate time. That is to say, while ensuring that the self-vehicle changes lanes successfully, since the single lane change distance value of each lane change of the self-vehicle is taken into account, only the appropriate lane change distance is reserved for the self-vehicle, and excessive congestion in the turning lane or ramp due to premature lane change will not occur, thereby improving the accuracy of lane change of the autonomous driving vehicle.

[0195] The above device embodiment corresponds to the method embodiment and has the same technical effect as the method embodiment. For specific description, please refer to the method embodiment. The device embodiment is obtained based on the method embodiment. For specific description, please refer to the method embodiment part, which will not be repeated here.

[0196] Next, a computer device provided by an embodiment of the present application is introduced. Figure 8 , Figure 8 A schematic diagram of a computer device provided in an embodiment of the present application, wherein the computer device includes at least one processor 51, wherein the processor 51 is coupled to a memory 52, wherein the memory 52 stores a program or instruction running on the processor 51, and when the program or instruction is executed by the processor, the following is implemented: Figure 2 A technical solution of the lane change control method.

[0197] The present application also provides a readable storage medium on which a program or instruction is stored. When the program or instruction is executed by a processor, the following is achieved: Figure 2 The lane change control method.

[0198] The present application also provides a computer program product, wherein the computer program product includes a computer program, and when the computer program is executed by a processor, the computer program implements the following Figure 2 The lane change control method.

[0199] Those skilled in the art can understand that the accompanying drawings are only schematic diagrams of an embodiment, and the modules or processes in the accompanying drawings are not necessarily required to implement the present invention.

[0200] Those skilled in the art can understand that the modules in the device in the embodiment can be distributed in the device in the embodiment according to the description of the embodiment, or can be changed accordingly and located in one or more devices different from the embodiment. The modules in the above embodiment can be combined into one module, or can be further divided into multiple sub-modules.

[0201] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A lane change control method, It is characterized in that Applied to an autonomous driving vehicle, the method comprises: When it is determined that the ego vehicle meets the lane change conditions, the current lane of the ego vehicle is determined, and the target lane is determined based on the planned trajectory and map data; Obtaining a preset single lane change distance value, and obtaining a latest lane change line at which the latest lane change point corresponding to the target lane is located according to the map data; each tangent line of each target lane line between the current lane and the target lane at the intersection of the latest lane change line and each target lane line is perpendicular to the latest lane change line; Based on the single lane change distance value, calculating the starting lane change distance from the current lane to each lane in the target lane; the starting lane change distance is the distance value between the starting lane change point corresponding to each lane and the latest lane change line; Based on the starting lane change distances corresponding to the lanes and the latest lane change line, the vehicle is controlled to change lanes to the target lane in sequence.

2. The method according to claim 1, It is characterized in that The step of calculating the starting lane change distances corresponding to each lane in the target lane from the current lane based on the single lane change distance value comprises: Acquire, according to the map data, the length values ​​of each long solid line in each target lane line from the starting point of the long solid line in the direction of travel of the vehicle to the latest lane change line; Based on the single lane change distance value and the length values ​​of each long solid line, the starting lane change distance from the current lane to each lane in the target lane is calculated.

3. The method according to claim 2, It is characterized in that The step of calculating the starting lane change distance from the current lane to each lane in the target lane based on the single lane change distance value and the length values ​​of each long solid line comprises: Determine the starting lane change distance corresponding to the target lane as the single lane change distance value; For any other lane n, the starting lane change distance corresponding to the lane is calculated using the following formula: Max{a+D 1 +a*(n-1),a+D 2 +a*(n-2),……,a+D n-1 +a*1} Where n≧2, the target lane is lane 1, the lane adjacent to lane 1 is lane 2, and the other lanes are numbered in sequence; a is the single lane change distance value, and the long solid line length value of the lane line between lane n and lane n-1 is D n-1 .

4. The method according to claim 3, It is characterized in that The method further comprises: Obtain preset lane change time and driver reaction time; Based on the lane change time, the latest lane change distance corresponding to each lane is calculated; the latest lane change distance is the distance value between the latest lane change point corresponding to each lane and the latest lane change line; For each lane, a lane change reminder distance corresponding to the lane is calculated according to the driver's reaction time and the latest lane change distance corresponding to the lane; the lane change reminder distance is the distance value between the lane change reminder point corresponding to each lane and the latest lane change line; When the vehicle travels to any lane, it is determined whether the distance between the vehicle and the latest lane change line is less than or equal to the lane change reminder distance corresponding to the lane, and if so, a reminder message is output.

5. The method according to claim 4, It is characterized in that The step of calculating the latest lane change distance corresponding to each lane based on the lane change time includes: Determine that the latest lane change distance corresponding to the target lane is 0; The current speed of the vehicle is obtained, and the product of the current speed and the lane change time is used as the preset parameter b. For any other lane n, the latest lane change distance corresponding to the lane is calculated by the following formula: Max{b*(n-1),D 1 +b*(n-2),……,D n-1 }。 6. The method according to claim 4, It is characterized in that The step of calculating the lane change reminder distance corresponding to each lane according to the driver's reaction time and the latest lane change distance corresponding to the lane includes: Get the preset buffer distance value; Obtaining the current speed of the vehicle, and taking the product of the current speed and the driver's reaction time as the reaction distance value; A larger value between the buffer distance value and the reaction distance value is identified, and for each lane, a sum of a latest lane change distance corresponding to the lane and the larger value is used as a lane change reminder distance corresponding to the lane.

7. The method according to any one of claims 1 to 6, It is characterized in that The step of sequentially controlling the vehicle to change lanes to the target lane based on the starting lane change distances corresponding to the lanes and the latest lane change line comprises: When the vehicle travels to any lane, determining whether the distance between the vehicle and the latest lane change line is less than or equal to the lane change start distance corresponding to the lane; If yes, control the vehicle to change lanes.

8. The method according to any one of claims 1 to 6, It is characterized in that The method further comprises: When the vehicle travels to the target lane, the distance between the vehicle and the latest lane change line is less than a first preset distance, and the current speed of the vehicle is greater than a preset speed value, the vehicle is controlled to decelerate with the goal that the vehicle's travel speed is less than the preset speed value when it reaches a second preset distance from the latest lane change line; Calculating a comfortable vehicle speed value corresponding to the latest lane change line; When the distance between the vehicle and the latest lane change line is less than the second preset distance, and the current speed of the vehicle is greater than the comfortable speed value, the vehicle is controlled to decelerate with the goal of making the vehicle's speed less than the comfortable speed value when it reaches the latest lane change line.

9. The method according to claim 8, It is characterized in that The step of calculating the comfortable vehicle speed value corresponding to the latest lane change line comprises: Determine a relevant vehicle speed value, wherein the relevant vehicle speed value includes at least one of the following: a ramp speed limit, a ramp curvature speed limit, and a maximum ramp speed preset by a driver; the ramp speed limit is obtained according to the map data, and the ramp curvature speed limit is calculated according to a maximum curvature point within a calculation range; The minimum value among the relevant vehicle speed values ​​is determined as the comfortable vehicle speed value.

10. A lane change control device, It is characterized in that Applied to an autonomous driving vehicle, the device comprises: The lane determination module is used to determine the current lane of the ego vehicle when it is determined that the ego vehicle meets the lane change conditions, and determine the target lane based on the planned trajectory and map data; a lane change line determination module, for obtaining a preset single lane change distance value, and obtaining a latest lane change line at which the latest lane change point corresponding to the target lane is located according to the map data; each tangent line of each target lane line between the current lane and the target lane at the intersection of the latest lane change line and each target lane line is perpendicular to the latest lane change line; a lane change distance calculation module, configured to calculate, based on the single lane change distance value, a starting lane change distance corresponding to each lane in the target lane from the current lane; the starting lane change distance being a distance value between a starting lane change point corresponding to each lane and the latest lane change line; The lane change control module is used to control the vehicle to change lanes to the target lane in sequence based on the starting lane change distance corresponding to each lane and the latest lane change line.

11. The device according to claim 10, It is characterized in that The lane change distance calculation module includes: A long solid line length value determination submodule is used to obtain, according to the map data, the length values ​​of each long solid line in each target lane line from the starting point of the long solid line in the direction of the vehicle to the latest lane change line; The lane change distance calculation submodule is used to calculate the starting lane change distance corresponding to each lane in the target lane from the current lane based on the single lane change distance value and the length values ​​of each long solid line.

12. The device according to claim 11, It is characterized in that The lane change distance calculation submodule is specifically used for: Determine the starting lane change distance corresponding to the target lane as the single lane change distance value; For any other lane n, the starting lane change distance corresponding to the lane is calculated using the following formula: Max{a+D 1 +a*(n-1),a+D 2 +a*(n-2),……,a+D n-1 +a*1} Where n≧2, the target lane is lane 1, the lane adjacent to lane 1 is lane 2, and the other lanes are numbered in sequence; a is the single lane change distance value, and the long solid line length value of the lane line between lane n and lane n-1 is D n-1 .

13. The device according to claim 12, It is characterized in that The device also includes: A time acquisition module, used to obtain the preset lane change time and driver reaction time; A latest lane change distance calculation module, used to calculate the latest lane change distance corresponding to each lane based on the lane change time; the latest lane change distance is the distance value between the latest lane change point corresponding to each lane and the latest lane change line; a lane change reminder distance calculation module, configured to calculate, for each lane, a lane change reminder distance corresponding to the lane according to the driver's reaction time and the latest lane change distance corresponding to the lane; the lane change reminder distance is a distance value between the lane change reminder point corresponding to each lane and the latest lane change line; The reminder information output module is used to determine whether the distance between the vehicle and the latest lane change line is less than or equal to the lane change reminder distance corresponding to the lane when the vehicle travels to any lane, and if so, output reminder information.

14. The device according to claim 13, It is characterized in that The latest lane change distance calculation module is specifically used for: Determine that the latest lane change distance corresponding to the target lane is 0; The current speed of the vehicle is obtained, and the product of the current speed and the lane change time is used as the preset parameter b. For any other lane n, the latest lane change distance corresponding to the lane is calculated by the following formula: Max{b*(n-1),D 1 +b*(n-2),……,D n-1 }。 15. The device according to claim 13, It is characterized in that The lane change reminder distance calculation module is specifically used for: Get the preset buffer distance value; Obtaining the current speed of the vehicle, and taking the product of the current speed and the driver's reaction time as the reaction distance value; A larger value between the buffer distance value and the reaction distance value is identified, and for each lane, a sum of a latest lane change distance corresponding to the lane and the larger value is used as a lane change reminder distance corresponding to the lane.

16. The device according to any one of claims 10 to 15, It is characterized in that The lane change control module is specifically used for: When the vehicle travels to any lane, determining whether the distance between the vehicle and the latest lane change line is less than or equal to the lane change start distance corresponding to the lane; If yes, control the vehicle to change lanes.

17. The device according to any one of claims 10 to 15, It is characterized in that The device also includes: a deceleration control module, for controlling the vehicle to decelerate when the vehicle travels to the target lane, the distance between the vehicle and the latest lane change line is less than a first preset distance, and the current speed of the vehicle is greater than a preset speed value, with the goal that the vehicle's travel speed is less than the preset speed value when the vehicle reaches a second preset distance from the latest lane change line; A vehicle speed value calculation module, used to calculate a comfortable vehicle speed value corresponding to the latest lane change line; The deceleration control module is further used to control the vehicle to decelerate with the goal of making the vehicle's driving speed less than the comfortable speed value when it reaches the latest lane change line, when the distance between the vehicle and the latest lane change line is less than the second preset distance and the current speed of the vehicle is greater than the comfortable speed value.

18. The device according to claim 17, It is characterized in that The vehicle speed value calculation module is specifically used for: Determine a relevant vehicle speed value, wherein the relevant vehicle speed value includes at least one of the following: a ramp speed limit, a ramp curvature speed limit, and a maximum ramp speed preset by a driver; the ramp speed limit is obtained according to the map data, and the ramp curvature speed limit is calculated according to a maximum curvature point within a calculation range; The minimum value among the relevant vehicle speed values ​​is determined as the comfortable vehicle speed value.

19. A computer device, It is characterized in that The method comprises at least one processor, wherein the processor is coupled to a memory, wherein the memory stores a program or instruction running on the processor, and when the program or instruction is executed by the processor, the steps of the lane change control method as described in any one of claims 1 to 9 are implemented.

20. A readable storage medium having a program or instruction stored thereon, It is characterized in that When the program or instruction is executed by a processor, the steps of the lane change control method according to any one of claims 1 to 9 are implemented.

Images