Cooperative lane changing method and device

Abstract

The invention provides a cooperative lane changing method and device. The method comprises the following steps: acquiring driving data of a service vehicle; when it is determined that the service vehicle meets the initial lane changing condition according to the driving data of the service vehicle, the driving data of the environment vehicle are obtained; according to the driving data of the service vehicle and the driving data of the environment vehicle, judging whether the service vehicle has a lane changing risk or not; when the lane changing risk does not exist, lane changing information is generated according to the driving data of the service vehicle and the driving data of the environment vehicle, and the lane changing information is used for guiding the service vehicle to complete lane changing. The method is used for achieving the effect of reducing the lane changing risk.

Description

Technical Field

[0001] The present application relates to the field of intelligent transportation, and in particular to a collaborative lane changing method and device. Background Art

[0002] In the modern transportation system, vehicle lane changing, as a common and critical behavior in the driving process, is of great significance for improving road traffic efficiency and reducing traffic congestion.

[0003] Currently, vehicle lane changes mainly rely on the driver's visual observation, experience and vehicle control ability. The driver obtains information about surrounding vehicles and roads through rearview mirrors, side windows and vehicle assistance systems, and judges and executes lane change operations based on this information and personal driving habits.

[0004] However, the above-mentioned vehicle lane changing method has a high risk of lane changing, which poses a hidden danger to road safety. Summary of the invention

[0005] The present application provides a collaborative lane changing method and device to solve the problem of high lane changing risk in the prior art.

[0006] In a first aspect, the present application provides a collaborative lane changing method, comprising:

[0007] Obtaining driving data of service vehicles;

[0008] When determining that the service vehicle meets the initial lane change condition according to the driving data of the service vehicle, obtaining the driving data of the environment vehicle;

[0009] Determine whether the service vehicle has a lane change risk based on the service vehicle's driving data and the driving data of the surrounding vehicles;

[0010] When there is no lane change risk, lane change information is generated based on the driving data of the service vehicle and the driving data of the environment vehicle, wherein the lane change information is used to guide the service vehicle to complete the lane change.

[0011] In some embodiments, lane change information is generated according to driving data of the service vehicle and driving data of the environment vehicle, including:

[0012] Determine the initial lane change speed based on the speed of the vehicle in the same lane as the service vehicle and closest to the service vehicle;

[0013] Determine the lane change termination speed based on the speeds of multiple vehicles in the target lane;

[0014] The lane change information is generated according to the lane change initial speed and the lane change termination speed. The lane change information includes the lane change trajectory and the lane change vehicle speed.

[0015] In some embodiments, determining that the service vehicle meets the initial lane change condition according to the driving data of the service vehicle includes:

[0016] When the first state speed of the lane where the service vehicle is located is less than the first threshold value, and the difference between the speed of the service vehicle and the first state speed is less than the second threshold value, it is determined that the service vehicle meets the initial lane change condition, wherein the first threshold value is determined based on the second state speed of the lane in the same direction as the lane where the service vehicle is located, and the second threshold value is determined based on the speed of the service vehicle and the first state speed.

[0017] In some embodiments, the first threshold is the product of the second posture speed and the first ratio, and the first ratio is a positive number less than 1;

[0018] The second threshold is the product of the smaller value of the service vehicle's speed and the first situation speed and a second ratio, and the second ratio is a positive number less than 1.

[0019] In some embodiments, determining that the service vehicle meets the initial lane change condition according to the driving data of the service vehicle includes:

[0020] When the turn signal lamp of the service vehicle is in the on state, it is determined that the service vehicle meets the initial lane change condition.

[0021] In some embodiments, after determining whether the service vehicle has a lane change risk based on the driving data of the service vehicle and the driving data of the environment vehicle, the method further includes:

[0022] If there is a lane change risk for the service vehicle, a lane change risk warning message is generated.

[0023] In some embodiments, after the lane change information is generated according to the driving data of the service vehicle and the driving data of the environment vehicle, the method further includes:

[0024] Broadcast lane change information to surrounding vehicles.

[0025] In a second aspect, the present application provides a cooperative lane changing device, comprising:

[0026] An acquisition module, used to acquire driving data of a service vehicle;

[0027] The acquisition module is further used to acquire the driving data of the environment vehicle when determining that the service vehicle meets the initial lane change condition based on the driving data of the service vehicle;

[0028] A judgment module, used to judge whether the service vehicle has a lane change risk based on the driving data of the service vehicle and the driving data of the environment vehicle;

[0029] A generation module is used to generate lane change information based on the driving data of the service vehicle and the driving data of the environment vehicle when there is no lane change risk, wherein the lane change information is used to guide the service vehicle to complete the lane change.

[0030] In a third aspect, the present application provides an electronic device, including: a memory and a processor;

[0031] The memory is used to store computer programs; the processor is used to execute the computer programs stored in the memory to implement the cooperative lane changing method in the first aspect and any one of the embodiments of the first aspect.

[0032] In a fourth aspect, the present application provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the cooperative lane changing method in the first aspect and any one of the embodiments of the first aspect is implemented.

[0033] In a fifth aspect, the present application provides a computer program product, which includes a computer program. When the computer program is executed by a processor, it implements the cooperative lane changing method in the first aspect and any one of the embodiments of the first aspect.

[0034] The collaborative lane changing method and device provided in the present application determines that the service vehicle meets the initial lane changing conditions based on the driving data of the service vehicle, and then generates lane changing information when it is determined that there is no lane changing risk for the service vehicle based on the driving data of the service vehicle and the driving data of the environmental vehicle, thereby providing lane changing guidance for the service vehicle and achieving the effect of improving the lane changing safety of the service vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the present application or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0036] Figure 1 A schematic diagram of a cooperative lane change scenario provided in an embodiment of the present application;

[0037] Figure 2 A flowchart of a cooperative lane changing method provided in one embodiment of the present application;

[0038] Figure 3 A partial flow chart of a cooperative lane changing method provided in one embodiment of the present application;

[0039] Figure 4 A schematic diagram of the structure of a cooperative lane changing device provided in one embodiment of the present application;

[0040] Figure 5 A schematic diagram of the hardware structure of an electronic device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the drawings in this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0042] The terms "first", "second", "third", "fourth", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances. For example, without departing from the scope of this document, the first information can also be referred to as the second information, and similarly, the second information can also be referred to as the first information.

[0043] The word "if" as used herein may be interpreted as "at the time" or "when" or "in response to a determination," depending on the context.

[0044] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0045] As a common and critical behavior in the driving process, vehicle lane changing is of great significance to improving road traffic efficiency and reducing traffic congestion. Lane changing behavior involves the driver's comprehensive evaluation and decision-making of the surrounding traffic environment, road conditions, other vehicle dynamics and the performance of his own vehicle. With the continuous increase in the number of cars, how to efficiently complete lane changing operations while ensuring safety has become an urgent problem to be solved in the field of intelligent transportation.

[0046] At present, the main method for vehicle lane change is for the driver to obtain information about surrounding vehicles and roads through rearview mirrors, side windows and vehicle-mounted auxiliary systems, such as the Blind Spot Detection (BSD) system and the Lane Departure Warning (LDW) system, and then judge and execute lane change operations based on this information and personal driving habits. However, during the lane change process, the risk of lane change may be high due to insufficient road environment information and blind spot vision.

[0047] In response to the above problems, this application proposes a collaborative lane changing method and device. In this method, the vehicle cooperates with the cloud, and the cloud determines whether the vehicle meets the lane changing conditions and generates lane changing suggestions based on the vehicle's driving information and surrounding environment information, providing driving suggestions for the vehicle. This collaborative lane changing method can help vehicles change lanes efficiently while ensuring the safety of vehicle lane changes.

[0048] The technical solution of the present application is described in detail with specific embodiments below. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0049] Figure 1 FIG. 1 shows a schematic diagram of a cooperative lane change scenario provided by an embodiment of the present application. Figure 1 As shown in the figure, on the four lanes, vehicle A represents a service vehicle, that is, a lane-changing vehicle, and the seven vehicles B are all environmental vehicles. When vehicle A changes lanes, it is necessary to consider the driving status of vehicle A and the four environmental vehicles in the same lane (lane 3 and lane 4). At this time, the cloud and the vehicle collaborate to determine whether vehicle A can change lanes based on the driving status of vehicle A and its environmental vehicles, and provide lane change suggestion information to vehicle A when it meets the lane change conditions, thereby reducing the risk of vehicle A changing lanes.

[0050] In this application, the electronic device is used as the execution subject to execute the cooperative lane change method of the following embodiment. Specifically, the execution subject can be a hardware device of the electronic device, or a software application that implements the following embodiment in the electronic device, or a computer-readable storage medium installed with the software application that implements the following embodiment, or a code of the software application that implements the following embodiment.

[0051] Figure 2 FIG. 1 is a flowchart of a cooperative lane changing method provided by an embodiment of the present application. Figure 2 As shown, with the electronic device as the execution subject, the method of this embodiment may include the following steps:

[0052] S101. Acquire driving data of a service vehicle.

[0053] In this embodiment, the electronic device may be a cloud server, and the service vehicle is a vehicle registered to use the cloud vehicle cooperative driving function. The electronic device may obtain the driving data of the service vehicle by communicating with the service vehicle or through the roadside equipment. The driving data may include the driving trajectory, current location, current speed, and navigation information of the service vehicle.

[0054] The driving trajectory of the service vehicle can be obtained by sensing the target trajectory of the roadside device embedded with the target detection algorithm, or it can be obtained by fusion of the trajectory reported by the service vehicle. Trajectory fusion includes trajectory deduplication, completion and smoothing. When the roadside device senses the target trajectory, it can sense the target type, target longitude and latitude, target speed, etc. When the target type is a vehicle, the roadside device can also sense the vehicle heading angle.

[0055] S102. When it is determined that the service vehicle meets the initial lane change condition according to the driving data of the service vehicle, the driving data of the environment vehicle is obtained.

[0056] Specifically, the electronic device can obtain the driving trajectory of the service vehicle through the roadside device, and can determine whether the service vehicle meets the initial lane change condition based on the driving trajectory. For example, when the driving trajectory of the service vehicle deviates from the center of the lane to one side, it can indicate that the service vehicle has the intention to change lanes, that is, it is determined that the service vehicle meets the initial lane change condition.

[0057] Optionally, when the turn signal of the service vehicle is on, it can be determined that the service vehicle has the intention to change lanes, that is, the initial lane change condition is met.

[0058] In this embodiment, the surrounding vehicles include the vehicle in front of the service vehicle, the vehicle behind the service vehicle, and the vehicles within the preset range of the same-direction lane, where the same-direction lane is the lane in the same direction as the lane where the service vehicle is located. Figure 1 Vehicle A is a service vehicle, and its front vehicle B1, rear vehicle B2, and vehicles B3 and B4 within the preset range of lane 4 are all environmental vehicles. The remaining vehicles B are vehicles on the opposite lanes (lane 1 and lane 2), not the environmental vehicles described here.

[0059] Optionally, the driving data of the environment vehicle includes a driving track, a current position, and a current vehicle speed. The electronic device can obtain the driving data of the environment vehicle through the roadside device.

[0060] Optionally, the electronic device can obtain the driving data of each vehicle within the identification range through the roadside device, and then filter the driving data of the service vehicle from the obtained driving data of each vehicle according to the identification of the service vehicle stored in advance. When it is determined that the service vehicle meets the initial lane change condition, the driving data of the surrounding vehicles of the service vehicle is called.

[0061] S103. Determine whether the service vehicle has a lane change risk based on the driving data of the service vehicle and the driving data of the environment vehicle.

[0062] In this embodiment, the electronic device can perform trajectory prediction based on the driving data of the service vehicle and the driving data of the environment vehicle, and judge whether there is a risk of collision between the service vehicle and the environment vehicle when changing lanes based on the predicted trajectory information. The implementation method of trajectory prediction here can be understood with reference to the prior art.

[0063] S104: When there is no lane change risk, generate lane change information according to the driving data of the service vehicle and the driving data of the environment vehicle.

[0064] Among them, the lane change information is used to guide the service vehicle to complete the lane change.

[0065] Optionally, when there is no lane change risk when the service vehicle changes lanes, the electronic device can generate lane change speed and lane change start time, etc. according to the driving data of the service vehicle and the driving data of the environment vehicle. For example, the lane change information includes that the service vehicle drives toward the target lane at a first speed and a first acceleration from a first moment, and when the speed is a second speed, the acceleration is adjusted to a second acceleration, until the lane change is completed at a second moment, and the speed is adjusted to a third speed.

[0066] When the service vehicle is an autonomous driving vehicle, the electronic device can control the service vehicle to complete the lane change based on the lane change information; when the service vehicle is a non-autonomous driving vehicle, the electronic device will send the lane change information to the service vehicle and remind the service vehicle driver by text prompts, voice broadcasts, etc.

[0067] The collaborative lane changing method provided in this embodiment, through cloud-vehicle collaboration with the service vehicle, determines whether there is a risk in the lane changing of the service vehicle when the service vehicle meets the initial lane changing conditions, and generates lane changing information when confirming that the lane changing is safe, so as to reduce the impact of blind spots on the lane changing of the service vehicle, guide the service vehicle to change lanes safely, realize cloud-vehicle collaborative lane changing, and improve the safety of the service vehicle's lane changing.

[0068] In some embodiments, after the electronic device executes step S103, it may further execute the following steps:

[0069] S105. If the service vehicle has a lane change risk, generate lane change risk warning information.

[0070] Specifically, after the electronic device generates the lane change risk warning information, it can send the lane change risk warning information to the service vehicle to remind the service vehicle driver in the form of text prompts, voice broadcasts, etc.

[0071] Figure 3 This is a partial flow chart of a cooperative lane changing method provided in one embodiment of the present application. Figure 3As shown, in step S104, lane change information is generated according to the driving data of the service vehicle and the driving data of the environment vehicle, including the following steps:

[0072] S201. Determine an initial lane change speed according to the speed of a vehicle that is in the same lane as the service vehicle and is closest to the service vehicle.

[0073] For example, Figure 1 When vehicle A is a service vehicle, among vehicles B1 and B2 in the same lane as vehicle A, vehicle B1 is closest to vehicle A. At this time, the initial lane change speed of vehicle A is determined according to the speed of vehicle B1.

[0074] Optionally, the lane change initial speed of vehicle A may be equal to the speed of vehicle B1.

[0075] S202: Determine a lane change termination speed according to the speeds of multiple vehicles in the target lane.

[0076] If the driving data of the service vehicle includes navigation information, the target lane can be determined according to the navigation information of the service vehicle. For example, if the navigation information shows that the service vehicle needs to go straight, the straight lane adjacent to the current lane is used as the target lane.

[0077] If the driving data of the service vehicle does not include navigation information, a lane in the same direction as the current lane is selected as the target lane.

[0078] If there are multiple target lanes, the target lane can be determined based on the turn signal status of the service vehicle. If the turn signal of the service vehicle is off, the lane with the closest distance can be determined as the final target lane based on the distance between the service vehicle and the lanes on both sides.

[0079] The lane change termination speed of the service vehicle may be the average speed of multiple vehicles within a preset range on the target lane. Figure 1 The lane change termination speed of vehicle A may be the average speed of vehicles B3 and B4.

[0080] If there is no vehicle within the preset range of the target lane, the current speed of the serving vehicle can be used as the lane change termination speed.

[0081] S203: Generate lane change information according to the lane change initial speed and the lane change termination speed.

[0082] In this embodiment, the driving data of the service vehicle also includes the heading angle of the service vehicle. The lane change information includes the lane change trajectory and the lane change speed.

[0083] For example, the lane change trajectory may be determined by executing the following loop.

[0084]

[0085] Wherein, i is an integer from 0 to 29;

[0086] The value of num is 30;

[0087] The interval value is 100;

[0088] v1 is the initial speed of lane change;

[0089] v2 is the lane change termination speed;

[0090] x last is the lateral component of the vehicle’s current position;

[0091] y last is the longitudinal component of the vehicle’s current position;

[0092] h diff is the lane change turning angle, which is 25 degrees;

[0093] h curr is the vehicle heading angle.

[0094] According to the above cycle, 30 trajectory points can be obtained to form a lane change trajectory and the vehicle speed at each trajectory point.

[0095] In this embodiment, the electronic device generates lane changing information such as lane changing initial speed, lane changing terminal speed and lane changing trajectory according to the driving data of the service vehicle and the driving data of the surrounding vehicles, so as to provide more detailed lane changing suggestions to the service vehicle and further improve the lane changing safety and efficiency of the service vehicle.

[0096] In some embodiments, determining in step S102 that the service vehicle meets the initial lane change condition according to the driving data of the service vehicle includes:

[0097] When the first state speed of the lane where the service vehicle is located is less than the first threshold value, and the difference between the speed of the service vehicle and the first state speed is less than the second threshold value, it is determined that the service vehicle meets the initial lane change condition.

[0098] The first threshold is determined according to the second state speed of the lane in the same direction as the lane where the service vehicle is located, and the second threshold is determined according to the speed of the service vehicle and the first state speed. The difference between the speed of the service vehicle and the first state speed represents the absolute value of the difference between the two.

[0099] Optionally, the first threshold is the product of the second state speed and the first ratio, and the first ratio is a positive number less than 1; the second threshold is the product of the smaller value of the service vehicle's speed and the first state speed and the second ratio, and the second ratio is a positive number less than 1.

[0100] In this embodiment, the lane state speed is the average speed of multiple vehicles within a preset range of the lane. The electronic device can periodically calculate the lane state speed, for example, once every 5 minutes.

[0101] Continue to refer Figure 1 , the lane where the service vehicle is located is lane 3, and the first state speed of lane 3 is the average speed of vehicles B1, vehicle A, and vehicle B2. The lane in the same direction as the lane where the service vehicle is located is lane 4, and the second state speed of lane 4 is the average speed of vehicles B3 and vehicle B4.

[0102] Optionally, when the first state speed is less than 80% of the second state speed, and the difference between the speed of the service vehicle and the first state speed is less than 80% of the first state speed, it is determined that the service vehicle meets the initial lane change condition. Wherein, the first state speed is less than the speed of the service vehicle.

[0103] Optionally, when the first state speed is less than 80% of the second state speed, and the difference between the first state speed and the speed of the service vehicle is less than 80% of the speed of the service vehicle, it is determined that the service vehicle meets the initial lane change condition. Wherein, the speed of the service vehicle is less than the first state speed.

[0104] In this embodiment, the electronic device determines whether the service vehicle meets the initial lane change conditions based on the speed of the service vehicle and the state speed of the same-direction lane, thereby ensuring the safety of the service vehicle's lane change. Combined with the lane state speed, when the service vehicle is in a lane with too low driving efficiency, it is determined that the service vehicle meets the initial lane change conditions, and then a lane change suggestion is sent to the service vehicle, thereby improving road traffic efficiency.

[0105] In some embodiments, after the electronic device executes step S104, it may also broadcast lane change information to surrounding vehicles.

[0106] Specifically, the electronic device broadcasts the lane change information of the service vehicle to the surrounding vehicles, which may be directly sent to other service vehicles, or may be projected onto a roadside display screen to provide lane change safety prompts to the surrounding vehicles. This embodiment does not limit the broadcasting format.

[0107] In this embodiment, by broadcasting lane change information to the environment vehicles, the environment vehicles can cooperate with the service vehicle to safely complete the lane change, thereby further improving the lane change safety of the service vehicle.

[0108] Figure 4 FIG. 1 shows a schematic diagram of a structure of a cooperative lane changing device provided by an embodiment of the present application. Figure 4 As shown, the cooperative lane changing device 10 of this embodiment is used to implement the operation corresponding to the electronic device in any of the above method embodiments. The cooperative lane changing device 10 of this embodiment includes:

[0109] An acquisition module 11 is used to acquire driving data of a service vehicle;

[0110] The acquisition module 11 is further used to acquire the driving data of the environment vehicle when determining that the service vehicle meets the initial lane change condition based on the driving data of the service vehicle;

[0111] A judgment module 12, used to judge whether the service vehicle has a lane change risk based on the driving data of the service vehicle and the driving data of the environment vehicle;

[0112] The generation module 13 is used to generate lane change information based on the driving data of the service vehicle and the driving data of the environment vehicle when there is no lane change risk, wherein the lane change information is used to guide the service vehicle to complete the lane change.

[0113] The cooperative lane changing device 10 provided in the embodiment of the present application can execute the above method embodiment. Its specific implementation principles and technical effects can be found in the above method embodiment, and this embodiment will not be repeated here.

[0114] Figure 5 FIG. 1 shows a hardware structure diagram of an electronic device provided in an embodiment of the present application. Figure 5 As shown, the electronic device 20 is used to implement the operations corresponding to the electronic device in any of the above method embodiments. The electronic device 20 of this embodiment may include: a memory 21, a processor 22 and a communication interface 24.

[0115] The memory 21 is used to store computer programs. The memory 21 may include a high-speed random access memory (RAM), and may also include a non-volatile memory (NVM), such as at least one disk memory, and may also be a USB flash drive, a mobile hard disk, a read-only memory, a disk or an optical disk.

[0116] The processor 22 is used to execute the computer program stored in the memory to implement the method in the above embodiment. For details, please refer to the relevant description in the above method embodiment. The processor 22 can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in the invention can be directly embodied as being executed by a hardware processor, or executed by a combination of hardware and software modules in the processor.

[0117] Optionally, the memory 21 may be independent or integrated with the processor 22 .

[0118] When the memory 21 is a device independent of the processor 22, the electronic device 20 may further include a bus 23. The bus 23 is used to connect the memory 21 and the processor 22. The bus 23 may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. The bus may be divided into an address bus, a data bus, a control bus, and the like. For ease of representation, the bus in the drawings of the present application is not limited to only one bus or one type of bus.

[0119] The communication interface 24 may be connected to the processor 22 via the bus 23. The processor 22 may control the communication interface 24 to implement the functions of receiving and sending signals.

[0120] The electronic device 20 provided in this embodiment can be used to execute the above-mentioned cooperative lane changing method, and its implementation method and technical effect are similar, which will not be described in detail in this embodiment.

[0121] The present application also provides a computer-readable storage medium, in which a computer program / instruction is stored. When the computer program / instruction is executed by a processor, it is used to implement the methods provided in the various embodiments described above.

[0122] Among them, the computer-readable storage medium can be a computer storage medium or a communication medium. The communication medium includes any medium that facilitates the transmission of a computer program from one place to another. The computer storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer. For example, a computer-readable storage medium is coupled to a processor so that the processor can read information from the computer-readable storage medium and write information to the computer-readable storage medium. Of course, the computer-readable storage medium can also be a component of the processor. The processor and the computer-readable storage medium can be located in an application-specific integrated circuit (ASIC). In addition, the ASIC can be located in a user device. Of course, the processor and the computer-readable storage medium can also exist in a communication device as discrete components.

[0123] Specifically, the computer-readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0124] The present application also provides a computer program product, which includes a computer program / instruction, and the computer program / instruction is stored in a computer-readable storage medium. At least one processor of the device can read the computer program / instruction from the computer-readable storage medium, and at least one processor executes the computer program / instruction so that the device implements the methods provided in the various embodiments described above.

[0125] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of modules is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0126] Among them, each module can be physically separated, for example, installed in different locations of a device, or installed on different devices, or distributed on multiple network units, or distributed on multiple processors. Each module can also be integrated together, for example, installed in the same device, or integrated in a set of codes. Each module can exist in the form of hardware, or can also exist in the form of software, or can also be implemented in the form of software plus hardware. The present application can select some or all of the modules according to actual needs to achieve the purpose of the present embodiment.

[0127] It should be understood that, although the various steps in the flowcharts in the above-described embodiments are sequentially displayed according to the indications of the arrows, these steps are not necessarily executed sequentially in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps is not strictly limited in order, and they can be executed in other orders. Moreover, at least a portion of the steps in the figure may include a plurality of sub-steps or a plurality of stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily to be carried out sequentially, but can be executed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0128] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the above embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the above embodiments can still be modified, or some or all of the technical features can be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A collaborative lane changing method, It is characterized in that include: Obtaining driving data of service vehicles; When determining, based on the driving data of the service vehicle, that the service vehicle meets the initial lane change condition, acquiring the driving data of the environment vehicle; Determining whether the service vehicle has a lane change risk according to the driving data of the service vehicle and the driving data of the environment vehicle; When there is no lane change risk, lane change information is generated according to the driving data of the service vehicle and the driving data of the environment vehicle, wherein the lane change information is used to guide the service vehicle to complete the lane change.

2. The method according to claim 1, It is characterized in that Generate lane change information according to the driving data of the service vehicle and the driving data of the environment vehicle, including: Determine the initial lane change speed according to the speed of the vehicle in the same lane as the service vehicle and closest to the service vehicle; Determine the lane change termination speed based on the speeds of multiple vehicles in the target lane; The lane change information is generated according to the lane change initial speed and the lane change termination speed, and the lane change information includes a lane change trajectory and a lane change vehicle speed.

3. The method according to claim 1, It is characterized in that Determining, according to the driving data of the service vehicle, that the service vehicle meets the initial lane change condition includes: When the first state speed of the lane where the service vehicle is located is less than a first threshold value, and the difference between the speed of the service vehicle and the first state speed is less than a second threshold value, it is determined that the service vehicle meets the initial lane change condition, wherein the first threshold value is determined based on the second state speed of the lane in the same direction as the lane where the service vehicle is located, and the second threshold value is determined based on the speed of the service vehicle and the first state speed.

4. The method according to claim 3, It is characterized in that The first threshold is the product of the second state speed and a first ratio, and the first ratio is a positive number less than 1; The second threshold value is the product of the smaller value of the vehicle speed of the service vehicle and the first state speed and a second ratio, and the second ratio is a positive number less than 1.

5. The method according to claim 1, It is characterized in that Determining, according to the driving data of the service vehicle, that the service vehicle meets the initial lane change condition includes: When the turn signal lamp of the service vehicle is in the on state, it is determined that the service vehicle meets the initial lane change condition.

6. The method according to any one of claims 1 to 5, It is characterized in that After determining whether the service vehicle has a lane change risk according to the driving data of the service vehicle and the driving data of the environment vehicle, the method further includes: If the service vehicle has a lane change risk, a lane change risk warning message is generated.

7. The method according to any one of claims 1 to 5, It is characterized in that After generating lane change information according to the driving data of the service vehicle and the driving data of the environment vehicle, the method further includes: The lane change information is broadcast to the surrounding vehicles.

8. A cooperative lane changing device, It is characterized in that include: An acquisition module, used to acquire driving data of a service vehicle; The acquisition module is further used to acquire the driving data of the environment vehicle when it is determined that the service vehicle meets the initial lane change condition according to the driving data of the service vehicle; A judgment module, used for judging whether the service vehicle has a lane change risk according to the driving data of the service vehicle and the driving data of the environment vehicle; A generation module is used to generate lane change information based on the driving data of the service vehicle and the driving data of the environment vehicle when there is no lane change risk, wherein the lane change information is used to guide the service vehicle to complete the lane change.

9. An electronic device, It is characterized in that The device comprises: a memory and a processor; The memory is used to store computer programs; The processor is used to execute the computer program stored in the memory to implement the cooperative lane changing method as described in any one of claims 1-7.

10. A computer-readable storage medium, It is characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it is used to implement the cooperative lane changing method as described in any one of claims 1-7.

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