Method and device for planning lane changing path in driving process and electronic equipment

Abstract

The invention discloses a method and device for planning a lane changing path in the driving process and electronic equipment, and relates to the technical field of automatic driving, and the method comprises the steps: determining a first lane changing starting point and a plurality of first lane changing ending points corresponding to a second lane when a vehicle changes a lane based on environment perception information collected in the driving process of the vehicle in a first lane; determining a plurality of first lane changing paths based on the first lane changing starting point and the plurality of first lane changing ending points; predicting the lane changing duration required by the vehicle to run to the corresponding first lane changing terminal point along the plurality of first lane changing paths and the speed parameter of the vehicle; and based on the lane changing duration and the speed parameter of the vehicle, determining a target lane changing path of the vehicle needing to change the lane to the second lane from the plurality of first lane changing paths. According to the technical scheme, when the target lane changing path is determined, the lane changing duration and the speed parameter of the vehicle are considered, so that when the lane is changed according to the target lane changing path, the abrupt control feeling can be avoided, and the driving experience feeling and the driving comfort are improved.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving technology, and more particularly to a method, device and electronic device for planning a lane change path during driving. Background Art

[0002] In recent years, with the development of vehicle intelligent technology, the lever lane change function of vehicles has been widely used in autonomous driving technology. At present, the lever lane change function is that when the driver turns the lever of the turn signal, the vehicle determines the lane change path and then changes lanes according to the lane change path.

[0003] However, when the vehicle determines the lane change path, the vehicle can determine the starting point and end point of the lane change based on the map data on the electronic map during the vehicle's driving process; and then determine the lane change path based on the starting point and end point of the lane change.

[0004] Currently, when determining the lane change path, only the lane change starting point and lane change end point are considered, which results in hidden dangers and abrupt control when changing lanes according to the lane change path, affecting the driving experience and driving comfort. Summary of the invention

[0005] Currently, only the lane change starting point and lane change end point are considered when determining the lane change path, which results in safety hazards and abrupt control when changing lanes according to the lane change path, affecting the driving experience and driving comfort.

[0006] In order to solve the above technical problems, the present disclosure provides a method, device and electronic device for planning a lane change path during driving, wherein the first lane change starting point and multiple first lane change end points corresponding to the vehicle changing lanes from the first lane to the second lane are used to determine the first lane change paths corresponding to each of the multiple first lane change end points, and based on the lane change time required for the vehicle to travel from the first lane change starting point along the multiple first lane change paths to the corresponding first lane change end points and the speed parameters of the vehicle, the target lane change path that the vehicle needs to change lanes is determined from the multiple first lane change paths. Since the target lane change path is determined based on the lane change time corresponding to each of the multiple first lane change paths and the speed parameters of the vehicle, the rapidity of the lane change and the comfort during the lane change are taken into account when determining the target lane change path. Therefore, when changing lanes according to the target lane change path, safety hazards and abrupt control can be avoided, thereby improving the driving experience and driving comfort.

[0007] A first aspect embodiment of the present disclosure provides a method for planning a lane change path during driving, including: determining environmental perception information collected by a vehicle during driving in a first lane; determining a first lane change starting point and multiple first lane change endpoints corresponding to the vehicle changing from the first lane to the second lane based on the environmental perception information; determining first lane change paths corresponding to each of the multiple first lane change endpoints based on the first lane change starting point and the multiple first lane change endpoints; predicting a lane change time and a speed parameter of the vehicle required for the vehicle to travel from the first lane change starting point along the multiple first lane change paths to the corresponding first lane change endpoints; and determining a target lane change path from the multiple first lane change paths where the vehicle needs to change lanes to the second lane based on the lane change time and the speed parameter of the vehicle required for the vehicle to travel from the first lane change starting point along the multiple first lane change paths to the corresponding first lane change endpoints.

[0008] A second aspect embodiment of the present disclosure provides a device for planning a lane change path during driving, including: a first determination module, used to determine environmental perception information collected by the vehicle during driving in the first lane; a second determination module, used to determine, based on the environmental perception information, a first lane change starting point and multiple first lane change endpoints corresponding to the vehicle changing from the first lane to the second lane; a third determination module, used to determine, based on the first lane change starting point and the multiple first lane change endpoints, the first lane change paths corresponding to each of the multiple first lane change endpoints; a fourth determination module, used to predict the lane change time and speed parameters of the vehicle required for the vehicle to travel from the first lane change starting point along the multiple first lane change paths to the corresponding first lane change endpoints; a fifth determination module, used to determine, from the multiple first lane change paths, a target lane change path for the vehicle to change to the second lane based on the lane change time and speed parameters required for the vehicle to travel from the first lane change starting point along the multiple first lane change paths to the corresponding first lane change endpoints.

[0009] A third aspect embodiment of the present disclosure provides a computer-readable storage medium, which stores a computer program, and the computer program is used to execute the method for determining the avoidance path provided in the first aspect.

[0010] The fourth aspect embodiment of the present disclosure provides an electronic device, which includes: a processor; a memory for storing processor executable instructions; a processor, configured to read the executable instructions from the memory and execute the instructions to implement the method for planning a lane change path during driving provided in the first aspect above.

[0011] A fifth aspect embodiment of the present disclosure provides a computer program product. When the instructions in the computer program product are executed by a processor, the method for planning a lane change path during driving provided in the first aspect is executed.

[0012] Based on this solution, the first lane change starting point and multiple first lane change end points corresponding to the vehicle changing lanes from the first lane to the second lane are used to determine the first lane change paths corresponding to each of the multiple first lane change end points, and based on the lane change durations corresponding to each of the multiple first lane change paths and the speed parameters of the vehicle, the target lane change path that the vehicle needs to change lanes on is determined from the multiple first lane change paths. Since the target lane change path is determined based on the lane change durations corresponding to each of the multiple first lane change paths and the speed parameters of the vehicle, and the speed parameters of the vehicle can reflect the degree of shaking of the vehicle when the vehicle changes lanes along the target lane change path, the determined target lane change path takes into account the rapidity of the lane change and the comfort during the lane change process. Therefore, when changing lanes according to the target lane change path, safety hazards and abrupt control can be avoided, and the driving experience and driving comfort are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 is a schematic diagram of a lane change scenario provided by an exemplary embodiment of the present disclosure.

[0014] Figure 2 It is a flowchart of a method for planning a lane change path during driving provided by an exemplary embodiment of the present disclosure.

[0015] Figure 3 It is a flowchart of a method for planning a lane change path during driving provided by another exemplary embodiment of the present disclosure.

[0016] Figure 4 It is a schematic diagram of an application scenario of a method for planning a lane change path during driving provided by an exemplary embodiment of the present disclosure.

[0017] Figure 5 It is a schematic diagram of an application scenario of a method for planning a lane change path during driving provided by another exemplary embodiment of the present disclosure.

[0018] Figure 6 It is a flowchart of a method for planning a lane change path during driving provided by another exemplary embodiment of the present disclosure.

[0019] Figure 7 It is a flowchart of a method for planning a lane change path during driving provided by another exemplary embodiment of the present disclosure.

[0020] Figure 8 It is a schematic diagram of an application scenario of a method for planning a lane change path during driving provided by another exemplary embodiment of the present disclosure.

[0021] Fig. 9 It is a schematic diagram of an application scenario of a method for planning a lane change path during driving provided by another exemplary embodiment of the present disclosure.

[0022] Fig.10 It is a flowchart of a method for planning a lane change path during driving provided by another exemplary embodiment of the present disclosure.

[0023] Fig.11 It is a flowchart of a method for planning a lane change path during driving provided by another exemplary embodiment of the present disclosure.

[0024] Fig.12 It is a structural diagram of an apparatus for planning a lane change path during driving provided by an exemplary embodiment of the present disclosure.

[0025] Fig.13 It is a structural diagram of an apparatus for planning a lane change path during driving provided by another exemplary embodiment of the present disclosure.

[0026] Fig.14 It is a structural diagram of a device for planning a lane change path during driving provided by yet another exemplary embodiment of the present disclosure.

[0027] Fig.15 is a structural diagram of an electronic device provided by an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0028] To explain the present disclosure, example embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all of the embodiments. It should be understood that the present disclosure is not limited to the example embodiments.

[0029] It should be noted that the relative arrangement of components and steps, the numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise.

[0030] Application Overview

[0031] Usually, when the vehicle's lever-type lane-changing function is implemented, the driver first turns the lever of the turn signal, and then the vehicle determines the starting and ending points of the lane change based on the map data on the electronic map during the vehicle's driving process; then the lane change path is determined based on the starting and ending points of the lane change. After that, the vehicle is controlled to change lanes based on the lane change path.

[0032] However, currently, when determining the lane change path, only the starting point and the end point of the lane change are considered, without considering the speed and comfort of the lane change. As a result, the vehicle may have safety hazards and a sense of control abruptness during the lane change process, affecting the driving experience and driving comfort.

[0033] In some examples, when a vehicle changes lanes according to a lane change path, if the lane change time is short, the vehicle changes lanes slowly, which may easily cause safety hazards; if the acceleration change rate of the vehicle when changing lanes is large, it will cause the vehicle to shake to a large extent, causing the driver to feel abrupt control and affecting the driver's comfort.

[0034] For example, Figure 1 As shown, taking the case where a vehicle 10 (also referred to as the vehicle 10) and a vehicle 12 are driving in a lane 11, and the vehicle 12 is driving at a reduced speed in front of the vehicle 10 as an example, when the driver of the vehicle 10 turns the lever of the turn signal to the right, the vehicle 10 determines that it needs to change lanes from the lane 11 to the lane 13. Afterwards, the vehicle 10 determines the starting point 14 and the end point 15 of the lane change according to the map data on the electronic map during the driving process; and then determines the lane change path 16 according to the starting point 14 and the end point 15 of the lane change. Afterwards, the vehicle 10 controls the vehicle 10 to change lanes from the lane 11 to the lane 13 according to the lane change path 16. When changing lanes according to the lane change path 16, if the lane change time is short, the vehicle 10 changes lanes slowly, which may easily cause safety hazards; if the acceleration change rate of the vehicle 10 is large, it will cause the vehicle 10 to shake to a large extent, causing the driver to feel abrupt control and affecting the driver's comfort.

[0035] In order to solve the problem that only the lane change starting point and the lane change end point are considered when determining the lane change path in the related art, which causes safety hazards and abrupt control when changing lanes according to the lane change path, affecting the driving experience and driving comfort, the embodiment of the present disclosure provides a method for planning a lane change path during driving, wherein the vehicle determines the target lane change path according to the lane change duration corresponding to each of the multiple first lane change paths and the speed parameter of the vehicle. Since the speed parameter of the vehicle can reflect the degree of shaking of the vehicle when changing lanes along the target lane change path, the determined target lane change path takes into account the rapidity of the lane change and the comfort during the lane change process. Therefore, when changing lanes according to the target lane change path, safety hazards and abrupt control can be avoided, and the driving experience and driving comfort are improved.

[0036] Exemplary Methods

[0037] Figure 2 1 is a flow chart of a method for planning a lane change path during driving provided by an embodiment of the present disclosure. This embodiment can be applied to an electronic device, which can be a system on chip of a vehicle (such as a vehicle-mounted system on chip (System on Chip, SOC)). Figure 2 As shown, the method comprises the following steps:

[0038] Step 301: Determine the environmental perception information collected by the vehicle while driving in the first lane.

[0039] The first lane may be the lane where the vehicle is currently traveling, and the first lane may also be referred to as the vehicle's lane. Figure 1 As shown, the own lane of the vehicle 10 is the lane 11 in which the vehicle 10 is currently traveling.

[0040] Environmental perception information may include road information and vehicle driving information. Road information may include lane information of the lane where the vehicle is located (i.e., lane information of the first lane), lane information of lanes around the vehicle (e.g., lane information of the second lane), and information of objects around the vehicle. Lane information may include the position of the lane, the centerline position of the lane, the position of the lane line, and the width of the lane.

[0041] The target object information around the vehicle may include dynamic targets and static targets in the environment around the vehicle. Dynamic targets include but are not limited to other vehicles, pedestrians, cyclists and other objects in motion. Static targets include but are not limited to stationary vehicles (such as vehicles parked on the road), curbs, green belts and other objects or areas in a stationary state. The target object information may include the position of the target object, the speed of the target object, etc. The disclosed embodiment takes the target object as a dynamic target object in the environment around the vehicle as an example for illustrative description.

[0042] The vehicle's driving information may include the vehicle's position, the vehicle's driving speed, and lane change instructions from the driver detected by the vehicle.

[0043] In some examples, the lane change instruction may be generated based on a voice signal of the driver, a gesture of the driver, or a lever operation of the driver on a turn signal. The lane change instruction is used to indicate the lane change direction of the vehicle, such as changing lanes to the left or to the right.

[0044] In some examples, the environmental perception information collected by the vehicle while driving in the first lane can be collected by the vehicle's collection equipment (such as the vehicle's forward millimeter-wave radar, image sensor, corner radar sensor, etc.).

[0045] Exemplarily, the vehicle may collect image frames including target objects around the vehicle through an image sensor, and identify the image frames to determine position information of the target objects around the vehicle.

[0046] It should be noted that the disclosed embodiments do not limit the type, quantity, and installation location of the vehicle's collection equipment. For example, the vehicle's collection equipment may include a front camera installed on the vehicle's front windshield, a forward millimeter-wave radar installed on the vehicle's bumper, and four corner radar sensors installed on the left front, right front, left rear, and right rear of the vehicle. Thus, the front camera can be used to obtain lane information in the road information, and the front camera, forward millimeter-wave radar, and four corner radar sensor signals can be used to obtain target information around the vehicle.

[0047] For example, combined with Figure 1 As shown, when the vehicle 10 is traveling in the own lane 11, the acquisition device of the vehicle 10 can collect environmental perception information. For example, the lane information of the own lane 11 and the lane information of the right lane 13 of the own lane 11 can be obtained through the front camera installed on the front windshield of the vehicle 10. The forward millimeter-wave radar installed on the bumper of the vehicle 10 and the corner radar sensors installed on the left front and right front of the own vehicle can obtain the target information around the own vehicle, such as the position and speed of the vehicle 12.

[0048] Step 302: Based on the environmental perception information, determine a first lane change starting point and a plurality of first lane change end points corresponding to the vehicle changing lanes from the first lane to the second lane.

[0049] The second lane may be a lane adjacent to the first lane where the vehicle is located, such as a left lane adjacent to the first lane where the vehicle is located, or a right lane adjacent to the first lane where the vehicle is located. It should be noted that the second lane may also be a lane around the vehicle that is not adjacent to the first lane. In the disclosed embodiment, the second lane is taken as an example to be described as an adjacent lane of the first lane.

[0050] The first lane change starting point may be the position of the vehicle in the first lane. The first lane change end point may be the position of the vehicle when the vehicle changes from the first lane to the second lane. For example, the first lane change end point may be the position of the vehicle on the center line of the second lane when the vehicle completes the lane change from the first lane to the second lane.

[0051] In some examples, it may be determined whether the vehicle needs to change lanes from the first lane to the second lane based on the environmental perception information. For example, it may be determined that the vehicle needs to change lanes based on the environmental perception information, or it may be determined that the vehicle needs to change lanes based on the driver of the vehicle turning the turn signal lever.

[0052] For example, taking the target object around the self-vehicle as a vehicle traveling in the same lane as the self-vehicle and located in front of the self-vehicle as an example, it is possible to first determine whether the lane where the self-vehicle is located is congested based on the position and driving speed of the vehicle in the environmental perception information. When the position of the vehicle is close to the self-vehicle and the driving speed of the vehicle is reduced, it is determined that the first lane is congested. When the position of the vehicle is far from the self-vehicle and the driving speed of the vehicle is not reduced, it is determined that the first lane is not congested. When it is determined that the first lane is congested, it can be determined that the self-vehicle needs to change lanes from the first lane to the second lane. When it is determined that the first lane is not congested, it can be determined that the self-vehicle does not need to change lanes from the first lane to the second lane.

[0053] Step 303: Based on the first lane-changing starting point and the plurality of first lane-changing end points, determine a first lane-changing path corresponding to each of the plurality of first lane-changing end points.

[0054] In some examples, the first lane change path corresponding to the first lane change end point may be determined based on the position information of the first lane change starting point and the position information of the first lane change end point. The first lane change path corresponding to the first lane change end point refers to the first lane change path corresponding to the first lane change starting point to the first lane change end point.

[0055] Step 304: predict the lane change time and speed parameters of the vehicle required for the vehicle to travel from the first lane change starting point along the plurality of first lane change paths to the corresponding first lane change end point.

[0056] The lane change time corresponding to the first lane change path is the time taken by the vehicle to change from the first lane to the second lane along the first lane change path. The longer the lane change time, the slower the lane change speed of the vehicle from the first lane to the second lane, and the smoother the lane change process; the shorter the lane change time, the faster the lane change speed of the vehicle from the first lane to the second lane, and the worse the smoothness.

[0057] The speed parameter of the vehicle corresponding to the first lane-changing path is the speed information of the vehicle at each position when the vehicle changes lanes from the first lane to the second lane.

[0058] In some examples, the speed parameter of the vehicle may include the lane change acceleration rate of the vehicle. The lane change acceleration rate of the vehicle is the rate of change of the lateral acceleration of the vehicle during the process of changing lanes from the first lane to the second lane according to the first lane change path. The smaller the lane change acceleration rate of the vehicle, the smaller the shaking degree of the vehicle during the process of changing lanes from the first lane to the second lane, the less abrupt control feeling of the vehicle will appear, and the higher the comfort during the lane change. The larger the lane change acceleration rate of the vehicle, the faster the vehicle can change lanes from the first lane to the second lane, the greater the shaking degree of the vehicle, and the worse the comfort of the lane change.

[0059] Step 305: Based on the lane change time required for the vehicle to travel from the first lane change starting point along the multiple first lane change paths to the corresponding first lane change end point and the speed parameter of the vehicle, determine a target lane change path for the vehicle to change lane to the second lane from the multiple first lane change paths.

[0060] In some examples, the lane change cost of each first lane change path can be determined based on the lane change duration corresponding to each first lane change path and the speed parameter of the vehicle, and the target lane change path for the vehicle to change lanes to the second lane can be determined based on the lane change cost of each first lane change path.

[0061] Exemplarily, the lane change cost value of the first lane change path is used to comprehensively evaluate the lane change speed and lane change comfort of the first lane change path. In some examples, the smaller the lane change cost value of the first lane change path, the higher the lane change speed and comfort of the first lane change path.

[0062] The method for planning a lane change path during driving provided by the disclosed embodiment determines a target lane change path according to the lane change durations corresponding to each of the multiple first lane change paths and the speed parameter of the vehicle, and the speed parameter of the vehicle can reflect the degree of shaking of the vehicle when the vehicle changes lanes along the target lane change path. Therefore, the determined target lane change path takes into account the rapidity of lane change and the comfort during lane change. Therefore, when changing lanes according to the target lane change path, safety hazards and abrupt control can be avoided, and the driving experience and driving comfort are improved.

[0063] In some embodiments, when determining the first lane change path corresponding to the first lane change starting point to the first lane change end point based on the first lane change starting point and the first lane change end point, the following formula (1) can be used to determine:

[0064] y(x)=a0+a1x+a2x 2 +a3x 3 +a4x 4 +a5x 5 Formula (1);

[0065] Among them, x represents the vertical coordinate corresponding to any position on the first lane change path corresponding to the first lane change end point, y represents the horizontal coordinate corresponding to any position on the first lane change path, and a0, a1, a2, a3, a4, and a5 respectively represent parameters in the lane change curve function corresponding to the first lane change.

[0066] In some examples, the position information of the first lane change end point may be the coordinates of the first lane change end point in the vehicle coordinate system, and the position information of the first lane change starting point may be the coordinates of the first lane change starting point in the vehicle coordinate system.

[0067] Taking the coordinates of the first lane change end point as (x1, y1) and the coordinates of the first lane change starting point as (x0, y0) as an example, the coordinates of the first lane change end point and the coordinates of the first lane change starting point can be substituted into formula (1) to obtain the constraint conditions satisfied by the first lane change end point and the constraint conditions satisfied by the first lane change starting point. For example, the constraint condition of the first lane change end point is: y0 = a0 + a1x0 + a2x0 2 +a3x0 3 +a4x0 4 +a5x0 5 ; The constraint condition of the first lane change starting point is: y1=a0+a1x1+a2x1 2 +a3x1 3 +a4x1 4 +a5x1 5 .

[0068] Next, the first-order derivative and the second-order derivative of the constraint conditions at the first lane change end point and the first lane change starting point are calculated respectively, so as to obtain the constraint conditions that the first lane change path must satisfy the following formula (2):

[0069]

[0070] Next, by converting the constraint conditions satisfied by the first lane change path shown in the above formula (2), the following formula (3) can be obtained:

[0071]

[0072] Finally, by solving the above formula (3), we can get the following formula (4):

[0073]

[0074] According to the above formula (4), the coordinates of the first lane change end point (x1, y1) and the coordinates of the first lane change starting point (x0, y0) are substituted into the above formula (4), and the values ​​of a0, a1, a2, a3, a4, and a5 in formula (1) can be calculated, so that the lane change curve function corresponding to the first lane change path can be obtained.

[0075] The embodiment of the present disclosure does not limit the method for determining the first lane change path, and the above embodiment is only an exemplary description.

[0076] like Figure 3 As shown in the above Figure 2 Based on the illustrated embodiment, step 204 may include the following steps:

[0077] Step 2041: Based on the vehicle's travel speed, the first lane change starting point, and the first lane change endpoints corresponding to the first lane change paths, predict the lane change time required for the vehicle to travel from the first lane change starting point along each first lane change path to the corresponding first lane change endpoint.

[0078] In some examples, the lane change distance corresponding to the first lane change path may be determined based on the first lane change starting point and the first lane change end point corresponding to the first lane change path. Then, based on the lane change distance corresponding to the first lane change path and the driving speed of the vehicle, the lane change time required for the vehicle to travel from the first lane change starting point along each first lane change path to the corresponding first lane change end point is predicted.

[0079] In some examples, the lane change distance corresponding to the first lane change path may be a distance traveled by the vehicle in a preset driving direction when the vehicle changes lanes from the first lane change starting point to the first lane change end point. The preset driving direction may be the longitudinal driving direction of the vehicle, or the x-axis direction in the vehicle coordinate system.

[0080] For example, Figure 4 As shown, the position 402 of the vehicle 401 in the first lane 403 is taken as the first lane change starting point, and when the vehicle 401 changes lanes from the first lane 403 to the second lane 406, the position 405 of the vehicle on the center line of the second lane 406 is taken as the first lane change end point. The lane change distance 407 corresponding to the first lane change path 404 is the travel distance of the vehicle 401 in the x-axis direction (i.e., the travel distance of the vehicle 401 in the longitudinal driving direction) when the vehicle 401 changes lanes from the first lane change starting point 402 to the first lane change end point 405 in the vehicle coordinate system.

[0081] In some examples, the lane change distance corresponding to the first lane change path may be divided by the driving speed of the vehicle to obtain the lane change duration corresponding to the first lane change path.

[0082] Step 2042: Determine at least one lane change intermediate point on each first lane change path based on each first lane change path.

[0083] In some examples, sampling may be performed on the curve corresponding to the first lane change path to obtain at least one lane change intermediate point. The specific number of lane change intermediate points in the disclosed embodiment is not limited. For example, the number of lane change intermediate points may be 30, 50, or other numbers.

[0084] In some examples, among at least one lane change intermediate point sampled on the curve corresponding to the first lane change path, the distance between any two adjacent lane change intermediate points may be the same or different, and the present disclosure is not limited to this. The following embodiments are illustrative using the example that the distance between any two sampling points is the same.

[0085] For example, Figure 5 As shown, taking the number of lane change intermediate points as 3 as an example, sampling can be performed on the curve corresponding to the first lane change path 501 to obtain three lane change intermediate points, namely lane change intermediate point 502, lane change intermediate point 503 and lane change intermediate point 504.

[0086] Step 2043: Based on at least one lane-changing intermediate point on each first lane-changing path and the first lane-changing path, predict a speed parameter of the vehicle when passing through each lane-changing intermediate point along the first lane-changing path.

[0087] In some examples, the speed parameter when the vehicle passes the lane change middle point along the first lane change path may be the lane change acceleration change rate when the vehicle passes the lane change middle point along the first lane change path. The lane change acceleration change rate corresponding to the lane change middle point is used to characterize the speed of the change of the lateral acceleration of the vehicle when the vehicle passes the lane change middle point.

[0088] In some examples, the distance between each lane change intermediate point and the first lane change starting point in the preset driving direction can be determined based on each lane change intermediate point and the first lane change starting point. Then, based on the distance between each lane change intermediate point and the first lane change starting point in the preset driving direction and the lane change curve function corresponding to the first lane change path, the speed parameter of the vehicle when passing through each lane change intermediate point along the first lane change path is predicted.

[0089] The preset driving direction can be the x-axis direction in the vehicle coordinate system. According to the coordinates of the lane change middle point in the vehicle coordinate system and the coordinates of the first lane change starting point in the vehicle coordinate system, the distance between the lane change middle point and the first lane change starting point in the x-axis direction can be determined.

[0090] In some examples, the third-order derivative of the lane change curve function corresponding to the first lane change path may be first calculated to obtain the acceleration change rate function. Then, the distance between the lane change middle point and the first lane change starting point in the x-axis direction may be substituted into the acceleration change rate function to obtain the lane change acceleration change rate corresponding to the lane change middle point.

[0091] The method for planning a lane change path during driving provided by the disclosed embodiment can accurately determine the lane change duration of the vehicle along the first lane change path through the vehicle's driving speed, the first lane change starting point and the first lane change end point corresponding to the first lane change path, and can accurately determine the speed parameters corresponding to each lane change middle point on the first lane change path through each lane change middle point on the first lane change path. Thus, according to the lane change duration corresponding to the first lane change path and the speed parameter corresponding to the first lane change path, a target lane change path that satisfies the rapidity of lane change and the comfort during lane change can be determined.

[0092] like Figure 6 As shown in the above Figure 2Based on the illustrated embodiment, step 205 may include the following steps:

[0093] Step 2051: Determine a lane change cost for each first lane change path based on a lane change time required for the vehicle to travel from a first lane change starting point along a plurality of first lane change paths to a corresponding first lane change end point and a speed parameter of the vehicle.

[0094] In some examples, since the lane change durations and the speed parameters of the vehicle (such as the lane change acceleration rate) corresponding to the first lane change paths are of different magnitudes, the lane change durations and the speed parameters of the vehicle corresponding to the first lane change paths may be adjusted in magnitude. Then, the adjusted lane change durations and the speed parameters of the vehicle corresponding to the first lane change paths are weighted to obtain the lane change cost values ​​of the first lane change paths.

[0095] In some examples, the lane change duration and the speed parameter of the vehicle corresponding to the first lane change path may be multiplied by their respective corresponding weights to obtain a weight value corresponding to the lane change duration and a weight value corresponding to the speed parameter of the vehicle. The weight value corresponding to the lane change duration and the weight value corresponding to the speed parameter of the vehicle are summed to obtain the lane change cost of the first lane change path.

[0096] For example, the cost of the first lane change path can be determined by the following formula (5):

[0097] S = p1 × S1 + p2 × S2 Formula (5);

[0098] Among them, S represents the cost of the first lane change path, p1 represents the first weight, S1 represents the lane change time corresponding to the first lane change path, p2 represents the second weight, and S2 represents the speed parameter of the vehicle corresponding to the first lane change path.

[0099] It should be noted that the specific values ​​of the first weight and the second weight can be set according to actual conditions, and the embodiments of the present disclosure do not limit the specific values ​​of the first weight and the second weight. Since the lane change duration corresponding to the first lane change path can reflect the rapidity of the vehicle when changing lanes according to the first lane change path, and the speed parameter of the vehicle corresponding to the first lane change path can reflect the comfort of the vehicle when changing lanes according to the first lane change path, when determining the target lane change path, if you pay more attention to the rapidity of the lane change, you can set the first weight to a larger value. When determining the target lane change path, if you pay more attention to the comfort of the lane change, you can set the second weight to a larger value.

[0100] Step 2052: Determine a target lane change path for the vehicle to change lanes to the second lane based on the lane change cost of each first lane change path.

[0101] Exemplarily, since a smaller lane change cost value of the first lane change path indicates higher lane change speed and comfort of the first lane change path, the first lane change path with the smallest lane change cost value can be determined as the target lane change path for the vehicle to change lanes to the second lane.

[0102] The method for planning a lane change path during driving provided by the disclosed embodiment determines a lane change cost value of the first lane change path through the lane change duration corresponding to the first lane change path and the speed parameter of the vehicle, and determines a target lane change path according to the lane change cost value, thereby ensuring that the determined target lane change path is a lane change path that satisfies lane change speed and comfort.

[0103] like Figure 7 As shown in the above Figure 2 Based on the illustrated embodiment, step 202 may include the following steps:

[0104] Step 2021: Determine first road information of a first lane from the environmental perception information.

[0105] The first road information of the first lane, that is, the lane information of the lane in which the vehicle is currently traveling, may include lane information such as the position of the first lane, the centerline position of the first lane, the lane line position of the first lane, and the width of the first lane.

[0106] Step 2022: Based on the first road information, determine the second road information of the lane adjacent to the first lane.

[0107] In some examples, it may be determined whether the first lane is congested based on the first road information. If the first lane is congested, the second road information of the lane adjacent to the first lane may be determined. If the first lane is not congested, the vehicle does not need to change lanes, and the second road information of the lane adjacent to the first lane may not be determined, and the vehicle continues to drive in the first lane.

[0108] For example, it is possible to first determine whether the first lane is congested based on the target object information in the first road information. For example, taking the target object as a vehicle traveling in the first lane and located in front of the own vehicle as an example, the target object information in the first road information may be the position and driving speed of the vehicle. When the target object information in the first road information indicates that the driving speed of the vehicle is reduced and the distance between the vehicle and the own vehicle is small (such as less than a distance threshold), it can be determined that the first lane is congested; when the target object information in the first road information indicates that the driving speed of the vehicle is not reduced and the distance between the vehicle and the own vehicle is large (such as greater than a distance threshold), it can be determined that the first lane is not congested.

[0109] The lane adjacent to the first lane may be referred to as the second lane. The second road information of the second lane may include lane information such as the position of the second lane, the centerline position of the second lane, the lane line position of the second lane, and the width of the second lane.

[0110] Illustratively, the second lane may be a left lane adjacent to the first lane, or may be a right lane adjacent to the first lane, and this embodiment of the present disclosure is not limited to this.

[0111] Step 2023: Based on the second road information, determine a first lane change starting point and multiple first lane change end points corresponding to the vehicle changing lanes from the first lane to the second lane.

[0112] In some examples, the lane change type of the second lane may be determined based on the second road information. The lane change type of the second lane may include a second lane that is changeable and a second lane that is not changeable. Then, based on the lane change type, the first lane change starting point and multiple first lane change end points corresponding to the lane change from the first lane to the second lane are determined. That is, when the lane change type of the second lane is a second lane that is changeable, the first lane change starting point and multiple first lane change end points corresponding to the lane change from the first lane to the second lane are determined.

[0113] In some examples, the lane change type of the second road can be determined based on the target object information in the second road information, that is, whether the second lane can be changed. If the target object information in the second road information indicates that there is no dynamic target (such as other vehicles) in the second lane or the distance between the dynamic target and the vehicle is far and does not affect the lane change of the vehicle, it can be determined that the second lane can be changed; if the target object information in the second road information indicates that there is a dynamic target in the second lane and the distance between the dynamic target and the vehicle is close and affects the lane change of the vehicle, it can be determined that the second lane cannot be changed.

[0114] If the second lane is changeable, the first lane change starting point and multiple first lane change end points corresponding to the vehicle changing from the first lane to the second lane can be determined. If the second lane is not changeable, the vehicle does not need to change from the first lane to the second lane.

[0115] In some examples, the second lane may be a left lane of the first lane, or may be a right lane of the first lane. The second road information may include road information of a left lane of the first lane and road information of a right lane of the first lane.

[0116] When determining whether the second lane can be changed, it can be determined whether the left lane of the first lane can be changed based on the road information of the left lane of the first lane. If the left lane of the first lane can be changed, the first lane change starting point and multiple first lane change end points corresponding to the vehicle changing from the first lane to the left lane of the first lane are determined based on the road information of the left lane of the first lane. At this time, the second lane is the left lane of the first lane.

[0117] If the left lane of the first lane cannot be changed, then based on the road information of the right lane of the first lane, the first lane change starting point and multiple first lane change end points corresponding to the vehicle changing lanes from the first lane to the right lane of the first lane are determined. At this time, the second lane is the right lane of the first lane.

[0118] If both the left lane and the right lane of the first lane are not changeable, it is determined that the vehicle does not need to change lanes from the first lane to the second lane.

[0119] The disclosed embodiment can first determine whether the left lane of the first lane can be changed into a lane, and if the left lane can be changed into a lane, control the vehicle to change into the left lane; if the left lane cannot be changed into a lane, it can then determine whether the right lane of the first lane can be changed into a lane, and if the right lane can be changed into a lane, control the vehicle to change into the right lane. Therefore, the disclosed solution can continue to determine whether the vehicle can change into the right lane when the left lane cannot be changed into a lane, thereby improving the success rate of the vehicle changing into a lane.

[0120] In some examples, multiple first lane change endpoints can be determined on the center line of the second lane based on the center line position of the second lane in the environmental perception information and different preset lane change distances.

[0121] The preset lane change distance is the distance traveled by the vehicle along the x-axis in the vehicle coordinate system when the vehicle changes lanes from the first lane change starting point to the center line position of the second lane. The specific value and specific number of the preset lane change distance are not limited in the disclosed embodiment.

[0122] For example, Figure 8As shown, the second lane is the right lane of the first lane, and the preset lane change distances include 4, namely 20 meters, 30 meters, 40 meters, and 50 meters, and the points 805, 806, 807, and 808 on the center line of the second lane 804 are 20 meters, 30 meters, 40 meters, and 50 meters away from the first lane change starting point 802 on the x-axis. When the vehicle 801 is traveling in the first lane 803, if it is determined that the vehicle can change lanes from the first lane 803 to the second lane 804 based on the second road information of the second lane 804, then the points on the center line of the second lane 804 that are 20 meters, 30 meters, 40 meters, and 50 meters from the first lane change starting point 802 along the x-axis direction can be selected as the first lane change end points, that is, the multiple first lane change end points corresponding to the vehicle 801 changing lanes from the first lane 803 to the second lane 804 are lane change end point 805, lane change end point 806, lane change end point 807, and lane change end point 808.

[0123] It should be noted that since multiple first lane-changing endpoints are points on the center line of the second lane, it can be ensured that after the vehicle changes lanes from the first lane to the second lane, the vehicle travels on the center line of the second lane, thereby ensuring that the overall lane-changing process from the first lane to the second lane is relatively smooth and not abrupt, and there is no overshoot when the lane change ends, that is, the vehicle is located on the center line of the second lane when the lane change ends.

[0124] For example, Fig. 9 As shown in the figure, taking the second lane as the right lane adjacent to the first lane as an example, before the lane change, the self-lane is the first lane, the distance between the self-lane and the center line of the first lane is 0, and the distance between the self-lane and the left lane line of the first lane is basically the same as the distance between the self-lane and the right lane line of the first lane. When the self-lane changes lanes from the first lane to the second lane according to the target lane change path, the self-lane gradually moves away from the center line of the first lane. When the self-lane crosses the right lane line of the first lane (i.e., the left lane line of the second lane), the self-lane continues to change lanes according to the target lane change path, and the distance between the self-lane and the center line of the second lane gradually decreases until the distance between the self-lane and the center line of the second lane is 0, and the lane change is determined to be completed, and the self-lane continues to drive on the center line of the second lane. When the self-lane changes lanes, the distance between the self-lane and the left lane line of the second lane is basically the same as the distance between the self-lane and the right lane line of the second lane. Since the self-lane drives on the center line of the second lane after the lane change, it is ensured that the overall lane change process of the self-lane from the first lane to the second lane is relatively gentle and not abrupt, and there is no overshoot at the end of the lane change.

[0125] The method for planning a lane change path during driving provided by the disclosed embodiment can, in the case of automatic lane change, determine a second lane that can be changed to through first road information of the first lane, and determine a lane change starting point and multiple lane change end points based on second road information of the second lane, thereby improving the success rate of the vehicle's lane change while ensuring that the lane change is relatively smooth and there is no overshoot at the end of the lane change.

[0126] like Fig.10 As shown in the above Figure 2 Based on the illustrated embodiment, step 202 may include the following steps:

[0127] Step 2024: Based on the lane change instruction of the vehicle changing from the first lane to the second lane, determine the second road information in the environmental perception information for indicating the lane change type of the second lane.

[0128] The lane change instruction is used to instruct the vehicle to change lanes from the first lane to the second lane. The lane change instruction can be generated based on the driver's voice signal, the driver's gesture action, or the driver's operation of turning the turn signal lever.

[0129] In some examples, taking the example of generating a lane change instruction based on the driver's operation of turning the turn signal lever, when the driver turns the turn signal lever to the right, a lane change instruction for the vehicle to change from the first lane to the second lane can be generated, and the second lane is the right lane adjacent to the first lane. When the driver turns the turn signal lever to the left, a lane change instruction for the vehicle to change from the first lane to the second lane can be generated, and the second lane is the left lane adjacent to the first lane.

[0130] Step 2025: Based on the second road information, determine a first lane change starting point and multiple first lane change end points corresponding to the vehicle changing lanes from the first lane to the second lane.

[0131] The disclosed embodiment does not limit the method for determining the first lane change starting point and multiple first lane change end points corresponding to the vehicle changing lanes from the first lane to the second lane. The method for determining the first lane change starting point and multiple first lane change end points corresponding to the vehicle changing lanes from the first lane to the second lane mentioned above may be referred to, and will not be repeated here.

[0132] The method for planning a lane change path during driving provided by the embodiment of the present disclosure can, in the case of non-automatic lane change, determine a second lane that can be changed to based on a lane change command input by the driver, and based on second lane change information of the second road, determine a lane change starting point and multiple lane change end points.

[0133] like Fig.11 As shown in the above Figure 2Based on the illustrated embodiment, the above method for planning a lane change path during driving may further include the following steps:

[0134] Step 206: When the vehicle changes lanes according to the target lane change path, determine a second lane change starting point and a plurality of second lane change end points corresponding to the first lane where the vehicle returns from the current position based on the road information of the second lane.

[0135] The second lane-changing starting point may be the current position of the vehicle. The second lane-changing end point may be the position of the vehicle on the first lane when the vehicle returns from the current position to the first lane.

[0136] In some examples, the second lane change endpoint may be the position of the vehicle on the center line of the first lane when the vehicle returns to the first lane from the current position.

[0137] In some examples, it is possible to first determine whether the second road can be changed based on the second lane information. If the second lane is changeable, the vehicle is controlled to change lanes according to the target lane change path. During the lane change process, the vehicle can collect environmental perception information in real time; if it is determined that the second lane cannot be changed based on the target object information in the second road information in the environmental perception information, the vehicle needs to return to the first lane from the current position to ensure the driving safety of the vehicle. When it is determined that the second lane cannot be changed, the second lane change starting point and multiple second lane change end points corresponding to the return of the vehicle from the current position to the first lane can be determined. Therefore, based on the second lane change starting point and multiple second lane change end points, the target lane change path corresponding to the return of the vehicle from the current position to the first lane is determined.

[0138] The disclosed embodiment does not limit the method for determining the second lane change starting point and multiple second lane change end points corresponding to the vehicle returning from the current position to the first lane. Reference may be made to the aforementioned method for determining the first lane change starting point and multiple first lane change end points corresponding to the vehicle changing lanes from the first lane to the second lane, and no further details are given here.

[0139] Step 207: Based on the second lane-changing starting point and the plurality of second lane-changing end points, determine a second lane-changing path corresponding to each of the plurality of second lane-changing end points.

[0140] The disclosed embodiment does not limit the method for determining the second lane change paths corresponding to each of the plurality of second lane change endpoints. Reference may be made to the aforementioned method for determining the first lane change paths corresponding to each of the plurality of first lane change endpoints, which will not be described in detail herein.

[0141] Step 208: predict the lane change time and speed parameters of the vehicle required for the vehicle to travel from the second lane change starting point along the plurality of second lane change paths to the corresponding second lane change end point.

[0142] The disclosed embodiment does not limit the method for determining the lane change durations and the speed parameters of the vehicle corresponding to each of the multiple second lane change paths. The method for determining the lane change durations and the speed parameters of the vehicle corresponding to each of the multiple first lane change paths mentioned above may be referred to, and will not be repeated here.

[0143] Step 209: Based on the lane change time required for the vehicle to travel from the second lane change starting point along the plurality of second lane change paths to the corresponding second lane change end point and the speed parameter of the vehicle, determine a target lane change path for the vehicle to change back to the first lane from the plurality of second lane change paths.

[0144] The disclosed embodiment does not limit the method for determining the target lane change path from multiple second lane change paths where the vehicle needs to change lanes back to the first lane. The aforementioned method for determining the target lane change path from multiple first lane change paths where the vehicle needs to change lanes to the second lane may be referred to, and will not be repeated here.

[0145] Step 210: Return to the first lane based on the target lane change path that the vehicle needs to change lanes back to the first lane, and continue driving in the first lane.

[0146] The method for planning a lane change path during driving provided by the embodiment of the present disclosure can, when the vehicle is changing lanes according to the target lane change path, if the second lane cannot be changed, determine the target lane change path corresponding to the first lane for the vehicle to return from the current position, and return to the first lane according to the target lane change path, thereby ensuring safe driving of the vehicle.

[0147] Exemplary Devices

[0148] Fig.12 A device for planning a lane change path during driving is provided in an embodiment of the present disclosure, such as Fig.12 As shown, the device 1200 for planning a lane change path during driving includes a first determination module 1201 , a second determination module 1202 , a third determination module 1203 , a fourth determination module 1204 and a fifth determination module 1205 .

[0149] The first determination module 1201 is used to determine the environmental perception information collected by the vehicle during driving in the first lane.

[0150] The second determination module 1202 is used to determine a first lane-changing starting point and a plurality of first lane-changing end points corresponding to the vehicle changing lanes from the first lane to the second lane based on the environment perception information.

[0151] The third determining module 1203 is configured to determine first lane changing paths corresponding to each of the plurality of first lane changing endpoints based on the first lane changing starting point and the plurality of first lane changing endpoints.

[0152] The fourth determination module 1204 is used to predict the lane change time and the speed parameter of the vehicle required for the vehicle to travel from the first lane change starting point along the plurality of first lane change paths to the corresponding first lane change end point.

[0153] The fifth determination module 1205 is used to determine a target lane changing path where the vehicle needs to change lanes to the second lane from multiple first lane changing paths based on the lane changing time required for the vehicle to travel from the first lane changing starting point along the multiple first lane changing paths to the corresponding first lane changing end point and the speed parameter of the vehicle.

[0154] In some examples, such as Fig.13 As shown, Fig.12 The fourth determination module 1204 in the embodiment includes a first determination unit 12041 , a second determination unit 12042 and a third determination unit 12043 .

[0155] The first determination unit 12041 is used to predict the lane change time required for the vehicle to travel from the first lane change starting point along each first lane change path to the corresponding first lane change end point based on the vehicle's travel speed, the first lane change starting point, and the first lane change end points corresponding to each first lane change path.

[0156] The first determining unit 12042 is configured to determine at least one lane change intermediate point on each first lane change path based on each first lane change path.

[0157] The first determination unit 12043 is used to predict the speed parameter of the vehicle when passing through each lane change intermediate point along the first lane change path based on at least one lane change intermediate point on the first lane change path and the first lane change path.

[0158] In some examples, the first determination unit 12043 is specifically used to determine the distance between each lane change intermediate point and the first lane change starting point in a preset driving direction based on each lane change intermediate point and the first lane change starting point; based on the distance between each lane change intermediate point and the first lane change starting point in the preset driving direction, and the lane change curve function corresponding to the first lane change path, predict the speed parameters of the vehicle when passing through each lane change intermediate point along the first lane change path.

[0159] In some examples, such as Fig.14 As shown, Fig.12 The fifth determining module 1205 includes a fourth determining unit 12051 and a fifth determining unit 12052.

[0160] The fourth determination unit 12051 is specifically used to determine the lane change cost of each first lane change path based on the lane change time required for the vehicle to travel from the first lane change starting point along the multiple first lane change paths to the corresponding first lane change end point and the speed parameter of the vehicle.

[0161] The fifth determining unit 12052 is specifically configured to determine a target lane changing path for the vehicle to change lanes to the second lane according to the lane changing cost values ​​of the first lane changing paths.

[0162] In some examples, the fourth determination unit 12051 is specifically used to adjust the lane change duration of each first lane change path and the speed parameter of the vehicle by order of magnitude; weight the adjusted lane change duration of each first lane change path and the speed parameter of the vehicle to obtain the lane change cost value of each first lane change path.

[0163] In some examples, the second determination module 1202 is specifically used to determine first road information of the first lane from the environmental perception information; based on the first road information, determine second road information of a lane adjacent to the first lane; based on the second road information, determine a first lane change starting point and multiple first lane change end points corresponding to the vehicle changing lane from the first lane to the second lane.

[0164] In some examples, the second determination module 1202 is further specifically used to determine the lane change type of the second road; based on the lane change type, determine the first lane change starting point and multiple first lane change end points corresponding to the vehicle changing lanes from the first lane to the second lane.

[0165] In some examples, the second determination module 1202 is further specifically used to determine second road information in the environmental perception information for indicating a lane change type of the second lane based on a lane change instruction of the vehicle changing from the first lane to the second lane; and determine a first lane change starting point and multiple first lane change end points corresponding to the vehicle changing from the first lane to the second lane based on the second road information for indicating the lane change type of the second lane.

[0166] In some examples, the device 1200 for planning a lane change path during driving also includes a sixth determination module, a seventh determination module, an eighth determination module, a ninth determination module, and a tenth determination module.

[0167] The sixth determination module is used to determine a second lane change starting point and a plurality of second lane change end points corresponding to the first lane where the vehicle returns from a current position based on road information of the second lane during the process of the vehicle changing lanes according to the target lane change path.

[0168] The seventh determination module is used to determine, based on the second lane-changing starting point and the plurality of second lane-changing end points, a second lane-changing path corresponding to each of the plurality of second lane-changing end points.

[0169] The eighth determination module is used to predict the lane change time and speed parameters of the vehicle required for the vehicle to travel from the second lane change starting point along the plurality of second lane change paths to the corresponding second lane change end point.

[0170] The ninth determination module is used to determine a target lane changing path for the vehicle to change back to the first lane from the multiple second lane changing paths based on the lane changing time required for the vehicle to travel from the second lane changing starting point along the multiple second lane changing paths to the corresponding second lane changing end point and the speed parameter of the vehicle.

[0171] The tenth determination module is used to return to the first lane based on the target lane change path that the vehicle needs to change lanes back to the first lane, and continue driving in the first lane.

[0172] Exemplary Electronic Devices

[0173] Fig.15 A structural diagram of an electronic device provided in an embodiment of the present disclosure, such as Fig.15 As shown, the electronic device 1500 includes one or more processors 1501 and a memory 1502 .

[0174] The processor 1501 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 1500 to perform desired functions.

[0175] The memory 1502 may include one or more computer program products, and the computer program product may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory (cache), etc. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 1501 may run the program instructions to implement the method for planning a lane change path during driving and / or other desired functions of the various embodiments of the present disclosure described above.

[0176] In one example, the electronic device 1500 may further include: an input device 1503 and an output device 1504 , and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0177] The input device 1503 may also include various sensors, including but not limited to: forward millimeter wave radar, image sensor, corner radar sensor, pressure sensor, used to detect seat pressure, determine whether there is a passenger, and the position of the passenger; temperature sensor, used to monitor the temperature in the cabin; humidity sensor, used to monitor the humidity in the cabin, and assist in adjusting the interior environment of the vehicle; air quality sensor, used to monitor the air quality in the vehicle, such as carbon dioxide, volatile organic compounds (VOCs), etc.; light sensor, used to detect the light intensity inside and outside the vehicle; acceleration sensor, used to detect the acceleration change of the vehicle; distance sensor, used to detect the distance between the vehicle and other objects; camera, used to monitor the driver's facial expression and line of sight direction; touch screen sensor, used for interaction with the vehicle infotainment system; biometric sensor, such as fingerprint recognition, facial recognition, etc.; heart rate monitor, used to monitor the driver's heart rate; sound sensor, used for voice recognition and interaction, to realize voice control function; seat sensor, used to monitor the use of the seat, such as whether the seat is occupied, and the body shape of the passenger; wireless communication sensor, such as Bluetooth, Wi-Fi, etc., used to connect with smart devices to realize data transmission and remote control. In addition to the examples given above, the processor may also include more or fewer sensors, which will not be described in detail here.

[0178] The output device 1504 can output various information or signals to other hardware or devices, which may include displays, vehicle audio, seats, windows, steering wheels, etc., as well as communication networks and remote output devices connected thereto, etc. The displays may include a plurality of different display screens such as a main driver display screen, an accessory display screen, and a rear display screen, and the vehicle audio may include a plurality of speakers arranged at different positions in the vehicle cabin, and different display screens or speakers may work independently.

[0179] Of course, to simplify, Fig.15 Only some of the components related to the present disclosure in the electronic device 1500 are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, according to specific application situations, the electronic device 1500 may also include any other appropriate components.

[0180] In addition to the above-mentioned electronic device 1500, an embodiment of the present disclosure may also provide a vehicle, which may be installed with the electronic device 1500 described in the above implementation, or be provided with the processor 1501 shown in the above embodiment, and the processor 1501 is used to execute the method of planning a lane change path during driving described in the above-mentioned embodiments.

[0181] Exemplary computer program products and computer-readable storage media

[0182] In addition to the above-mentioned methods and devices, embodiments of the present disclosure may also provide a computer program product, including computer program instructions, which, when executed by a processor, enable the processor to execute the steps of the method for planning a lane change path during driving in various embodiments of the present disclosure described in the above-mentioned "Exemplary Method" section.

[0183] The computer program product may be written in any combination of one or more programming languages ​​to write program code for performing the operations of the disclosed embodiments, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0184] In addition, an embodiment of the present disclosure may also be a computer-readable storage medium having computer program instructions stored thereon. When the computer program instructions are executed by a processor, the processor executes the steps of the method for planning a lane change path during driving in various embodiments of the present disclosure described in the above-mentioned “Exemplary Method” section.

[0185] Computer readable storage media can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium is, for example, but not limited to, a system, device or device including electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0186] The basic principles of the present disclosure are described above in conjunction with specific embodiments. However, the advantages, strengths, effects, etc. mentioned in the embodiments of the present disclosure are only examples and not limitations, and cannot be considered as necessary for each embodiment of the present disclosure. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, rather than limitation, and the above details do not limit the present disclosure to the use of the above specific details to be implemented.

[0187] Those skilled in the art may make various changes and modifications to the present disclosure without departing from the spirit and scope of the present disclosure. Thus, if these modifications and variations of the present disclosure fall within the scope of the claims of the present disclosure and their equivalents, the present disclosure is also intended to include these modifications and variations.

Claims

1. A method for planning a lane change path during driving, comprising: Determine the environmental perception information collected by the ego-vehicle while driving in the first lane; Based on the environmental perception information, determining a first lane-changing starting point and a plurality of first lane-changing end points corresponding to the vehicle changing lanes from the first lane to the second lane; determining, based on the first lane-changing starting point and the plurality of first lane-changing end points, first lane-changing paths corresponding to the plurality of first lane-changing end points; Predicting the lane change time required for the vehicle to travel from the first lane change starting point along the plurality of first lane change paths to the corresponding first lane change end point and the speed parameter of the vehicle; Based on the lane change time required for the vehicle to travel from the first lane change starting point along the multiple first lane change paths to the corresponding first lane change end point and the speed parameter of the vehicle, a target lane change path for the vehicle to change lane to the second lane is determined from the multiple first lane change paths.

2. The method according to claim 1, wherein: The predicting of the lane change time required for the vehicle to travel from the first lane change starting point along the plurality of first lane change paths to the corresponding first lane change end point and the speed parameter of the vehicle includes: Based on the driving speed of the vehicle, the first lane-changing starting point, and the first lane-changing end points corresponding to each of the first lane-changing paths, predicting the lane-changing time required for the vehicle to travel from the first lane-changing starting point along each of the first lane-changing paths to the corresponding first lane-changing end points; determining at least one lane change intermediate point on each of the first lane change paths based on each of the first lane change paths; Based on the at least one lane-changing intermediate point on each of the first lane-changing paths and the first lane-changing path, a speed parameter of the vehicle when passing through each of the lane-changing intermediate points along the first lane-changing path is predicted.

3. The method according to claim 2, wherein: The predicting, based on the at least one lane-changing intermediate point on each of the first lane-changing paths and the first lane-changing path, a speed parameter of the vehicle when passing through each of the lane-changing intermediate points along the first lane-changing path includes: Based on each of the lane change intermediate points and the first lane change starting point, determining a distance between each of the lane change intermediate points and the first lane change starting point in a preset driving direction; Based on the distance between each lane change intermediate point and the first lane change starting point in the preset driving direction, and the lane change curve function corresponding to the first lane change path, the speed parameter of the vehicle when passing through each lane change intermediate point along the first lane change path is predicted.

4. The method according to claim 1, wherein: The determining, based on the lane change time required for the vehicle to travel from the first lane change starting point along the plurality of first lane change paths to the corresponding first lane change end point and the speed parameter of the vehicle, a target lane change path for the vehicle to change lane to the second lane from the plurality of first lane change paths includes: determining a lane change cost value of each of the first lane change paths based on a lane change time required for the vehicle to travel from the first lane change starting point along the plurality of first lane change paths to a corresponding first lane change end point and a speed parameter of the vehicle; A target lane changing path for the vehicle to change lane to the second lane is determined according to the lane changing cost values ​​of the first lane changing paths.

5. The method according to claim 4, wherein: The determining of the lane change cost of each of the first lane change paths based on the lane change time required for the vehicle to travel from the first lane change starting point along the plurality of first lane change paths to the corresponding first lane change end point and the speed parameter of the vehicle includes: Adjusting the lane change duration corresponding to each of the first lane change paths and the speed parameter of the vehicle by an order of magnitude; The adjusted lane change durations corresponding to each of the first lane change paths and the speed parameters of the vehicle are weighted to obtain lane change costs of each of the first lane change paths.

6. The method according to any one of claims 1 to 5, wherein: The determining, based on the environmental perception information, a first lane-changing starting point and a plurality of first lane-changing end points corresponding to the vehicle changing lanes from the first lane to the second lane includes: Determine first road information of the first lane from the environmental perception information; Determining, based on the first road information, second road information of a lane adjacent to the first lane; Based on the second road information, a first lane change starting point and a plurality of first lane change end points corresponding to the vehicle changing lane from the first lane to the second lane are determined.

7. The method according to claim 6, wherein: The determining, based on the second road information, a first lane change starting point and a plurality of first lane change end points corresponding to the vehicle changing lane from the first lane to the second lane includes: determining a lane change type of the second lane based on the second road information; Based on the lane change type, a first lane change starting point and a plurality of first lane change end points corresponding to the vehicle changing lane from the first lane to the second lane are determined.

8. The method according to any one of claims 1 to 5, wherein: The determining, based on the environmental perception information, a first lane-changing starting point and a plurality of first lane-changing end points corresponding to the vehicle changing lanes from the first lane to the second lane includes: determining, based on the lane change instruction of the ego vehicle to change from the first lane to the second lane, second road information in the environment perception information for indicating a lane change type of the second lane; Based on the second road information, a first lane change starting point and a plurality of first lane change end points corresponding to the vehicle changing lane from the first lane to the second lane are determined.

9. The method according to any one of claims 1 to 5, further comprising: In the process of the self-vehicle changing lanes according to the target lane-changing path, determining, based on the road information of the second lane, a second lane-changing starting point and a plurality of second lane-changing end points corresponding to the first lane where the self-vehicle returns from a current position; determining, based on the second lane-changing starting point and the plurality of second lane-changing end points, second lane-changing paths corresponding to the plurality of second lane-changing end points; Predicting the lane change time required for the vehicle to travel from the second lane change starting point along the plurality of second lane change paths to the corresponding second lane change end point and the speed parameter of the vehicle; Based on the lane change time required for the ego vehicle to travel from the second lane change starting point along the plurality of second lane change paths to the corresponding second lane change end point and the speed parameter of the ego vehicle, determining a target lane change path for the ego vehicle to change back to the first lane from the plurality of second lane change paths; The target lane-changing path based on the need for the vehicle to change lanes back to the first lane returns to the first lane, and the vehicle continues to travel in the first lane.

10. A device for planning a lane change path during driving, comprising: A first determination module is used to determine the environmental perception information collected by the vehicle during driving in the first lane; A second determination module is used to determine a first lane change starting point and a plurality of first lane change end points corresponding to the vehicle changing lanes from the first lane to the second lane based on the environment perception information; a third determining module, configured to determine, based on the first lane-changing starting point and the plurality of first lane-changing end points, first lane-changing paths corresponding to the plurality of first lane-changing end points; a fourth determination module, configured to predict a lane change time required for the ego vehicle to travel from the first lane change starting point along the plurality of first lane change paths to a corresponding first lane change end point and a speed parameter of the ego vehicle; a fifth determination module, for determining a target lane changing path for the ego vehicle to change lane to the second lane from the multiple first lane changing paths based on the lane changing time required for the ego vehicle to travel from the first lane changing starting point along the multiple first lane changing paths to the corresponding first lane changing end point and the speed parameter of the ego vehicle.

11. A computer-readable storage medium storing a computer program, wherein the computer program is used to execute the method for planning a lane change path during driving as described in any one of claims 1 to 9.

12. An electronic device, comprising: processor; a memory for storing instructions executable by the processor; The processor is used to read the executable instructions from the memory and execute the instructions to implement the method for planning a lane change path during driving as described in any one of claims 1-9.

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