Vehicle automatic driving lane changing control method, device and equipment and storage medium

Abstract

The invention discloses a vehicle automatic driving lane changing control method, device and equipment and a storage medium, and relates to the technical field of vehicle control. Through accurate lane information acquisition, lane changing path planning and real-time vehicle position monitoring, safe, efficient and automatic lane changing operation is realized. According to the method, after lane changing conditions are ensured to be met according to traffic attributes and real-time road condition data of a current lane, a lane changing direction and a path planning starting point are determined by utilizing information such as lane width, a drivable lane, a distance between a vehicle body and a lane line and the like, and a smooth lane changing path conforming to a dynamic traffic environment is generated by adopting a B-spline curve fitting algorithm. And the accurate steering wheel angle is calculated according to the real-time position of the vehicle and the preset lane changing point, so that the vehicle is controlled to smoothly complete lane changing, the stability of the vehicle and the comfort of passengers in the whole lane changing process are ensured, and the reliability and practicability of the automatic driving system are remarkably improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a method, device, equipment and storage medium for controlling automatic lane change of a vehicle. Background Art

[0002] With the rapid development of science and technology, autonomous driving technology has become a revolutionary advancement in the automotive industry. Through advanced sensors, high-precision maps, powerful computing platforms and complex algorithms, autonomous driving technology enables vehicles to complete driving tasks autonomously without direct intervention from human drivers.

[0003] However, the development of autonomous driving technology faces many challenges, including complex traffic environment understanding, strict safety requirements, adaptability to changing weather conditions, and interaction with other traffic participants. In the research and application of autonomous driving technology, lane change strategy is one of the core functions, which is directly related to the practicality and safety of the autonomous driving system. Lane changing operations require the vehicle to accurately perceive the surrounding environment, understand traffic rules, predict the behavior of other vehicles, and perform smooth and efficient lane changes while ensuring safety.

[0004] Therefore, how to achieve autonomous driving control based on real-time road conditions and lane information planning and automatic lane change operations is a technical problem that needs to be solved urgently in this field. Summary of the invention

[0005] The main purpose of this application is to provide a vehicle automatic driving lane change control method, device, equipment and storage medium, aiming to solve the technical problem of how to achieve automatic driving control based on real-time road conditions and lane information planning and automatic execution of lane change operations.

[0006] To achieve the above object, the present application provides a vehicle automatic driving lane change control method, the method comprising the following steps: Responding to an automatic lane change instruction, acquiring lane information; Planning a lane change path according to the lane information; Based on the lane changing path and the real-time position of the vehicle, the vehicle is controlled to complete automatic lane changing.

[0007] Optionally, before obtaining lane information in response to the automatic lane change instruction, the method further includes: In response to the automatic lane change instruction, obtain the traffic attributes and real-time traffic data of the current lane; When the traffic attribute and the real-time traffic condition data satisfy the automatic lane change condition, the step of acquiring lane information is performed according to the real-time traffic condition data.

[0008] Optionally, planning a lane change path according to the lane information includes: According to the lane information, the lane width, the drivable lane and the real-time vehicle lane line spacing are obtained; Determining a lane change direction according to the drivable lane; Determine the starting point of path planning according to the lane width and the real-time vehicle lane line spacing; The lane changing path is planned according to the lane changing direction, the path planning starting point and the path planning algorithm.

[0009] Optionally, planning the lane changing path according to the lane changing direction, the path planning starting point and the path planning algorithm includes: Determine a path planning end point according to the lane change direction and the path planning starting point, wherein the path planning end point is located on the central axis of the target lane; Based on the path planning starting point and the path planning end point, a plurality of equidistant lane change points are obtained through a path planning algorithm; The lane changing path is planned according to the path planning starting point, the path planning end point and a plurality of equidistant lane changing points.

[0010] Optionally, the path planning algorithm is a B-spline curve fitting algorithm.

[0011] Optionally, controlling the vehicle to automatically change lanes based on the lane change path and the real-time position of the vehicle includes: Determining a real-time lane change interval according to the real-time position of the vehicle; determining an expected lane change point according to the real-time lane change interval; Obtaining a steering wheel angle according to the real-time position of the vehicle and the expected lane change point; The vehicle is controlled to travel to a desired lane change point according to the steering wheel angle to complete the automatic lane change.

[0012] Optionally, obtaining a steering wheel angle according to the real-time position of the vehicle and the expected lane change point includes: Get real-time vehicle speed and driving direction angle; According to the real-time position of the vehicle and the expected lane change point, a target direction angle and a position offset distance are obtained; The steering wheel angle is obtained according to the target direction angle, the driving direction angle, the real-time vehicle speed and the position offset distance.

[0013] In addition, to achieve the above-mentioned purpose, the present application also provides a vehicle automatic driving lane changing control device, the vehicle automatic driving lane changing control device comprising: A data acquisition module, for acquiring lane information in response to an automatic lane change instruction; A data processing module, used for planning a lane change path according to the lane information; The control module is used to control the vehicle to complete automatic lane change based on the lane change path and the real-time position of the vehicle.

[0014] In addition, to achieve the above-mentioned purpose, the present application also provides a vehicle automatic driving lane change control device, which includes: a memory, a processor, and a vehicle automatic driving lane change control program stored on the memory and executable on the processor, wherein the vehicle automatic driving lane change control program is configured to implement the steps of the vehicle automatic driving lane change control method as described above.

[0015] In addition, to achieve the above-mentioned purpose, the present application also provides a storage medium, on which a vehicle automatic driving lane change control program is stored. When the vehicle automatic driving lane change control program is executed by a processor, the steps of the vehicle automatic driving lane change control method as described above are implemented.

[0016] The present application obtains lane information in response to an automatic lane change instruction; plans a lane change path according to the lane information; and controls the vehicle to complete the automatic lane change based on the lane change path and the real-time position of the vehicle.

[0017] In summary, the present application realizes safe, efficient and automatic lane change operation through accurate lane information acquisition, lane change path planning and real-time vehicle position monitoring. This method ensures that the lane change conditions are met based on the traffic attributes of the current lane and real-time road condition data, and then uses information such as lane width, drivable lanes and the distance between the vehicle body and the lane line to determine the lane change direction and path planning starting point. By adopting the B-spline curve fitting algorithm, a smooth lane change path that conforms to the dynamic traffic environment is generated, and the precise steering wheel angle is calculated based on the real-time position of the vehicle and the preset lane change point, so as to control the vehicle to smoothly complete the lane change, ensure the stability of the vehicle and the comfort of the passengers during the entire lane change process, and significantly improve the reliability and practicality of the automatic driving system. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0019] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0020] Figure 1 This is a flow chart of the first embodiment of the automatic driving lane changing control method for a vehicle of the present application; Figure 2This is a flow chart of a second embodiment of the vehicle automatic driving lane change control method of the present application; Figure 3 This is a schematic diagram of the functional modules of the automatic driving lane change control device for the vehicle in this application; Figure 4 It is a structural diagram of a terminal device in the hardware operating environment involved in the embodiment of the present application.

[0021] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0022] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0023] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0024] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, a vehicle automatic driving lane change control device, etc. The following takes the vehicle automatic driving lane change control device as an example to illustrate this embodiment and the following embodiments.

[0025] The present application provides a method for controlling lane change of an automatic driving vehicle, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the present application.

[0026] In this embodiment, the vehicle automatic driving lane change control method includes: Step S10: Responding to the automatic lane change instruction, acquiring lane information.

[0027] It should be noted that most of the new vehicles currently on the market are equipped with L2+ or higher level intelligent driving assistance functions with automatic / triggered lane change. These intelligent driving systems can collect and process relevant data of the current lane in a certain area according to the real-time environment and the dynamic characteristics of the vehicle. Among them, the lane information in this embodiment includes the width of the lane, the type of lane line (solid line or dotted line), the curvature and slope of the lane, etc., which are the inherent attributes of the lane. In addition, it also includes the distance between the left and right sides of the vehicle body and the lane line. If the line is not pressed, the distance should be a positive value. If the line is pressed, one of the items is a negative value. In addition, the lane information also includes the number of lane changes that can be made on the left and right. If the left and right lane lines are both solid lines, the automatic lane change behavior is terminated by default.

[0028] In one embodiment, before obtaining lane information in response to an automatic lane change instruction, the step further includes: obtaining traffic attributes and real-time road condition data of the current lane in response to the automatic lane change instruction; when the traffic attributes and real-time road condition data meet the automatic lane change conditions, executing the step of obtaining lane information according to the real-time road condition data.

[0029] It should be noted that the traffic attributes of the current lane include speed limits, lane merging signs, no lane change signs, etc., as well as road use rules, priority rules, etc. These rules determine the driving behavior of vehicles under specific circumstances; real-time traffic data includes the traffic volume in the lane, the speed and direction of the vehicle, and the relative position of other vehicles, and further includes the position, speed and direction of the nearest vehicle; in addition, information such as slippery, icy, damaged roads and traffic accidents, construction areas, traffic congestion within a certain driving distance provided by real-time navigation information, this information is also very important for vehicle driving safety and route planning.

[0030] It is understandable that in determining whether the automatic lane change conditions are met based on these contents, the autonomous driving system will comprehensively consider the above factors and evaluate the safety and necessity of the lane change. For example, the system will check whether there is enough space in the target lane, whether there is a sign prohibiting lane change, whether the traffic flow allows for smooth lane change, whether the road conditions are suitable for lane change, etc. The system will only perform the lane change operation when all relevant conditions are met.

[0031] It should be understood that these judgments are conditional judgments, do not involve complex algorithms, and use less computing power. Even older vehicles with lower computing power levels can complete the pre-judgment of automatic lane change conditions.

[0032] Step S20: planning a lane change path according to the lane information.

[0033] In one embodiment, planning a lane change path based on the lane information includes: obtaining a lane width, a drivable lane, and a real-time vehicle body lane line spacing based on the lane information; determining a lane change direction based on the drivable lane; determining a path planning starting point based on the lane width and the real-time vehicle body lane line spacing; and planning the lane change path based on the lane change direction, the path planning starting point, and a path planning algorithm.

[0034] It should be noted that lane information includes the physical width of the lane, the lane the vehicle is currently in, and whether adjacent lanes are drivable (i.e., there are no no-entry signs or obstacles). It also includes the distance between the vehicle and the adjacent lane line measured by the ranging sensor, which helps determine the vehicle's position in the lane and the space required when changing lanes.

[0035] It is understandable that the presence of drivable lanes on the left and right sides can determine the direction of lane change, and the distance between the vehicle and the adjacent lane line can determine the distance the current vehicle deviates from the center axis of the current lane. Since the ultimate goal of lane change is to make the vehicle reach the center axis of the target lane, the lateral position of the vehicle requires more precise control than the longitudinal position. In addition, the planned lane change path includes multiple lane change intervals, each of which corresponds to a lane change point, and multiple lane change points are equally spaced in the direction of vehicle travel. In this way, a continuous lane change behavior is decomposed into multiple discrete tasks for the vehicle to travel along the lane change points, which is equivalent to driving along the lane change path while ensuring a certain degree of accuracy.

[0036] In one embodiment, planning the lane changing path according to the lane changing direction, the path planning starting point and the path planning algorithm includes: determining a path planning end point according to the lane changing direction and the path planning starting point, wherein the path planning end point is located on the center axis of the target lane; obtaining a plurality of equidistant lane changing points through a path planning algorithm based on the path planning starting point and the path planning end point; and planning the lane changing path according to the path planning starting point, the path planning end point and the plurality of equidistant lane changing points.

[0037] It should be understood that since the lane changing points are equally spaced along the vehicle's driving direction, the position of the lane changing points in the vertical direction of the driving direction determines the smoothness of the lane changing process. Therefore, a preferred setting is provided in this embodiment, and the B-spline curve fitting algorithm is selected as the path planning algorithm.

[0038] It should be noted that the essence of the B-spline curve method is a mathematical model used to generate and describe smooth curves. A smooth curve is generated through a set of given points. These points can be used as control points of the B-spline curve. The curve will not necessarily pass through all the control points, but will try to get close to them to form a smooth path. Therefore, the points that must be passed during the lane change process can be substituted into the algorithm as control points to obtain the planned path. After determining the direction of the lane change (left or right) and the starting position of the lane change operation (the starting point of the path planning), the next step is to determine the end position of the lane change operation (the end point of the path planning). This end point is on the central axis of the target lane. Combined with the speed and lane width, the driving distance from the start to the end of the lane change can be determined, and the end point coordinates can also be determined. With the starting point and end point, the system will use the path planning algorithm (such as the B-spline curve method) to generate the lane change path.

[0039] Step S30: Based on the lane change path and the real-time position of the vehicle, control the vehicle to complete automatic lane change.

[0040] It should be noted that the real-time position of the vehicle changes dynamically, so the positional relationship between the vehicle and the target lane change point in the lane change path changes dynamically. Therefore, the vehicle's driving parameters need to be adjusted in real time to ensure that the target lane change point is reached within each lane change zone.

[0041] It can be understood that based on the vehicle's real-time position and preset lane change points, the vehicle's driving parameters are calculated, and the vehicle's driving status is adjusted to track the path. Before the vehicle reaches each lane change point, the system needs to confirm in real time and make the next adjustment until the vehicle fully enters the target lane and drives stably.

[0042] The present application obtains lane information in response to an automatic lane change instruction; plans a lane change path according to the lane information; and controls the vehicle to complete the automatic lane change based on the lane change path and the real-time position of the vehicle.

[0043] In summary, the present application realizes safe, efficient and automatic lane change operation through accurate lane information acquisition, lane change path planning and real-time vehicle position monitoring. This method ensures that the lane change conditions are met based on the traffic attributes of the current lane and real-time road condition data, and then uses information such as lane width, drivable lanes and the distance between the vehicle body and the lane line to determine the lane change direction and path planning starting point. By adopting the B-spline curve fitting algorithm, a smooth lane change path that conforms to the dynamic traffic environment is generated, and the precise steering wheel angle is calculated based on the real-time position of the vehicle and the preset lane change point, so as to control the vehicle to smoothly complete the lane change, ensure the stability of the vehicle and the comfort of the passengers during the entire lane change process, and significantly improve the reliability and practicality of the automatic driving system.

[0044] Reference Figure 2 , Figure 2 This is a flow chart of the second embodiment of the automatic driving lane changing control method for a vehicle of the present application. Based on the above-mentioned first embodiment, a second embodiment of the automatic driving lane changing control method for a vehicle of the present application is proposed.

[0045] In this embodiment, the step S30 includes: Step S301: Determine a real-time lane change interval according to the real-time position of the vehicle.

[0046] It should be noted that the real-time lane change interval refers to the current stage of the vehicle's lane change process. This interval is determined based on the vehicle's real-time position relative to the lane change path. This interval defines the vehicle's current position during the lane change process and the position it needs to reach next. Generally, lane change intervals are arranged at a certain interval, and each interval uniquely corresponds to an expected lane change point, that is, the vehicle travels along the expected lane change point in each interval.

[0047] Step S302: Determine an expected lane change point according to the real-time lane change interval.

[0048] It should be noted that the expected lane change point refers to the next target position set by the system for the vehicle within the real-time lane change interval. This point is the specific position that the vehicle needs to reach during the lane change process, and it is determined based on the vehicle's real-time position and lane change path. Determining the expected lane change point is a key step in path tracking control in an autonomous driving system. The system needs to calculate the optimal position of the vehicle on the lane change path so that the vehicle can smoothly and safely follow the predetermined path.

[0049] Step S303: Obtaining a steering wheel angle according to the real-time position of the vehicle and the expected lane change point.

[0050] In one embodiment, obtaining the steering wheel angle according to the real-time position of the vehicle and the expected lane change point includes: acquiring the real-time vehicle speed and the driving direction angle; obtaining the target direction angle and the position offset distance according to the real-time position of the vehicle and the expected lane change point; and obtaining the steering wheel angle according to the target direction angle, the driving direction angle, the real-time vehicle speed and the position offset distance.

[0051] It is understandable that the determination of the desired lane change point usually needs to take into account the current speed, acceleration, driving direction and surrounding conditions of the vehicle, which will affect the time and path of the vehicle reaching the desired lane change point.

[0052] It should be noted that the real-time vehicle speed refers to the actual speed of the vehicle at a specific moment, the driving direction angle refers to the angle formed by the vehicle's current driving direction and the centerline of the lane at the current position, and the target direction angle refers to the angle formed by the line connecting the current position and the expected lane change point and the centerline of the lane at the current position. Combined with the distance between the expected lane change point and the current position and the real-time vehicle speed, the angle at which the steering wheel needs to be turned can be obtained.

[0053] Step S304: Control the vehicle to travel to a desired lane change point according to the steering wheel angle to complete the automatic lane change.

[0054] It is understandable that in the process of controlling the vehicle's steering, the vehicle will pass through multiple speed change intervals and reach the end point. During the entire process, the system also needs to monitor the vehicle's position and speed, as well as changes in the surrounding environment in real time, so as to adjust the control strategy in time to ensure the safety and accuracy of the lane change operation.

[0055] This embodiment first determines a real-time lane change interval according to the real-time lane change interval; determines a desired lane change point according to the real-time lane change interval; obtains a steering wheel angle according to the real-time position of the vehicle and the desired lane change point; and controls the vehicle to travel to the desired lane change point according to the steering wheel angle to complete the automatic lane change.

[0056] In summary, by real-time monitoring of vehicle position and traffic conditions, accurate planning of lane change paths, and dynamic adjustment of steering wheel angles, it is ensured that the vehicle can complete automatic lane changes safely, smoothly, and efficiently, while improving driving comfort and the overall reliability of the system, optimizing the driving experience, and reducing the possibility of human operational errors.

[0057] Reference Figure 3 The present application also provides a vehicle automatic driving lane changing control device, the vehicle automatic driving lane changing control device comprising: A data acquisition module 10, for acquiring lane information in response to an automatic lane change instruction; A data processing module 20, used for planning a lane change path according to the lane information; The control module 30 is used to control the vehicle to complete automatic lane change based on the lane change path and the real-time position of the vehicle.

[0058] In one embodiment, the data acquisition module 10 is also used to obtain the traffic attributes and real-time road condition data of the current lane in response to the automatic lane change instruction; when the traffic attributes and real-time road condition data meet the automatic lane change conditions, the step of obtaining lane information is executed according to the real-time road condition data.

[0059] In one embodiment, the data processing module 20 is further used to obtain the lane width, the drivable lane and the real-time vehicle body lane line spacing according to the lane information; determine the lane change direction according to the drivable lane; determine the path planning starting point according to the lane width and the real-time vehicle body lane line spacing; plan the lane change path according to the lane change direction, the path planning starting point and the path planning algorithm.

[0060] In one embodiment, the data processing module 20 is further used to determine a path planning end point according to the lane changing direction and the path planning starting point, wherein the path planning end point is located on the center axis of the target lane; based on the path planning starting point and the path planning end point, a plurality of equidistant lane changing points are obtained through a path planning algorithm; and the lane changing path is planned according to the path planning starting point, the path planning end point and the plurality of equidistant lane changing points.

[0061] In one embodiment, the control module 30 is further used to determine a real-time lane change interval based on the real-time lane change interval; determine a desired lane change point based on the real-time lane change interval; obtain a steering wheel angle based on the real-time position of the vehicle and the desired lane change point; and control the vehicle to travel to the desired lane change point according to the steering wheel angle to complete the automatic lane change.

[0062] In one embodiment, the data processing module 20 is also used to obtain the real-time vehicle speed and driving direction angle; obtain the target direction angle and position offset distance based on the real-time position of the vehicle and the expected lane change point; and obtain the steering wheel angle based on the target direction angle, driving direction angle, real-time vehicle speed and position offset distance.

[0063] Reference below Figure 4 , which shows a schematic diagram of the structure of a vehicle automatic driving lane change control device suitable for implementing the embodiment of the present application. The vehicle automatic driving lane change control device in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 4 The vehicle automatic driving lane change control device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0064] like Figure 4As shown, the vehicle automatic driving lane change control device may include a processing device 1001 (such as a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the vehicle automatic driving lane change control device are also stored. The processing device 1001, ROM1002 and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the vehicle automatic driving lane change control device to communicate wirelessly or wired with other devices to exchange data. Although the figure shows a vehicle automatic driving lane change control device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or have alternatively.

[0065] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0066] The vehicle automatic driving lane change control device provided by the present application adopts the vehicle automatic driving lane change control method in the above embodiment, which can solve the technical problem of how to realize automatic driving control based on real-time road conditions and lane information planning and automatically perform lane change operations in the field. Compared with the prior art, the beneficial effects of the vehicle automatic driving lane change control device provided by the present application are the same as the beneficial effects of the vehicle automatic driving lane change control method provided by the above embodiment, and the other technical features in the vehicle automatic driving lane change control device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0067] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0068] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0069] The present application also provides a storage medium, on which a vehicle automatic driving lane change control program is stored. When the vehicle automatic driving lane change control program is executed by a processor, the steps of the vehicle automatic driving lane change control method described in any one of the above are implemented.

[0070] The storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM: RandomAccess Memory), a read-only memory (ROM: Read Only Memory), an erasable programmable read-only memory (EPROM: Erasable Programmable Read Only Memory or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM: CD-Read Only Memory), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system, system or device. The program code contained on the storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency: Radio Frequency), etc., or any suitable combination of the above.

[0071] The above-mentioned storage medium may be included in the vehicle's automatic driving lane change control device; or it may exist independently without being assembled into the vehicle's automatic driving lane change control device.

[0072] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by the vehicle's automatic driving lane change control device, the vehicle's automatic driving lane change control device: obtains lane information in response to an automatic lane change instruction; plans a lane change path according to the lane information; and controls the vehicle to complete automatic lane change based on the lane change path and the vehicle's real-time position.

[0073] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0074] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0075] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0076] The storage medium provided in this application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned vehicle automatic driving lane change control method, and can solve the technical problem of how to realize automatic driving control based on real-time road conditions and lane information planning and automatic execution of lane change operations. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as the beneficial effects of the vehicle automatic driving lane change control method provided in the above-mentioned embodiment, and will not be repeated here.

[0077] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A vehicle automatic driving lane change control method, It is characterized in that The vehicle automatic driving lane change control method comprises: Responding to an automatic lane change instruction, acquiring lane information; Planning a lane change path according to the lane information; Based on the lane changing path and the real-time position of the vehicle, the vehicle is controlled to complete automatic lane changing.

2. The vehicle automatic driving lane change control method according to claim 1, It is characterized in that Before obtaining lane information in response to the automatic lane change instruction, the method further includes: In response to the automatic lane change command, obtain the traffic attributes and real-time road condition data of the current lane; When the traffic attribute and the real-time traffic condition data satisfy the automatic lane change condition, the step of acquiring lane information is performed according to the real-time traffic condition data.

3. The vehicle automatic driving lane change control method according to claim 1, It is characterized in that The planning of a lane change path according to the lane information includes: According to the lane information, the lane width, the drivable lane and the real-time vehicle lane line spacing are obtained; Determining a lane change direction according to the drivable lane; Determine the starting point of path planning according to the lane width and the real-time vehicle lane line spacing; The lane changing path is planned according to the lane changing direction, the path planning starting point and the path planning algorithm.

4. The vehicle automatic driving lane change control method according to claim 3, It is characterized in that The planning of the lane changing path according to the lane changing direction, the path planning starting point and the path planning algorithm includes: Determine a path planning end point according to the lane change direction and the path planning starting point, wherein the path planning end point is located on the central axis of the target lane; Based on the path planning starting point and the path planning end point, a plurality of equidistant lane change points are obtained through a path planning algorithm; The lane changing path is planned according to the path planning starting point, the path planning end point and a plurality of equidistant lane changing points.

5. The vehicle automatic driving lane change control method according to claim 4, It is characterized in that The path planning algorithm is a B-spline curve fitting algorithm.

6. The vehicle automatic driving lane change control method according to claim 1, It is characterized in that The controlling the vehicle to automatically change lanes based on the lane change path and the real-time position of the vehicle includes: Determining a real-time lane change interval according to the real-time position of the vehicle; determining an expected lane change point according to the real-time lane change interval; Obtaining a steering wheel angle according to the real-time position of the vehicle and the expected lane change point; The vehicle is controlled to travel to a desired lane change point according to the steering wheel angle to complete the automatic lane change.

7. The vehicle automatic driving lane change control method according to claim 6, It is characterized in that Obtaining a steering wheel angle according to the real-time position of the vehicle and the expected lane change point includes: Get real-time vehicle speed and driving direction angle; According to the real-time position of the vehicle and the expected lane change point, a target direction angle and a position offset distance are obtained; The steering wheel angle is obtained according to the target direction angle, the driving direction angle, the real-time vehicle speed and the position offset distance.

8. A vehicle automatic driving lane change control device, It is characterized in that The vehicle automatic driving lane changing control device comprises: A data acquisition module, for acquiring lane information in response to an automatic lane change instruction; A data processing module, used for planning a lane change path according to the lane information; The control module is used to control the vehicle to complete automatic lane change based on the lane change path and the real-time position of the vehicle.

9. A vehicle automatic driving lane change control device, It is characterized in that The vehicle automatic driving lane change control device includes: a memory, a processor, and a vehicle automatic driving lane change control program stored in the memory and executable on the processor, wherein the vehicle automatic driving lane change control program is configured to implement the steps of the vehicle automatic driving lane change control method as described in any one of claims 1 to 7.

10. A storage medium, It is characterized in that The storage medium stores a vehicle automatic driving lane changing control program, and when the vehicle automatic driving lane changing control program is executed by the processor, the steps of the vehicle automatic driving lane changing control method as described in any one of claims 1 to 7 are implemented.

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