Lane changing method and device and electronic equipment

Abstract

The invention belongs to the field of intelligent driving, and discloses a lane changing method and device and electronic equipment, and the method comprises the steps: generating a driving route according to an input navigation instruction in combination with road information; when it is detected that the number of the target lanes changes according to the road information, the coincidence rate between the current driving lane and the target lanes is calculated, and the target lane with the highest coincidence rate with the current driving lane is determined as the lane to be driven. According to the invention, the road information is intelligently collected and analyzed, and the optimized driving route is generated in combination with the navigation instruction, so that the driving safety and the traffic smoothness are remarkably improved. The traffic accident risk possibly caused by emergency lane changing is effectively reduced, meanwhile, the lane changing frequency is reduced, the lane selection process is optimized, the pressure of a driver is relieved, the overall driving experience is improved, the vehicle is allowed to flexibly adjust the driving strategy according to the real-time traffic condition, and therefore the vehicle can be better integrated into an intelligent traffic system, and the driving experience is improved. And more efficient traffic management and control are realized.

Description

[Technical field]

[0001] The present invention relates to the field of intelligent driving, and in particular to a lane changing method, device, electronic device and computer-readable storage medium. [Background technology]

[0002] As the number of motor vehicles in the world continues to increase, urban traffic congestion and traffic conflicts are becoming increasingly serious. This situation not only reduces the efficiency of road use, but also significantly increases the risk of road traffic accidents. Among the many factors that affect driving safety, lane change behavior is particularly critical because it involves the position adjustment of vehicles within the limited road space, and the slightest carelessness may cause traffic accidents.

[0003] In existing intelligent driving technologies, navigation systems mainly provide guidance based on predetermined routes, but often lack in-depth consideration and reasonable planning for lane changes. This results in the vehicle not receiving lane change prompts until it approaches an intersection or a specific road section when it needs to turn or change lanes, which puts a lot of pressure on the driver or the autonomous driving system. In the case of emergency lane changes, not only does it increase the possibility of conflict with other vehicles, it also increases the risk of traffic accidents.

[0004] Therefore, how to optimize the lane change process and improve driving safety is a technical problem that needs to be solved in this field. [Summary of the invention]

[0005] In order to effectively solve the problem of unreasonable lane changing process in the prior art, the present invention provides a lane changing method.

[0006] A lane changing method, comprising:

[0007] Collecting road information, and generating a driving route based on the input navigation instructions combined with the road information;

[0008] Controlling the target vehicle to travel according to the driving route, and detecting whether the number of target lanes changes according to the road information;

[0009] If yes, determining whether the target lane includes a merging lane or a diverging lane;

[0010] If the target lane does not include a merging lane or a diverging lane, the overlap rate between the current driving lane and the target lane is calculated, and the target lane with the highest overlap rate with the current driving lane is determined as the lane to be driven;

[0011] The target vehicle is controlled to change lanes to the lane to be driven.

[0012] Optionally, collecting road information and generating a driving route based on the input navigation instruction and the road information includes:

[0013] generating navigation route information according to the navigation instruction;

[0014] Determine a lane change point according to the road information and the navigation route information, and mark the lane change point in the navigation route information; the lane change point includes a location where lane selection occurs and a location where the number of lanes changes;

[0015] The lane change points are connected to obtain the driving route.

[0016] Optionally, after determining the target lane having the highest overlap rate with the current driving lane as the lane to be driven, the method further includes:

[0017] Obtaining a next lane change point in the driving route;

[0018] Calculating a first distance between the next lane change point and the lane to be driven, and a second distance between the next lane change point and other target lanes;

[0019] determining whether the second distance is greater than the first distance;

[0020] If yes, then executing the step of controlling the target vehicle to change lanes to the lane to be driven;

[0021] If not, the lane to be driven is updated to the target lane with the smallest second distance, and the step of controlling the target vehicle to change lanes to the lane to be driven is executed.

[0022] Optionally, when the target lane includes a merging lane or a diverging lane, the method further includes:

[0023] Determining whether the driving route passes through a branch road of a merging lane or a diverging lane;

[0024] If yes, the target lane at the merging intersection or diverging intersection is determined as the lane to be driven;

[0025] If not, the target lane closest to the current driving lane, except for the target lane at the merging intersection or diverging intersection, is used as the lane to be driven;

[0026] The target vehicle is controlled to change lanes to the lane to be driven.

[0027] Optionally, the calculating the overlap rate between the current driving lane and the target lane includes:

[0028] Obtain the end point position of the current driving lane and the start point position of each target lane;

[0029] Determine the angle between the line between each of the starting point positions and the ending point positions and the current driving lane;

[0030] The overlap rate between the current driving lane and each of the target lanes is calculated according to the included angle.

[0031] Optionally, controlling the target vehicle to change lanes to the lane to be driven includes:

[0032] Determining whether there is a front vehicle within a first preset distance in front of the lane to be driven;

[0033] If yes, control the target vehicle to stop changing lanes;

[0034] If not, determining whether there is a rear vehicle whose collision time is less than a first threshold behind the lane to be driven;

[0035] If there is a rear vehicle whose collision time is less than the first threshold behind the lane to be driven, returning to the step of controlling the target vehicle to stop the lane change;

[0036] If there is no rear vehicle whose collision time is less than a first threshold behind the lane to be driven, controlling the target vehicle to drive into the lane to be driven;

[0037] Wherein, the collision time is determined by:

[0038] Obtaining a first speed of the target vehicle and a second speed of the rear vehicle, and calculating a speed difference between the target vehicle and the rear vehicle; the first speed is less than the second speed;

[0039] The distance between the target vehicle and the rear vehicle is acquired, and the collision time is determined according to the quotient of the distance and the speed difference.

[0040] Optionally, after controlling the target vehicle to drive into the lane to be driven, the method further includes:

[0041] Detecting whether there is an accelerating vehicle behind the lane to be driven;

[0042] If so, determining whether the collision time of the accelerating vehicle is less than the first threshold;

[0043] If the collision time of the accelerating vehicle is less than the first threshold, the target vehicle is controlled to return to the current driving lane.

[0044] A lane changing device, comprising:

[0045] A collection module, used to collect road information and generate a driving route based on the input navigation instruction and the road information;

[0046] A detection module, used to control the target vehicle to travel according to the driving route, and detect whether the number of target lanes changes according to the road information;

[0047] A first judgment module, configured to judge whether the target lane includes a merging lane or a diverging lane;

[0048] A first calculation module is used for calculating the overlap rate between the current driving lane and the target lane if the target lane does not include a merging lane or a diverging lane, and determining the target lane with the highest overlap rate with the current driving lane as the lane to be driven;

[0049] The first control module is used to control the target vehicle to change lanes to the lane to be driven.

[0050] An electronic device, comprising:

[0051] A processor and a memory, wherein the memory is used to store at least one instruction, and when the instruction is loaded and executed by the processor, the method for lane changing as described in any one of the above is implemented.

[0052] A computer-readable storage medium stores a computer program, wherein when the computer program is executed by a processor, the method for lane changing as described in any one of the above is implemented.

[0053] The lane changing method provided by the embodiment of the present invention has at least the following beneficial effects:

[0054] The present invention collects road information, and generates a driving route based on the input navigation instructions combined with the road information; controls the target vehicle to travel according to the driving route, and when the number of target lanes detected according to the road information changes, and the target lane does not include a merging lane or a diverging lane, the overlap rate between the current driving lane and the target lane is calculated, and the target lane with the highest overlap rate with the current driving lane is determined as the lane to be driven; and controls the target vehicle to change lanes to the lane to be driven. The lane changing method of the present invention collects and analyzes road information intelligently, and generates an optimized driving route in combination with navigation instructions, which significantly improves driving safety and traffic fluency. It effectively reduces the risk of traffic accidents that may be caused by emergency lane changes, reduces the frequency of lane changes, and improves energy efficiency. At the same time, it optimizes the lane selection process, reduces the pressure on the driver, and improves the overall driving experience, allowing the vehicle to flexibly adjust the driving strategy according to the real-time traffic conditions, so as to better integrate into the intelligent transportation system and achieve more efficient traffic management and control.

Brief Description of the Drawings

[0055] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0056] Figure 1 A flow chart of a lane changing method provided by an embodiment of the present invention;

[0057] Figure 2 A flowchart of another lane changing method provided by an embodiment of the present invention;

[0058] Figure 3 A schematic diagram of a target vehicle changing lanes in a merging lane provided by an embodiment of the present invention;

[0059] Figure 4 A schematic diagram of a target vehicle changing lanes in a diverging lane provided by an embodiment of the present invention;

[0060] Figure 5 A schematic diagram of a method for calculating an overlap rate provided by an embodiment of the present invention;

[0061] Figure 6 A schematic diagram of another method for calculating the overlap rate provided by an embodiment of the present invention;

[0062] Figure 7 for Figure 1 A flowchart of a practical expression of S05 in a lane changing method provided;

[0063] Figure 8 A flowchart of another lane changing method provided by an embodiment of the present invention;

[0064] Fig. 9 A schematic structural diagram of a lane changing device provided in an embodiment of the present invention. [Specific implementation method]

[0065] In order to better understand the technical solution of the present invention, the embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0066] It should be clear that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0067] The terms used in the embodiments of the present invention are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The singular forms "a", "said" and "the" used in the embodiments of the present invention and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

[0068] It should be understood that the term "and / or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0069] In existing intelligent driving technologies, navigation systems mainly provide guidance based on predetermined routes, but often lack in-depth consideration and reasonable planning for lane changes. This results in the vehicle not receiving lane change prompts until it approaches an intersection or a specific road section when it needs to turn or change lanes, which puts a lot of pressure on the driver or the autonomous driving system. In the case of emergency lane changes, not only does it increase the possibility of conflict with other vehicles, it also increases the risk of traffic accidents.

[0070] When dealing with lane selection, existing technologies often fail to fully consider the real-time road conditions and possible future changes, such as the existence of merging or diverging lanes, which may cause vehicles to drive in inappropriate lanes, increasing the frequency and difficulty of lane changes, thereby affecting driving safety and efficiency.

[0071] Therefore, the present invention provides a lane changing method to solve the above problem.

[0072] Please refer to Figure 1 , is a flow chart of a lane changing method provided by an embodiment of the present invention, comprising the following steps:

[0073] Step S01, collecting road information, and generating a driving route based on input navigation instructions and the road information.

[0074] In this embodiment, the practice of collecting road information and generating a driving route based on navigation instructions is to achieve a safer and more efficient autonomous driving experience. By analyzing key information such as lane layout, traffic signals, and surrounding environment in real time, the intelligent system can predict and adapt to changing road conditions, thereby planning the best driving path in advance. In some embodiments, the road data such as lane layout, traffic signals, road signs, and surrounding environment can be collected in real time by using sensors such as cameras and radars carried by the vehicle, and then an optimal or optimal driving route can be intelligently analyzed and constructed based on the input destination or navigation path to guide the vehicle to drive safely and efficiently from the starting point to the destination. This process involves rapid response to real-time traffic conditions and forward-looking planning for potential lane change needs, aiming to reduce uncertainty and risk in driving and improve the level of intelligent driving.

[0075] In some embodiments, collecting road information and generating a driving route based on the input navigation instruction combined with the road information may specifically include the following steps:

[0076] 1) The target vehicle uses its built-in sensor systems, such as cameras, radars, and LiDAR, to capture and analyze road information such as lane markings, traffic signals, road signs, and the position and speed of other vehicles in real time.

[0077] 2) Transmit road information to the vehicle's central processing unit, combine it with the input destination information and navigation instructions, and process it through an algorithm to identify key nodes on the driving path, such as intersections, turning points, lane change areas, etc.

[0078] 3) The system evaluates the traffic conditions of these nodes, predicts possible traffic changes, and calculates an optimal path from the current location to the destination. This optimal path can comprehensively consider factors such as shortest distance, fastest time, and minimum traffic flow.

[0079] 4) The generated driving route will guide the vehicle to drive in the safest and most efficient way while complying with traffic rules. At the same time, the system will continue to monitor real-time traffic conditions so that the route can be dynamically adjusted when necessary.

[0080] Based on the above technical solution, this embodiment ensures that the intelligent driving system can make fast and accurate decisions in complex and changing road environments, thereby improving driving safety and efficiency.

[0081] Step S02, controlling the target vehicle to travel according to the driving route, and detecting whether the number of target lanes changes according to the road information.

[0082] If yes, execute step S03;

[0083] Since real-time changes in road conditions may affect the feasibility and safety of the original driving route, this embodiment detects whether the number of target lanes has changed based on road information, and ensures that the vehicle drives safely along the preset driving route by real-time monitoring and responding to changes in road conditions to adapt to situations such as lane merging, bifurcation, or temporary changes in lane layout due to construction. This embodiment can update the driving route in a timely manner by continuously monitoring changes in the number of lanes, avoid potential traffic accidents, ensure the safety of vehicles and passengers, and improve driving efficiency and road capacity.

[0084] In some embodiments, when it is detected that the number of target lanes has not changed, road information can continue to be collected, and a driving route can be generated in real time in combination with navigation instructions to ensure that the target vehicle can maintain the best driving state and path when road conditions are stable.

[0085] In some embodiments, the intelligent driving system can monitor the number and layout of lanes in real time based on the collected road information, and detect whether there are changes in the number of lanes due to lane merging, bifurcation, or construction. If it is detected that the number of lanes remains unchanged, the system will continue to control the vehicle according to the current driving route; if a change is detected, the system will quickly recalculate and adjust the driving route to ensure that the vehicle drives safely and legally in the correct lane, while avoiding potential traffic conflicts and improving driving efficiency.

[0086] Step S03, determining whether the target lane includes a merging lane or a diverging lane.

[0087] If not, execute step S04.

[0088] In this embodiment, the presence of merging or diverging lanes will have a significant impact on the vehicle's driving path and safety strategy. For example, in a merging lane, a vehicle needs to merge with a vehicle from another road, which may require changing lanes in advance or slowing down to avoid conflict; in a diverging lane, the vehicle may need to choose the correct exit before the intersection. Therefore, when the intelligent driving system detects a change in the number of target lanes based on road information, it will further analyze whether the target lane includes a merging lane or a diverging lane. By accurately identifying these lane types, the intelligent driving system can make appropriate driving decisions in advance, such as adjusting the vehicle speed, changing lanes in advance, or sending a lane change signal, thereby ensuring that the vehicle passes through these complex sections smoothly and safely, while optimizing overall driving efficiency and passenger comfort.

[0089] In some embodiments, please refer to Figure 2 , which is a flow chart of another lane changing method provided by an embodiment of the present invention. When the target lane includes a merging lane or a diverging lane, the following may also be performed: Figure 2 Steps shown:

[0090] Step S11, when the target lane includes a merging lane or a diverging lane, determine whether the driving route passes through a branch road of the merging lane or the diverging lane.

[0091] If yes, execute step S12; if no, execute step S13.

[0092] In this embodiment, when the target lane includes a merging lane or a diverging lane, the intelligent driving system will determine whether the driving route passes through the branch road of the merging lane or the diverging lane. If it passes, it proves that the target vehicle needs to merge into the main road from the merging branch road, or the target vehicle needs to enter the branch road from the diverging main road. In both cases, it is necessary to pass through the merging intersection or the diverging intersection, so the target lane where the merging intersection or the diverging intersection is located is determined as the lane to be driven. If it does not pass, it proves that the target vehicle does not need to pass through the merging intersection or the diverging intersection at this time, so the target lane closest to the current driving lane except the target lane where the merging intersection or the diverging intersection is located is determined as the lane to be driven.

[0093] Step S12: determine the target lane at the merging intersection or diverging intersection as the lane to be driven.

[0094] Please refer to Figure 3 and Figure 4 , Figure 3 A schematic diagram of a target vehicle changing lanes in a merging lane provided by an embodiment of the present invention, Figure 4 A schematic diagram of a target vehicle changing lanes in a diverging lane provided by an embodiment of the present invention. Figure 3 As shown, when the driving route of vehicle A passes through the branch road of the merging lane, it proves that vehicle A needs to merge into the main road from the merging branch road. At this time, the target lane ③ at the merging intersection is determined as the lane to be driven in order to reduce the lane change distance.

[0095] like Figure 4 As shown, when the driving route of vehicle C passes through the branch road of the diverging lane, it proves that vehicle C needs to enter the branch road from the diverging main road. At this time, the target lane ⑥ at the merging intersection is determined as the lane to be driven, so as to change lanes in advance and avoid the safety risks caused by emergency lane changes.

[0096] Step S13, the target lane closest to the current driving lane except the target lane at the merging intersection or the diverging intersection is set as the lane to be driven.

[0097] like Figure 3As shown in the figure, when the driving route of vehicle B does not pass through the branch road of the merging lane, it proves that vehicle B does not need to pass through the merging intersection at this time. At this time, the target lane ② closest to the current driving lane except the target lane ③ where the merging intersection is located is used as the waiting lane, so as to avoid the merging intersection or diverging intersection while reducing the lane change distance, and avoid driving into these complex sections that may cause traffic congestion or require emergency response.

[0098] like Figure 4 As shown, when the driving route of vehicle D passes through a branch road without a diverging lane, it proves that vehicle D does not need to enter the branch road from the diverging main road, that is, vehicle D does not need to pass through the diverging intersection. At this time, the target lane ⑤ closest to the current driving lane outside the target lane ⑥ where the diverging intersection is located is used as the waiting lane, so as to avoid merging intersections or diverging intersections while reducing the lane change distance, and avoid driving into these complex sections that may cause traffic congestion or require emergency response.

[0099] Step S14, controlling the target vehicle to change lanes to the lane to be driven.

[0100] Based on the above technical solution, when the target lane includes a merging lane or a diverging lane, this embodiment can accurately identify the lane where the merging or diverging intersection is located, and actively select the adjacent left lane as the lane to be driven, so as to guide the vehicle into a more favorable lane position in advance, prepare for the upcoming merging or diverging, reduce emergency lane changing actions at the intersection, and reduce the risk of conflict with other vehicles. Secondly, through planned lane changes, driving smoothness can be improved, and traffic congestion caused by indecisive or sudden lane changes during peak traffic hours can be avoided. In addition, this method can also improve the predictability of driving, allowing other road users to better predict vehicle behavior, thereby improving overall road safety. Finally, intelligent and timely lane selection and lane change decisions can enhance passenger comfort, reduce discomfort caused by frequent or abrupt lane changes, and improve energy efficiency, because smoother driving reduces unnecessary acceleration and braking, which helps to reduce fuel or electricity consumption.

[0101] Step S04, calculating the overlap rate between the current driving lane and the target lane, and determining the target lane having the highest overlap rate with the current driving lane as the lane to be driven.

[0102] In this embodiment, when the target lane does not include a merging lane or a diverging lane, the intelligent driving system calculates the overlap rate between the current driving lane and each target lane, and then identifies the target lane that best matches the current lane, that is, the lane with the highest overlap rate, to minimize the impact on the driving stability and safety of the target vehicle during lane change, while reducing interference with other road users during the lane change process. In this way, the intelligent driving system can achieve smoother and more predictable lane changes, improve overall driving efficiency and passenger comfort, and reduce safety risks caused by emergency or frequent lane changes.

[0103] In some embodiments, the overlap rate can be calculated by the distance between the shared lane lines of the two target lanes and the extended lane lines of the current driving lane. Figure 5 , is a schematic diagram of a method for calculating the overlap rate provided by an embodiment of the present invention. Figure 5 As shown, if the distance between the shared lane line and the extension line of the left lane line of the current driving lane is 1.05 meters, and the distance between the shared lane line and the extension line of the right lane line of the current driving lane is 1.95 meters, it can be calculated that the overlap rate between the left target lane and the current driving lane is 1.05 / (1.05+1.95)=35%, and the overlap rate between the right target lane and the current driving lane is 1.95 / (1.05+1.95)=65%.

[0104] In some embodiments, in order to improve the accuracy of lane selection and ensure that the target vehicle can select the best lane for lane change, the calculation of the overlap rate between the current driving lane and the target lane mentioned in step S04 can be specifically implemented by executing the following steps:

[0105] 1) Get the end point of the current lane and the start point of each target lane;

[0106] 2) Determine the angle between the line between each starting point and the ending point and the current lane;

[0107] 3) Calculate the overlap rate between the current driving lane and each target lane based on the included angle.

[0108] Please refer to Figure 6 , is a schematic diagram of another method for calculating the overlap rate provided by an embodiment of the present invention. Figure 6 As shown, assuming that the starting position of the left lane line of each lane is taken as the starting point, and the ending position of the left lane line of each lane is taken as the ending point, the starting point and the ending point are connected, and the angle between the left target lane and the current driving lane is α, and the angle between the right target lane and the current driving lane is β.

[0109] In some embodiments, the overlap ratio may be calculated based on the cosine value of the angle:

[0110] The overlap rate between the current driving lane and the left target lane is:

[0111]

[0112] The overlap rate between the current driving lane and the right target lane is:

[0113]

[0114] Based on the above technical solution, the embodiment of the present invention improves the accuracy and scientificity of lane selection, ensures that the vehicle can select the best lane for lane change, thereby reducing the uncertainty and potential risks in the lane change process. In addition, this method helps to optimize the driving path, improve traffic smoothness, and reduce traffic congestion caused by inappropriate lane selection. At the same time, more reasonable lane selection can reduce emergency lane changes and sudden operations, making the vehicle drive more stable, improving driving safety and passenger comfort.

[0115] Step S05, controlling the target vehicle to change lanes to the lane to be driven.

[0116] In this embodiment, after determining the optimal lane to be driven, the intelligent driving system automatically executes a series of precise control instructions to enable the vehicle to change smoothly and safely from the current lane to the target lane, thereby ensuring that the vehicle travels efficiently along the established route, while avoiding emergency or inappropriate lane changes, reducing interference with other road users, and reducing the risk of traffic accidents.

[0117] In some embodiments, to ensure the safety and rationality of the lane change decision, the vehicle conditions and relative speeds of the vehicles in front and behind the lane to be driven can be comprehensively evaluated during the lane change process. Please refer to Figure 7 , Figure 7 for Figure 1 A flowchart of an actual expression of S05 in a lane changing method provided is as follows: Figure 7 As shown, the control of the target vehicle to change lanes to the lane to be driven in step S05 may specifically include the following steps:

[0118] Step S051: Determine whether there is a vehicle ahead within a first preset distance ahead of the lane to be driven.

[0119] If yes, execute step S052; if no, execute step S053.

[0120] In this embodiment, the vehicle's sensors are used to monitor whether there are other vehicles within a certain distance ahead of the lane to be driven, so as to ensure that the lane is safe before the lane change operation is performed, avoid collision or emergency braking, and thus ensure the safety of the vehicle and passengers. Through this prejudgment mechanism, the intelligent driving system can evaluate the traffic conditions before changing lanes, and will only continue to perform the lane change operation when it is confirmed that there is enough safe distance and no interference from other vehicles. This not only complies with traffic regulations, but also improves the efficiency of road use and the smoothness of driving.

[0121] Step S052: Control the target vehicle to stop the lane change.

[0122] Step S053: Determine whether there is a rear vehicle behind the lane to be driven, whose collision time is less than a first threshold.

[0123] If yes, the process returns to step S052 ; if no, the process returns to step S054 .

[0124] In this embodiment, by analyzing the vehicles behind the lane to be driven, the relative speed, distance and expected collision time between them and the target vehicle are calculated. If the collision time is less than the preset safety threshold, it indicates that the distance between the rear vehicle and the target vehicle is too close, and changing lanes may cause a collision. This ensures that during the lane change process, no vehicle behind approaches at too high a speed, thereby avoiding potential collision risks and ensuring driving safety. Through this real-time monitoring and evaluation, the intelligent driving system can perform lane change operations in a safe manner while reducing interference with other road users and improving the overall traffic fluency and efficiency.

[0125] Among them, the methods for determining the collision time include:

[0126] Obtaining a first speed of the target vehicle and a second speed of the rear vehicle, and calculating a speed difference between the target vehicle and the rear vehicle; the first speed is less than the second speed;

[0127] The distance between the target vehicle and the rear vehicle is obtained, and the collision time is determined based on the quotient of the distance and the speed difference.

[0128] In this embodiment, when calculating the collision time, the first vehicle speed of the target vehicle needs to be less than the second vehicle speed of the rear vehicle, otherwise no collision will occur, and thus there will be no collision time.

[0129] Step S054: Control the target vehicle to drive into the lane to be driven.

[0130] In some embodiments, after controlling the target vehicle to drive into the lane to be driven, the method may further include:

[0131] Detecting whether there is an accelerating vehicle behind the lane to be driven;

[0132] If so, determining whether the collision time of the accelerating vehicle is less than a first threshold;

[0133] If the collision time of the accelerating vehicle is less than the first threshold, the target vehicle is controlled to return to the current driving lane.

[0134] That is, in this embodiment, when the target vehicle is changing lanes, the system will continue to monitor the dynamics of the vehicles behind the lane, especially whether there are accelerating vehicles, and evaluate the collision time of these vehicles. If it is found that there is an accelerating vehicle behind and its expected collision time is less than the preset safety threshold, the system will immediately take measures to control the target vehicle to smoothly return to the original lane to avoid potential collision risks. This continuous safety monitoring and preventive response mechanism not only ensures that the vehicle maintains a safe distance after changing lanes, but also improves the stability and efficiency of the entire traffic flow, while also providing passengers with a more secure and comfortable driving experience. Through this intelligent safety management, the intelligent driving system can better adapt to the ever-changing traffic environment and achieve more efficient and safe road use.

[0135] Based on the above technical solution, the present invention collects road information and generates a driving route based on the input navigation instructions combined with the road information; controls the target vehicle to travel according to the driving route, and when the number of target lanes detected according to the road information changes, and the target lane does not include a merging lane or a diverging lane, the overlap rate between the current driving lane and the target lane is calculated, and the target lane with the highest overlap rate with the current driving lane is determined as the lane to be driven; and controls the target vehicle to change lanes to the lane to be driven. The lane changing method of the present invention collects and analyzes road information intelligently, and generates an optimized driving route in combination with navigation instructions, which significantly improves driving safety and traffic fluency. It effectively reduces the risk of traffic accidents that may be caused by emergency lane changes, reduces the frequency of lane changes, and improves energy efficiency. At the same time, it optimizes the lane selection process, reduces the pressure on the driver, and improves the overall driving experience, allowing the vehicle to flexibly adjust the driving strategy according to the real-time traffic conditions, so as to better integrate into the intelligent transportation system and achieve more efficient traffic management and control.

[0136] On the basis of the above embodiments, in some embodiments, in order to further improve navigation accuracy, optimize driving paths, and thereby enhance driving safety, the road information mentioned in step S01 is collected, and a driving route is generated based on the input navigation instructions combined with the road information, which can be specifically obtained by connecting lane change points.

[0137] Please refer to Figure 8 , is a flow chart of another lane changing method provided by an embodiment of the present invention, comprising the following steps:

[0138] Step S011, generating navigation route information according to the navigation instruction.

[0139] Step S012, determining a lane change point according to the road information and the navigation route information, and marking the lane change point in the navigation route information.

[0140] In this embodiment, the lane change point includes the location where lane selection occurs and the location where the number of lanes changes. The location where lane selection occurs may include the location where a vehicle enters a branch road from a diverging lane main road and the location where a vehicle turns. The location where the number of lanes changes may include a diverging lane, a merging lane, a location where the number of lanes decreases, and a location where the number of lanes increases.

[0141] The intelligent driving system analyzes real-time road data and preset navigation paths to identify key locations where lane changes are required during driving, such as where turns are about to be made or where lanes merge or diverge, and clearly marks these locations in the navigation system. The purpose of this is to prepare the vehicle in advance for necessary lane adjustments, ensuring that the vehicle can travel safely and on time along the scheduled route, while avoiding emergency lane changes at the last minute, reducing interference with other road users, and improving overall driving smoothness and safety. In this way, the intelligent driving system can manage lane use more effectively, optimize driving strategies, and provide drivers or passengers with a more comfortable and reliable driving experience.

[0142] Step S013, connecting lane change points to obtain a driving route.

[0143] In this embodiment, the intelligent driving system forms a coherent navigation path by connecting all the key lane change points (such as lane merging, bifurcation points, turning points, etc.) identified in the order of vehicle driving. The purpose is to create a clear driving trajectory to guide the entire driving process from the starting point to the destination, ensuring that the vehicle can drive efficiently and safely according to the established route.

[0144] Step S02, controlling the target vehicle to travel according to the driving route, and detecting whether the number of target lanes changes according to the road information.

[0145] If yes, execute step S03.

[0146] Step S03, determining whether the target lane includes a merging lane or a diverging lane.

[0147] If not, execute step S04.

[0148] Step S04, calculating the overlap rate between the current driving lane and the target lane, and determining the target lane having the highest overlap rate with the current driving lane as the lane to be driven.

[0149] Step S21, obtaining the next lane change point in the driving route.

[0150] In this embodiment, the intelligent driving system determines and identifies the first key change point on the route that the vehicle needs to follow next while monitoring and analyzing the current driving route in real time, which may include upcoming turns, lane merging, lane divergence or other situations that require lane changes.

[0151] Step S22, calculating a first distance between the next lane change point and the lane to be driven, and a second distance between the next lane change point and other target lanes.

[0152] Step S23, determining whether the second distance is greater than the first distance.

[0153] If yes, execute step S05; if no, execute step S25.

[0154] In this embodiment, if the analysis finds that the next road change point is far from the lane to be driven, but close to other target lanes, the system will select these target lanes as the new lanes to be driven. This can significantly reduce the number of lane changes before reaching the change point, improve driving efficiency, enhance the predictability of the driving path, improve safety, adapt to current traffic conditions, reduce driving stress, and help save energy and protect the environment. Through this intelligent decision-making, the system can ensure that the vehicle drives to the destination safely and efficiently along the most optimized path.

[0155] Step S25: update the lane to be driven into the target lane with the smallest second distance.

[0156] Step S05, controlling the target vehicle to change lanes to the lane to be driven.

[0157] Based on the above technical solution, this embodiment identifies and obtains the next lane change point of the driving route, then calculates the first distance between this change point and the lane to be driven, and the second distance to other target lanes, intelligently judges and selects the lane with the larger second distance for lane change, and if the second distance is not greater than the first distance, the lane to be driven is updated to the target lane with the smallest second distance, and finally controls the vehicle to change lanes to this lane. This significantly improves driving safety, optimizes driving paths, reduces driving interference, improves decision-making efficiency, enhances riding experience, and helps save energy and protect the environment, achieving a smoother and more efficient intelligent driving experience.

[0158] Please refer to Fig. 9 , is a schematic structural diagram of a lane changing device provided by an embodiment of the present invention, the lane changing device comprising:

[0159] The acquisition module 100 is used to acquire road information and generate a driving route according to the input navigation instruction combined with the road information;

[0160] A detection module 200 is used to control the target vehicle to travel according to the driving route and detect whether the number of target lanes changes according to the road information;

[0161] A first determination module 300, configured to determine whether the target lane includes a merging lane or a diverging lane;

[0162] A first calculation module 400 is used to calculate the overlap rate between the current driving lane and the target lane if the target lane does not include a merging lane or a diverging lane, and determine the target lane with the highest overlap rate with the current driving lane as the lane to be driven;

[0163] The first control module 500 is used to control the target vehicle to change lanes to the lane to be driven.

[0164] Based on the above embodiments, in a specific embodiment, the acquisition module 100 can be specifically used for:

[0165] Generate navigation route information according to navigation instructions;

[0166] Determine a lane change point based on the road information and the navigation route information, and mark the lane change point in the navigation route information; the lane change point includes a location where lane selection occurs and a location where the number of lanes changes;

[0167] Connect the lane change points to get the driving route.

[0168] Based on the above embodiment, in a specific embodiment, the lane changing device may further include:

[0169] An acquisition module, used to obtain the next lane change point in the driving route;

[0170] A second calculation module is used to calculate a first distance between the next lane change point and the lane to be driven, and a second distance between the next lane change point and other target lanes;

[0171] The second judgment module is used to judge whether the second distance is greater than the first distance; if so, the step of controlling the target vehicle to change lanes to the lane to be driven is executed; if not, the lane to be driven is updated to the target lane with the smallest second distance, and the step of controlling the target vehicle to change lanes to the lane to be driven is executed.

[0172] Based on the above embodiment, in a specific embodiment, the lane changing device may further include:

[0173] The third judgment module is used to judge whether the driving route passes through a branch road of a merging lane or a diverging lane; if so, the target lane where the merging intersection or the diverging intersection is located is determined as the lane to be driven; if not, the target lane closest to the current driving lane other than the target lane where the merging intersection or the diverging intersection is located is determined as the lane to be driven;

[0174] The second control module is used to control the target vehicle to change lanes to the lane to be driven.

[0175] Based on the above embodiment, in a specific embodiment, the first calculation module 400 can be specifically used for:

[0176] Get the end point of the current lane and the start point of each target lane;

[0177] Determine the angle between the line between each starting point and the ending point and the current driving lane;

[0178] The overlap rate between the current driving lane and each target lane is calculated based on the included angle.

[0179] On the basis of the above embodiments, in a specific embodiment, the first control module 500 can be specifically used to: determine whether there is a front vehicle within a first preset distance in front of the lane to be driven;

[0180] If yes, the target vehicle is controlled to stop the lane change;

[0181] If not, determining whether there is a rear vehicle whose collision time is less than a first threshold value behind the lane to be driven;

[0182] If there is a rear vehicle whose collision time is less than the first threshold behind the lane to be driven, returning to the step of controlling the target vehicle to stop the lane change;

[0183] If there is no rear vehicle whose collision time is less than the first threshold behind the lane to be driven, the target vehicle is controlled to drive into the lane to be driven;

[0184] Among them, the methods for determining the collision time include:

[0185] Obtaining a first speed of the target vehicle and a second speed of the rear vehicle, and calculating a speed difference between the target vehicle and the rear vehicle; the first speed is less than the second speed;

[0186] The distance between the target vehicle and the rear vehicle is obtained, and the collision time is determined based on the quotient of the distance and the speed difference.

[0187] Based on the above embodiment, in a specific embodiment, the first control module 500 can also be used for:

[0188] Detecting whether there is an accelerating vehicle behind the lane to be driven;

[0189] If so, determining whether the collision time of the accelerating vehicle is less than a first threshold;

[0190] If the collision time of the accelerating vehicle is less than the first threshold, the target vehicle is controlled to return to the current driving lane.

[0191] This embodiment provides an electronic device, including a processor and a memory, the memory is used to store at least one instruction, and when the instruction is loaded and executed by the processor, the above-mentioned lane changing method is implemented. Its execution method and beneficial effects are similar and will not be repeated here.

[0192] An embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the above-mentioned lane changing method is implemented. The execution method and beneficial effects thereof are similar and will not be described in detail here.

[0193] It should be noted that although the above describes the various steps in a specific order, it does not mean that the various steps must be executed in the above specific order. In fact, some of these steps can be executed concurrently or even in a different order as long as the required functions can be achieved.

[0194] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A lane changing method, characterized in that: include: Collecting road information, and generating a driving route based on the input navigation instructions combined with the road information; Controlling the target vehicle to travel according to the driving route, and detecting whether the number of target lanes changes according to the road information; If yes, determining whether the target lane includes a merging lane or a diverging lane; If the target lane does not include a merging lane or a diverging lane, the overlap rate between the current driving lane and the target lane is calculated, and the target lane with the highest overlap rate with the current driving lane is determined as the lane to be driven; The target vehicle is controlled to change lanes to the lane to be driven.

2. The method according to claim 1, characterized in that The collecting of road information and generating a driving route according to the input navigation instruction combined with the road information include: generating navigation route information according to the navigation instruction; Determine a lane change point according to the road information and the navigation route information, and mark the lane change point in the navigation route information; the lane change point includes a location where lane selection occurs and a location where the number of lanes changes; The lane change points are connected to obtain the driving route.

3. The method according to claim 2, characterized in that After determining the target lane with the highest overlap rate with the current driving lane as the lane to be driven, the method further includes: Obtaining a next lane change point in the driving route; Calculating a first distance between the next lane change point and the lane to be driven, and a second distance between the next lane change point and other target lanes; determining whether the second distance is greater than the first distance; If yes, then executing the step of controlling the target vehicle to change lanes to the lane to be driven; If not, the lane to be driven is updated to the target lane with the smallest second distance, and the step of controlling the target vehicle to change lanes to the lane to be driven is executed.

4. The method according to claim 1, characterized in that: When the target lane includes a merging lane or a diverging lane, the method further includes: Determining whether the driving route passes through a branch road of a merging lane or a diverging lane; If yes, the target lane at the merging intersection or diverging intersection is determined as the lane to be driven; If not, the target lane closest to the current driving lane, except for the target lane at the merging intersection or diverging intersection, is used as the lane to be driven; The target vehicle is controlled to change lanes to the lane to be driven.

5. The method according to claim 1, characterized in that The calculating the overlap rate between the current driving lane and the target lane includes: Obtain the end point position of the current driving lane and the start point position of each target lane; Determine the angle between the line between each of the starting point positions and the ending point positions and the current driving lane; The overlap rate between the current driving lane and each of the target lanes is calculated according to the included angle.

6. The method according to any one of claims 1 to 5, characterized in that: The controlling the target vehicle to change lanes to the lane to be driven in comprises: Determining whether there is a front vehicle within a first preset distance in front of the lane to be driven; If yes, control the target vehicle to stop changing lanes; If not, determining whether there is a rear vehicle whose collision time is less than a first threshold behind the lane to be driven; If there is a rear vehicle whose collision time is less than the first threshold behind the lane to be driven, returning to the step of controlling the target vehicle to stop the lane change; If there is no rear vehicle whose collision time is less than a first threshold behind the lane to be driven, controlling the target vehicle to drive into the lane to be driven; Wherein, the collision time is determined by: Obtaining a first speed of the target vehicle and a second speed of the rear vehicle, and calculating a speed difference between the target vehicle and the rear vehicle; the first speed is less than the second speed; The distance between the target vehicle and the rear vehicle is acquired, and the collision time is determined according to the quotient of the distance and the speed difference.

7. The method according to claim 6, characterized in that After controlling the target vehicle to drive into the lane to be driven, the method further includes: Detecting whether there is an accelerating vehicle behind the lane to be driven; If so, determining whether the collision time of the accelerating vehicle is less than the first threshold; If the collision time of the accelerating vehicle is less than the first threshold, the target vehicle is controlled to return to the current driving lane.

8. A lane changing device, characterized in that: include: A collection module, used to collect road information and generate a driving route based on the input navigation instruction combined with the road information; A detection module, used to control the target vehicle to travel according to the driving route, and detect whether the number of target lanes changes according to the road information; A first judgment module, configured to judge whether the target lane includes a merging lane or a diverging lane; A first calculation module is used for calculating the overlap rate between the current driving lane and the target lane if the target lane does not include a merging lane or a diverging lane, and determining the target lane with the highest overlap rate with the current driving lane as the lane to be driven; The first control module is used to control the target vehicle to change lanes to the lane to be driven.

9. An electronic device, characterized in that: include: A processor and a memory, wherein the memory is used to store at least one instruction, and when the instruction is loaded and executed by the processor, the method for lane changing as described in any one of claims 1-7 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for lane changing as described in any one of claims 1 to 7 is implemented.

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