Lane changing method and device of vehicle, vehicle and storage medium
By comprehensively considering the multi-dimensional information of the vehicle and the driver, accurately planning the path of changing lanes and providing real-time prompts, the problem of insufficient accuracy and feasibility of vehicle path change lanes in the prior art is solved, and the safety and passage of lanes are improved efficiency.
Patent Information
- Application Number
- CN202411560774.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-04
- Publication Date
- 2024-12-27
AI Technical Summary
The existing vehicle lane change path planning is insufficient in complex traffic environments, making it difficult to ensure the safety and traffic efficiency of drivers when lane change.
By combining the vehicle's driving status data, the driver's biological dynamic information, obstacle information around the vehicle, weather conditions and road conditions of the target lane, the precise path change is determined, and the driver is provided with lane change prompts to control steering Turn on and off the light.
It improves the accuracy and feasibility of vehicle road change path planning, enhances lane change safety and traffic efficiency, and reduces the occurrence of traffic accidents.
Smart Images
Figure CN119190060A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of vehicle control technology, and more specifically, to a vehicle lane changing method and device, a vehicle, and a storage medium. Background Art
[0002] With the acceleration of urbanization and the sharp increase in road traffic volume, the challenges faced by vehicle driving safety and traffic efficiency are becoming increasingly severe. In a complex traffic environment, lane changing not only requires drivers to have keen environmental perception and quick decision-making response, but also to ensure compliance with traffic rules and avoid traffic accidents. Although the existing advanced driving assistance system (ADAS) provides assistance in some aspects, the accuracy and feasibility of vehicle lane change path planning still have a lot of room for improvement. Summary of the invention
[0003] The embodiments of the present application provide a vehicle lane changing method and device, a vehicle, and a storage medium. The following introduces various aspects of the embodiments of the present application.
[0004] In a first aspect, a vehicle lane changing method is provided, comprising: determining the vehicle's lane changing intention based on the vehicle's driving status data and the driver's biological dynamic information; determining the vehicle's lane changing path based on the vehicle's driving information, obstacle information around the vehicle, weather conditions at the vehicle's location, and current road conditions of a target lane, wherein the target lane is an adjacent lane to the vehicle's current lane; determining the vehicle's lane change from the current lane to the target lane based on the lane changing intention and the lane changing path.
[0005] As a possible implementation manner, after determining that the vehicle changes lanes from the current lane to the target lane, the method further includes: prompting the driver with lane change information of the vehicle, the lane change information including one or more of the following: the lane change timing of the vehicle, the lane change path of the vehicle, the lane change speed of the vehicle, the target lane is safe and lane change is recommended, and the lane change is completed.
[0006] As a possible implementation method, the method of prompting the driver of the lane change information includes one or more of the following: buzzer prompt, steering wheel vibration, voice prompt, head-up display prompt, and central control screen interface prompt.
[0007] As a possible implementation manner, after determining that the vehicle changes lanes from the current lane to the target lane, the method further includes: controlling turning off the vehicle's turn signal based on lane line markings of the current lane and the target lane and the vehicle's position information.
[0008] As a possible implementation manner, before controlling to turn off the turn signal of the vehicle, the method further includes: controlling to turn on the turn signal of the vehicle according to the lane changing intention of the vehicle.
[0009] As a possible implementation manner, the current road condition of the target lane includes one or more of the following: the current road condition of the target lane is a bumpy road, the current road condition of the target lane is a potholed and flooded road, and the current road condition of the target lane is an ice- and snow-covered road; and / or the obstacle information around the vehicle includes one or more of the following: motor vehicles and non-motor vehicles around the vehicle, pedestrians around the vehicle, and stationary objects on the road around the vehicle.
[0010] As a possible implementation manner, the method also includes: during the driving of the vehicle, detecting the driving state of the driver based on the driver's biological data; in response to the driver's driving state meeting a preset condition, issuing a safe driving reminder message to the driver; wherein the driver's biological data includes one or more of the following: the driver's eye movement data, the driver's facial expression data, the driver's heart rate, and the driver's blood pressure.
[0011] In a second aspect, a lane changing device for a vehicle includes: a first determination module, used to determine the vehicle's lane changing intention based on the vehicle's driving status data and the driver's biological dynamic information; a second determination module, used to determine the vehicle's lane changing path based on the vehicle's driving information, obstacle information around the vehicle, weather conditions at the vehicle's location and current road conditions of a target lane, wherein the target lane is an adjacent lane to the vehicle's current lane; and a third determination module, used to determine that the vehicle changes lanes from the current lane to the target lane based on the lane changing intention and the lane changing path.
[0012] In a third aspect, a vehicle is provided, comprising a processor and a memory, wherein the memory is used to store a computer program, and the processor is used to call and run the computer program stored in the memory to control the vehicle to execute the method described in the first aspect or any implementation method of the first aspect.
[0013] According to a fourth aspect, a computer-readable storage medium is provided, on which an executable code is stored. When the executable code is executed, the method described in the first aspect or any implementation method of the first aspect can be implemented.
[0014] The present application provides a vehicle lane changing method, which determines the vehicle's lane changing intention according to the vehicle's driving state data and the driver's biological dynamic information; determines the vehicle's lane changing path according to the vehicle's driving information, the obstacle information around the vehicle, the weather conditions at the vehicle's location and the current road conditions of the target lane, and the target lane is the adjacent lane of the vehicle's current lane; determines the vehicle's lane change from the current lane to the target lane according to the lane changing intention and the lane changing path. In this solution, during the vehicle lane changing process, the lane changing path is determined by multi-dimensional influencing factors such as the vehicle's driving information, the obstacle information around the vehicle, the weather conditions at the vehicle's location and the current road conditions of the target lane, thereby improving the accuracy and feasibility of the vehicle lane changing path planning. For example, in the process of planning the lane changing path, the embodiment of the present application not only considers the vehicle's driving information and the obstacle information around the vehicle, but also considers bad weather (such as rainy, snowy, foggy, etc.) and bad road conditions of the target lane (such as bumpy roads, potholes and waterlogged roads, ice and snow covered roads, etc.), so that the lane changing path can be planned more accurately and the availability of the vehicle lane changing path can be enhanced. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] Figure 1 It is a flowchart of a lane changing method for a vehicle provided in one embodiment of the present application.
[0016] Figure 2 It is a flowchart of a lane changing method for a vehicle provided in another embodiment of the present application.
[0017] Figure 3 It is a schematic structural diagram of a lane changing device for a vehicle provided in one embodiment of the present application.
[0018] Figure 4 It is a schematic diagram of the structure of a vehicle provided in one embodiment of the present application. DETAILED DESCRIPTION
[0019] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.
[0020] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.
[0021] With the acceleration of urbanization and the sharp increase in road traffic, the challenges faced by vehicle driving safety and traffic efficiency are becoming increasingly severe. In congested or complex traffic environments, vehicle lane changing is an effective measure to improve traffic efficiency. However, vehicle lane changing not only requires drivers to have keen environmental perception and quick decision-making response, but also to ensure compliance with traffic rules and avoid traffic accidents.
[0022] In the related art, an ADAS system-assisted lane change solution is proposed, which can plan the lane change path according to the distance between the current vehicle and the vehicles in front and behind it and the lane change intention, thereby realizing the intelligent vehicle lane change function. However, the accuracy and feasibility of the current vehicle lane change path planning still have a lot of room for improvement.
[0023] In view of the above problems, the present application provides a vehicle lane changing method, which determines the vehicle's lane changing intention according to the vehicle's driving state data and the driver's biological dynamic information; determines the vehicle's lane changing path according to the vehicle's driving information, the obstacle information around the vehicle, the weather conditions at the vehicle's location and the current road conditions of the target lane, and the target lane is the adjacent lane of the vehicle's current lane; determines the vehicle's lane change from the current lane to the target lane according to the lane changing intention and the lane changing path. In this solution, during the vehicle lane changing process, the lane changing path is determined by multi-dimensional influencing factors such as the vehicle's driving information, the obstacle information around the vehicle, the weather conditions at the vehicle's location and the current road conditions of the target lane. For example, in the process of planning the lane changing path, the embodiment of the present application not only considers the vehicle's driving information and the obstacle information around the vehicle, but also considers bad weather (such as rainy, snowy, foggy, etc.) and bad road conditions of the target lane (such as bumpy roads, potholes and waterlogged roads, ice and snow covered roads, etc.), so that the lane changing path can be planned more accurately and the availability of the vehicle lane changing path can be enhanced.
[0024] This improves the accuracy and feasibility of vehicle lane change path planning.
[0025] Figure 1 A vehicle lane changing method is provided in an embodiment of the present application. Figure 1 As shown, the lane changing method 100 of the vehicle may include steps: S110 to S130.
[0026] In step S110, the lane change intention of the vehicle is determined based on the driving state data of the vehicle and the biological dynamic information of the driver. It should be understood that the driver is the driver of the current vehicle.
[0027] The driving status data of the vehicle may include, but is not limited to: the speed of the vehicle, the acceleration of the vehicle, the steering wheel angle of the vehicle (ie, the steering force of the vehicle), and the wheel angle of the front wheels of the vehicle.
[0028] The driver's biological dynamic information may include, but is not limited to: the driver's head turning information, the driver's gaze shifting information (eg, the driver's gaze shifting to the left rearview mirror or the right rearview mirror, etc.).
[0029] The embodiment of the present application does not specifically limit the method for determining the vehicle's intention to change lanes. For example, if the driver lightly turns the steering wheel, the driver's eyes turn to the rearview mirror, and the vehicle acceleration increases, it can be determined that the vehicle has the intention to change lanes. For another example, if the steering wheel angle is greater than the first threshold and the driver's eyes turn to the rearview mirror, it can also be determined that the vehicle has the intention to change lanes.
[0030] In step S120, the lane change path of the vehicle is determined based on the driving information of the vehicle, the obstacle information around the vehicle, the weather conditions at the location of the vehicle, and the current road condition of the target lane, where the target lane is an adjacent lane to the current lane of the vehicle. The current road condition of the target lane may refer to the road condition of the target lane near the location of the vehicle.
[0031] The vehicle's driving information may include, but is not limited to: the vehicle's driving speed, the vehicle's driving acceleration, the vehicle's turn signal activation status, etc.
[0032] The obstacle information around the vehicle may include, but is not limited to: motor vehicles around the vehicle, non-motor vehicles around the vehicle, pedestrians or animals around the vehicle, and stationary objects on the road around the vehicle (such as gravel or roadblock stone balls, etc.).
[0033] The weather conditions at the vehicle's location may include, but are not limited to: rainy weather, snowy weather, foggy weather, sandstorm weather and other weather with low visibility (i.e., bad weather conditions), as well as cloudy weather, sunny weather and other good weather conditions with high visibility.
[0034] The current road condition of the target lane may include but is not limited to: the current road condition of the target lane is a bumpy road, the current road condition of the target lane is a pothole-filled road, the current road condition of the target lane is an ice-covered road, and the current road condition of the target lane is a flat road. The current road condition of the target lane may refer to the road condition of the target lane near the position of the vehicle.
[0035] In the process of planning the lane change path, the embodiment of the present application not only takes into account the vehicle's driving information and the obstacle information around the vehicle, but also takes into account bad weather (such as rainy, snowy, foggy, etc.) and poor road conditions of the target lane (such as bumpy roads, potholes and waterlogged roads, ice and snow covered roads, etc.), so that the lane change path can be planned more accurately, thereby enhancing the availability of the vehicle's lane change path.
[0036] In some implementations, determining the lane change path of the vehicle may include determining the lane change timing of the vehicle, the lane change route of the vehicle, and the lane change speed of the vehicle, etc.
[0037] It should be noted that if the current road condition is bad, the lane change can be delayed or prohibited to ensure the safety of the lane change. If the current weather is bad, the lane change can be delayed or prohibited to ensure the safety of the lane change. Of course, the vehicle can also be controlled to change lanes in the case of bad road conditions or bad weather ahead. For example, in the case of bad road conditions or bad weather ahead, there are no obstacles around the vehicle or the obstacles are far away from the vehicle, the vehicle can also be controlled to change lanes at a low speed to prevent bumps or skidding, thereby improving the feasibility of lane changes.
[0038] In step S130, according to the lane change intention and the lane change path, it is determined that the vehicle changes lanes from the current lane to the target lane.
[0039] If the vehicle intends to change lanes and has planned a lane change path (including the lane change timing and lane change route), the vehicle can be controlled to change lanes at a preset speed along the lane change route at the lane change timing.
[0040] In some implementations, after determining that the vehicle has changed lanes from the current lane to the target lane, it also includes: prompting the driver with the vehicle's lane change information, the lane change information including one or more of the following: the vehicle's lane change timing, the vehicle's lane change path, the vehicle's lane change speed, the target lane is safe and lane change is recommended, and the lane change is completed.
[0041] This application does not impose any specific restrictions on the lane change prompt method. For example, when changing lanes, the driver may be prompted: the target lane is safe and it is recommended to change lanes; another example is that during the lane change process, the driver may be prompted: change lanes at a first speed (such as 60 km / h) and / or a first acceleration (such as 5 m / s 2 ) to change lanes; for example, after the lane change is completed, the driver can be prompted: the lane change has been completed.
[0042] The embodiment of the present application does not impose any specific restrictions on the method of prompting the driver with lane change information. For example, the above-mentioned prompt method may include one or more of the following: beep prompt (e.g., prompting according to the beep type and beep frequency), steering wheel vibration, voice prompt, head-up display prompt, and central control screen interface prompt.
[0043] In some implementations, after determining that the vehicle changes lanes from the current lane to the target lane, the method further includes: controlling to turn off the vehicle's turn signal based on lane markings of the current lane and the target lane and the vehicle's position information. The lane markings can be obtained by a visual sensor (such as a camera) of the vehicle; and the vehicle's position information can be obtained by a positioning system (such as a GPS system or a BeiDou system).
[0044] In some implementations, before controlling the vehicle's turn signal lamp to be turned off, the method further includes: controlling the vehicle's turn signal lamp to be turned on according to the vehicle's lane-changing intention.
[0045] Considering that fatigue driving is an important cause of vehicle accidents. In the embodiment of the present application, during the driving of the vehicle, the driver's driving state can be detected according to the driver's biological data; in response to the driver's driving state meeting the preset conditions, a safe driving reminder message is issued to the driver; wherein the driver's biological data includes one or more of the following: the driver's eye movement data, the driver's facial expression data, the driver's heart rate, and the driver's blood pressure.
[0046] The preset conditions may include one or more of the following: the driver's blinking frequency is greater than a preset frequency threshold, the driver's head leans forward or shakes, the driver yawns, the driver's eyes are dull or wandering, the driver's facial muscles are relaxed, etc.
[0047] It should be noted that the vehicle of the present application may be equipped with one or more types of sensors, which may include but are not limited to: long-range millimeter wave radar, high-resolution laser radar (LiDAR), 360-degree surround camera system, and high-sensitivity ultrasonic sensor. The above sensors can be used to perform all-round and all-weather environmental perception on the vehicle.
[0048] In some implementations, deep neural networks and image recognition technology can be used to quickly and accurately process the large amount of raw data collected by the above sensors, effectively identifying complex information such as obstacles around the vehicle, road signs, pedestrian activities, etc. Furthermore, a real-time, dynamic driving environment model can be built based on the vehicle's driving data and surrounding environment data.
[0049] In some implementations, cloud computing and edge computing can be used in collaboration to optimize data processing speed and ensure that the system can respond quickly even when driving at high speeds.
[0050] The following describes the embodiments of the present application in more detail with reference to specific examples. Figure 2It is only to help those skilled in the art understand the embodiments of the present application, and is not intended to limit the embodiments of the present application to the specific values or specific scenarios illustrated. Those skilled in the art can obviously make various equivalent modifications or changes based on the examples given, and such modifications or changes also fall within the scope of the embodiments of the present application.
[0051] Figure 2 Another vehicle lane changing method provided in the embodiment of the present application is shown in FIG. Figure 2 The lane changing method of the vehicle may include the following steps: S201 to S203.
[0052] In step S201: Identify driver behavior and intention.
[0053] The vehicle in this application can introduce the latest generation of sensor fusion technology. The sensors on the vehicle may include but are not limited to long-range millimeter-wave radar, high-resolution laser radar (LiDAR), 360-degree surround view camera system, and high-sensitivity ultrasonic sensors to achieve all-round and all-weather environmental perception.
[0054] In some implementations, deep neural networks and image recognition technology can be used to quickly and accurately process large amounts of raw data collected, effectively identify complex information such as obstacles around the vehicle, road markings, pedestrian activities, and build a real-time, dynamic driving environment model.
[0055] In some implementations, cloud computing and edge computing can be used in collaboration to optimize data processing speed and ensure that the system can respond quickly even when driving at high speeds.
[0056] In some implementations, with the help of machine learning algorithms, the system can learn and remember each driver's driving habits, including steering force, acceleration preferences, lane changing habits, etc., so as to provide personalized assistance services.
[0057] In some implementations, advanced intention recognition algorithms can be developed to predict the driver's intention to change lanes in advance by comprehensively analyzing the driver's operating behaviors (such as slightly turning the steering wheel, shifting eyes, etc.) and vehicle dynamic data (such as the vehicle's speed or acceleration, etc.) to prepare for the next operation.
[0058] It should be understood that after determining the intention to change lanes, jump to step S203.
[0059] In step S202: lane change path planning is performed based on the real-time environmental data around the vehicle and the vehicle's lane change intention.
[0060] In some implementations, based on real-time environmental data (such as obstacles around the vehicle, weather and road conditions) and lane change intentions, the system uses advanced path planning algorithms to calculate the optimal lane change strategy, including the best lane change timing, lane change path, speed control, etc.
[0061] In some implementations, a dynamic risk assessment can be performed before changing lanes. For example, based on the dynamic behaviors of other vehicles around the current vehicle (such as other vehicles changing lanes, other vehicles' speeds and accelerations, etc.), weather conditions, road conditions, and other factors, the lane change plan can be adjusted in real time to ensure safety first.
[0062] In some implementations, intuitive lane change suggestions can be provided through a human-computer interaction interface, including visual prompts, voice navigation, etc., to help the driver make decisions, and provide physical feedback when necessary through slight steering wheel vibrations.
[0063] It should be understood that after the lane change is completed, jump to step S203.
[0064] In step S203: the turn signal lamp is controlled to be turned on or off. For example, after the lane change intention is determined, the turn signal lamp is controlled to be turned on; after the lane change is completed, the turn signal lamp is controlled to be turned off.
[0065] In some implementations, the present application may design an intelligent turn signal control system. When the system confirms that the driver has started to change lanes, the corresponding turn signal lights are automatically turned on to reduce the driver's operating burden.
[0066] In some implementations, through precise vehicle position tracking and lane line recognition technology, the system can accurately determine when the vehicle has completely entered a new lane and automatically turn off the turn signal to avoid problems caused by forgetfulness or inappropriate timing.
[0067] In the embodiment of the present application, data can be collected after each lane change operation to analyze the success rate of the operation, the rationality of the time point selection, etc., to continuously optimize the algorithm and improve the accuracy of future assistance.
[0068] In an embodiment of the present application, a friendly and intuitive user interface can be developed to allow the driver to adjust the system's assistance level, such as steering assistance intensity, lane change prompt method, etc., according to personal preferences and driving style.
[0069] In the embodiment of the present application, multimodal interaction can be achieved, supporting various command input methods such as voice control, gesture recognition, touch screen operation, etc., thereby improving the naturalness and convenience of interaction.
[0070] In the embodiment of the present application, a detailed driving log analysis report can be provided to help the driver review his driving behavior, understand the room for improvement in driving habits, and promote the improvement of safe driving awareness.
[0071] In the embodiments of the present application, biometric technologies such as eye tracking, facial expression analysis, heart rate monitoring, etc. can be used to comprehensively judge the driver's concentration, fatigue state and emotional changes to ensure that assistance is provided when the driver is in the best condition.
[0072] In order to deepen the understanding of the vehicle lane change control method in the embodiment of the present application, a more detailed description is given below with reference to specific examples.
[0073] For example, imagine a driver driving a new energy vehicle equipped with this system on a highway and intends to switch from the left lane to the right lane. The lane change process is as follows:
[0074] (1) The driver slightly turns the steering wheel and moves his eyes toward the right rearview mirror. The system recognizes the driver's intention to change lanes through eye tracking.
[0075] (2) The environmental perception module (environmental perception sensor module, such as radar and camera) is immediately activated, and the radar and camera system quickly scans the surrounding environment to confirm that the right lane is safe and there are no vehicles approaching quickly.
[0076] (3) The head-up display shows “Right lane is safe, lane change recommended” and the voice prompts “You may change lanes now”.
[0077] (4) The driver lightly steps on the accelerator and starts to change lanes. At this time, the system automatically turns on the right turn signal.
[0078] (5) During the lane change process, the system continuously monitors the relationship between the vehicle and the surrounding environment to ensure that the lane change path is safe and unobstructed.
[0079] (6) After fully entering the right lane, the system accurately determines the vehicle's position, automatically turns off the turn signal, and provides feedback through a slight beep and a head-up display indicating "lane change completed."
[0080] (7) The driver can view a detailed analysis report of the lane change on the central control screen, including the timing of the lane change, path efficiency, etc. The system will also further optimize the algorithm based on the current operation to provide better assistance next time.
[0081] Combination of the above Figure 1 to Figure 2 The method embodiment of the present application is described in detail. Figure 3 to Figure 4 The device embodiment of the present application is described in detail. It should be understood that the description of the method embodiment corresponds to the description of the device embodiment, so the parts not described in detail can refer to the previous method embodiment.
[0082] Figure 3FIG. 3 is a schematic diagram of a vehicle lane changing device according to an embodiment of the present application. The vehicle lane changing device 300 may include a first determination module 310 , a second determination module 320 , and a third determination module 330 .
[0083] The first determination module 310 is used to determine the lane change intention of the vehicle according to the driving state data of the vehicle and the biological dynamic information of the driver.
[0084] The second determination module 320 is used to determine the lane change path of the vehicle based on the vehicle's driving information, obstacle information around the vehicle, weather conditions at the vehicle's location and current road conditions of the target lane, where the target lane is an adjacent lane to the vehicle's current lane.
[0085] The third determination module 330 is used to determine whether the vehicle changes lanes from the current lane to the target lane according to the lane change intention and the lane change path.
[0086] Optionally, the device 300 also includes: a prompt module, which is used to prompt the driver of the vehicle's lane change information after determining that the vehicle has changed lanes from the current lane to the target lane, and the lane change information includes one or more of the following: the vehicle's lane change timing, the vehicle's lane change path, the vehicle's lane change speed, the target lane is safe and lane change is recommended, and the lane change is completed.
[0087] Optionally, the method of prompting the driver with lane change information includes one or more of the following: buzzer prompt, steering wheel vibration, voice prompt, head-up display prompt, and central control screen interface prompt.
[0088] Optionally, the device 300 also includes: a first control module, which is used to control turning off the vehicle's turn signal according to lane line markings of the current lane and the target lane and the vehicle's position information after determining that the vehicle changes lanes from the current lane to the target lane.
[0089] Optionally, the device 300 further includes: a second control module, configured to control the vehicle's turn signal to be turned on according to the vehicle's lane-changing intention before controlling the vehicle's turn signal to be turned off.
[0090] Optionally, the current road condition of the target lane includes one or more of the following: the current road condition of the target lane is a bumpy road condition, the current road condition of the target lane is a potholed and flooded road condition, and the current road condition of the target lane is an ice and snow covered road condition; and / or the obstacle information around the vehicle includes one or more of the following: motor vehicles and non-motor vehicles around the vehicle, pedestrians around the vehicle, and stationary objects on the road around the vehicle.
[0091] Optionally, the device 300 also includes: a detection module, used to detect the driver's driving status based on the driver's biological data during vehicle driving; a second prompt module, used to issue a safe driving prompt message to the driver in response to the driver's driving status meeting a preset condition; wherein the driver's biological data includes one or more of the following: the driver's eye movement data, the driver's facial expression data, the driver's heart rate, and the driver's blood pressure.
[0092] Combine the following Figure 4 The present invention introduces a vehicle 400 in an embodiment of the present application. The vehicle 400 can be used to implement the method described in the above method embodiment.
[0093] The vehicle 400 may include one or more processors 410. The processor 410 may support the vehicle 400 to implement the method described in the above method embodiment.
[0094] The processor 410 may be a general-purpose processor or a special-purpose processor. For example, the processor may be a central processing unit (CPU). Alternatively, the processor may be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.
[0095] The vehicle 400 may further include one or more memories 420. The memory 420 stores a program that can be executed by the processor 410 to control the vehicle 400 to execute the method described in the above method embodiment. The memory 420 may be independent of the processor 410 or integrated in the processor 410.
[0096] The vehicle 400 may further include a transceiver 430. The processor 410 may communicate with other devices via the transceiver 430. For example, the processor 410 may transmit and receive data with other devices via the transceiver 430.
[0097] The present application also provides a chip in an embodiment, including a processor, which can be used to call and run a computer program from a memory, so that a vehicle equipped with the chip executes the method described in the above method embodiment. It is understood that the processor can be any type of processor mentioned above. It is understood that the memory can be independent of the chip or integrated in the chip.
[0098] The embodiment of the present application also provides a machine-readable storage medium for storing a program, and the program enables a computer to execute the method in each embodiment of the present application.
[0099] The embodiment of the present application also provides a computer program product. The computer program product includes a program. The program enables a computer to execute the method in each embodiment of the present application.
[0100] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any other combination. When implemented by software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present disclosure is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a machine-readable storage medium, or transmitted from one machine-readable storage medium to another machine-readable storage medium. For example, the computer instructions can be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (Digital Subscriber Line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The machine-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrations. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a digital video disc (DVD)), or a semiconductor medium (eg, a solid state disk (SSD)).
[0101] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments of the present disclosure can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present disclosure.
[0102] In the several embodiments provided in the present disclosure, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.
[0103] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
[0104] In addition, each functional unit in each embodiment of the present disclosure may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
[0105] The above is only a specific embodiment of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any person skilled in the art who is familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present disclosure, which should be included in the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be based on the protection scope of the claims.
Claims
1. A lane changing method for a vehicle, characterized in that: include: determining the lane change intention of the vehicle based on the driving state data of the vehicle and the biological dynamic information of the driver; Determine a lane change path for the vehicle according to driving information of the vehicle, obstacle information around the vehicle, weather conditions at the location of the vehicle, and current road conditions of a target lane, where the target lane is an adjacent lane to the current lane of the vehicle; According to the lane change intention and the lane change path, it is determined that the vehicle changes lanes from the current lane to the target lane.
2. The method according to claim 1, characterized in that After determining that the vehicle changes lanes from the current lane to the target lane, the method further includes: Prompt the driver with lane change information of the vehicle, where the lane change information includes one or more of the following: the lane change timing of the vehicle, the lane change path of the vehicle, the lane change speed of the vehicle, the target lane being safe and suggesting lane change, and lane change completion.
3. The method according to claim 2, characterized in that The prompting method for prompting the driver of the lane change information includes one or more of the following: buzzer prompt, steering wheel vibration, voice prompt, head-up display prompt, and central control screen interface prompt.
4. The method according to claim 1, characterized in that: After determining that the vehicle changes lanes from the current lane to the target lane, the method further includes: According to the lane line markings of the current lane and the target lane and the position information of the vehicle, the turn signal lamp of the vehicle is controlled to be turned off.
5. The method according to claim 4, characterized in that Before controlling to turn off the turn signal lamp of the vehicle, the method further includes: According to the lane-changing intention of the vehicle, the turn signal lamp of the vehicle is controlled to turn on.
6. The method according to any one of claims 1 to 5, characterized in that The current road condition of the target lane includes one or more of the following: the current road condition of the target lane is a bumpy road condition, the current road condition of the target lane is a pothole-filled road condition, and the current road condition of the target lane is an ice-covered road condition; and / or The obstacle information around the vehicle includes one or more of the following: motor vehicles and non-motor vehicles around the vehicle, pedestrians around the vehicle, and stationary objects on the road around the vehicle.
7. The method according to any one of claims 1 to 5, characterized in that The method further comprises: During the driving of the vehicle, detecting the driving state of the driver according to the biological data of the driver; In response to the driver's driving state satisfying a preset condition, issuing a safe driving reminder message to the driver; The biological data of the driver includes one or more of the following: eye movement data of the driver, facial expression data of the driver, heart rate of the driver, and blood pressure of the driver.
8. A lane changing device for a vehicle, characterized in that: include: a first determination module, for determining the lane change intention of the vehicle according to the driving state data of the vehicle and the biological dynamic information of the driver; A second determination module is used to determine a lane change path of the vehicle according to the driving information of the vehicle, obstacle information around the vehicle, weather conditions at the location of the vehicle, and current road conditions of a target lane, wherein the target lane is an adjacent lane to the current lane of the vehicle; The third determination module is used to determine, according to the lane change intention and the lane change path, whether the vehicle changes lanes from the current lane to the target lane.
9. A vehicle, characterized in that: include: A processor and a memory, wherein the memory is used to store a computer program, and the processor is used to call and run the computer program stored in the memory to control the vehicle to execute the method as described in any one of claims 1-7.
10. A computer-readable storage medium having executable code stored thereon, characterized in that: The code is used to implement the method according to any one of claims 1 to 7.