Lane changing control method and system and vehicle

Abstract

The invention provides a lane changing control method and system and a vehicle, and the method comprises the steps: obtaining the driving information of obstacle vehicles in a target lane when a target vehicle meets a lane changing condition, and obtaining a lane changing state based on the driving information of each obstacle vehicle, the driving information of the target vehicle and the execution sequence of a plurality of lane changing stages; the target vehicle is controlled to sequentially execute lane changing according to the safety threshold values corresponding to the lane changing stages so as to merge into the target lane, the multiple lane changing stages correspond to the multiple transverse target positions in a one-to-one mode, and the lane changing stages are used for controlling the target vehicle to transversely move to the corresponding transverse target positions correspondingly. Therefore, in the lane changing process, the lane changing strategy can be adaptively adjusted according to the safety threshold value of each lane changing stage, the real-time driving information of each obstacle vehicle in the target lane and the real-time driving information of the target vehicle, so that the probability of successful lane changing can be greatly improved in a traffic jam scene, and the lane changing safety is ensured.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a lane change control method, system and vehicle. Background Art

[0002] With the rapid development of intelligent driving technology, the number of vehicles equipped with assisted driving functions is increasing. As part of the assisted driving function, automatic lane change can help drivers reduce their driving burden, improve lane change efficiency and safety, and thus enhance the driving experience, and has been widely used.

[0003] However, existing lane change control methods are difficult to control the vehicle to successfully change lanes while ensuring the safety of the lane change in traffic congestion scenarios (e.g., vehicles in the target lane are densely packed).

[0004] Therefore, it is necessary to provide a lane changing control method that can simultaneously ensure the safety and effectiveness of the vehicle's lane changing. Summary of the invention

[0005] In order to solve the above technical problems, the present application provides a lane change control method, system and vehicle to solve the problem in the prior art that it is impossible to control the vehicle to successfully change lanes while ensuring the safety of lane change.

[0006] To achieve the above technical objectives, the present application provides the following technical solutions:

[0007] In a first aspect, an embodiment of the present specification provides a lane change control method, including:

[0008] When the target vehicle meets the lane change condition, the driving information of the obstacle vehicle in the target lane is obtained;

[0009] Based on the driving information of each obstacle vehicle, the driving information of the target vehicle and the execution order of multiple lane change stages, controlling the target vehicle to perform lane change in sequence according to the safety threshold corresponding to each lane change stage to merge into the target lane;

[0010] Among them, the multiple lane change stages correspond one-to-one to multiple lateral target positions, and each lane change stage is used to control the target vehicle to move laterally to the corresponding lateral target position.

[0011] In one embodiment, based on the driving information of each of the obstacle vehicles, the driving information of the target vehicle, and the execution order of multiple lane change stages, controlling the target vehicle to perform lane change in sequence according to the safety threshold corresponding to each lane change stage includes:

[0012] At the initial moment of the current lane change phase, a current lane change window is obtained, and based on the driving information of the obstacle vehicle corresponding to the current lane change window, the driving information of the target vehicle and the safety threshold corresponding to the current lane change phase, it is determined whether the target vehicle meets the safety conditions for merging into the current lane change window; the initial moment of the current lane change phase is the initial lane change moment of the target vehicle or the moment when the target vehicle reaches the lateral target position corresponding to the previous lane change phase;

[0013] If satisfied, controlling the target vehicle to move laterally to the lateral target position corresponding to the current lane change stage;

[0014] If not satisfied, the target vehicle is controlled to move longitudinally to the longitudinal target position corresponding to the current lane change window, and when the target vehicle reaches the longitudinal target position, the target vehicle is controlled to move laterally to the lateral target position corresponding to the current lane change stage; the longitudinal target position includes a longitudinal position that meets the safety conditions for merging into the current lane change window.

[0015] In one embodiment, the safety threshold includes a threshold corresponding to at least one safety parameter;

[0016] Determining whether the target vehicle meets the safety condition for merging into the current lane change window based on the driving information of the obstacle vehicle corresponding to the current lane change window, the driving information of the target vehicle, and the safety threshold corresponding to the current lane change stage includes:

[0017] Based on the driving information of the obstacle vehicle and the driving information of the target vehicle corresponding to the current lane change window, respectively determining the detection value corresponding to each of the safety parameters;

[0018] If the detection values ​​corresponding to the safety parameters all meet the safety thresholds corresponding to the current lane change stage, it is determined that the target vehicle meets the safety conditions for merging into the current lane change window;

[0019] If there is a detection value corresponding to at least one safety parameter that does not meet the safety threshold corresponding to the current lane change stage, it is determined that the target vehicle does not meet the safety condition for merging into the current lane change window.

[0020] In one implementation, obtaining the current lane change window includes:

[0021] When the current lane change stage is the first lane change stage executed, or when the current lane change stage is not the first lane change stage executed and the target vehicle does not meet the safety condition of merging into the historical lane change window in the previous lane change stage, the current lane change window is determined from a plurality of candidate lane change windows based on the driving information of each of the obstacle vehicles, the driving information of the target vehicle and the safety threshold corresponding to the current lane change stage;

[0022] When the current lane change phase is not the first lane change phase executed and the target vehicle meets the safety condition of merging into the historical lane change window, the historical lane change window is used as the current lane change window.

[0023] In one implementation, based on the driving information of each of the obstacle vehicles, the driving information of the target vehicle, and the safety threshold corresponding to the current lane change stage, determining the current lane change window from a plurality of candidate lane change windows includes:

[0024] Determine, based on the driving information of each of the obstacle vehicles, the driving information of the target vehicle, and the safety threshold corresponding to the current lane change stage, the predicted time for the target vehicle to reach the longitudinal target position corresponding to each of the candidate lane change windows from the current position;

[0025] Based on each of the predicted durations, the current lane change window is determined from a plurality of the candidate lane change windows.

[0026] In one implementation, determining the current lane change window from a plurality of candidate lane change windows based on each of the predicted durations includes:

[0027] The candidate lane changing window corresponding to the shortest predicted duration is used as the current lane changing window.

[0028] In one embodiment, the safety threshold includes a first safety threshold between the target vehicle and a first obstacle vehicle in the target lane, and / or a second safety threshold between the target vehicle and a second obstacle vehicle in the target lane, the first obstacle vehicle and the second obstacle vehicle being adjacent to the target vehicle in the longitudinal direction of the target lane.

[0029] In one implementation, the safety threshold corresponding to the lane changing phase is negatively correlated with the execution order of the lane changing phase.

[0030] In a second aspect, an embodiment of the present specification provides a lane change control system, including a data detection device and a controller;

[0031] The data detection device is used to obtain the driving information of the obstacle vehicle in the target lane and transmit it to the controller;

[0032] The controller includes at least one processor and at least one memory, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the lane change control method as described in any one of the above items is implemented.

[0033] In a third aspect, an embodiment of the present specification provides a vehicle, including a lane change control system as described above.

[0034] In a fourth aspect, an embodiment of the present specification provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the lane change control method as described in any one of the above items is implemented.

[0035] In a fifth aspect, an embodiment of the present specification provides a computer program product or a computer program, wherein the computer program product includes a computer program, and the computer program is stored in a computer-readable storage medium; the processor of the computer device reads the computer program from the computer-readable storage medium, and when the processor executes the computer program, it implements the lane change control method as described in any one of the above items.

[0036] It can be seen from the above technical scheme that the embodiments of the present application provide a lane change control method, system and vehicle. When the target vehicle meets the lane change conditions, the method obtains the driving information of the obstacle vehicle in the target lane, and based on the driving information of each obstacle vehicle, the driving information of the target vehicle and the execution order of multiple lane change stages, controls the target vehicle to perform lane changes in accordance with the safety thresholds corresponding to each lane change stage in sequence to merge into the target lane, wherein the multiple lane change stages correspond one-to-one to the multiple lateral target positions, and each lane change stage is used to control the target vehicle to move laterally to the corresponding lateral target position, so that the target vehicle can be controlled in stages to gradually merge into the target lane, that is, during the lane change process, the lane change strategy can be adaptively adjusted according to the safety thresholds of each lane change stage, the real-time driving information of each obstacle vehicle in the target lane and the real-time driving information of the target vehicle, thereby greatly improving the probability of successful lane change in a traffic congestion scenario and ensuring the safety of lane change. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0038] Figure 1 A flowchart of a lane change control method provided for an implementation of this specification.

[0039] Figure 2 A schematic structural diagram of a lane change control system provided for an implementation of this specification. DETAILED DESCRIPTION

[0040] Unless otherwise defined, the technical terms or scientific terms used in the embodiments of this specification shall have the common meanings understood by persons with ordinary skills in the field to which this specification belongs. The words "first", "second" and similar words used in the embodiments of this specification do not indicate any order, quantity or importance, but are only used to avoid confusion of constituent elements.

[0041] Unless the context requires otherwise, throughout the specification, "plurality" means "at least two", and "including" is interpreted as an open, inclusive meaning, that is, "including, but not limited to". In the description of the specification, the terms "one embodiment", "some embodiments", "exemplary embodiments", "examples", "specific examples" or "some examples" are intended to indicate that a particular feature, structure, material or characteristic associated with the embodiment or example is included in at least one embodiment or example of the specification. The schematic representation of the above terms does not necessarily refer to the same embodiment or example.

[0042] The following will be combined with the drawings in the embodiments of this specification to clearly and completely describe the technical solutions in the embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this specification, not all of the embodiments. Based on the embodiments in this specification, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this specification.

[0043] Overview

[0044] As mentioned in the background technology, with the rapid development of vehicle intelligent driving technology, the number of vehicles equipped with assisted driving functions continues to increase. As part of the assisted driving function, automatic lane change can help drivers reduce driving burden, improve lane change efficiency and safety, and thus enhance driving experience, and thus has been widely used.

[0045] However, existing lane change control methods usually plan the lane change path in advance and execute the lane change according to the lane change path. In traffic congestion scenarios (e.g., vehicles in the target lane are densely packed), it is difficult to control the vehicle to successfully change lanes while ensuring the safety of the lane change. Therefore, it is necessary to provide a lane change control method that can simultaneously ensure the safety and effectiveness of the vehicle's lane change.

[0046] In order to solve the problem that traditional methods cannot control the vehicle to successfully change lanes while ensuring the safety of lane changes, in the technical solution of the present application, when the target vehicle meets the lane change conditions, the lane change control method obtains the driving information of the obstacle vehicle in the target lane, and based on the driving information of each obstacle vehicle, the driving information of the target vehicle and the execution order of multiple lane change stages, controls the target vehicle to perform lane changes in sequence according to the safety threshold corresponding to each lane change stage to merge into the target lane, wherein the multiple lane change stages correspond to the multiple lateral target positions one by one, and each lane change stage is used to control the target vehicle to move laterally to the corresponding lateral target position, so that the target vehicle can be controlled in stages to gradually merge into the target lane, that is, during the lane change process, the lane change strategy can be adaptively adjusted according to the safety threshold of each lane change stage, the real-time driving information of each obstacle vehicle in the target lane and the real-time driving information of the target vehicle, thereby greatly improving the probability of successful lane change in a traffic congestion scenario and ensuring the safety of lane change.

[0047] At the same time, in order to shorten the lane change time of the target vehicle and improve the driving experience, the lane change control method provided in the implementation mode of this specification also defines a specific method for determining the current lane change window.

[0048] Based on the above-mentioned inventive concept, the lane change control method provided in the embodiment of this specification is exemplarily described below.

[0049] Exemplary Methods

[0050] The embodiment of this specification provides a lane change control method, such as Figure 1 As shown, including:

[0051] S101. When a target vehicle meets a lane change condition, obtain driving information of an obstacle vehicle in the target lane.

[0052] Specifically, the target vehicle is the vehicle to be changed lanes, that is, the target vehicle is the self-vehicle. The target lane is the lane that the target vehicle needs to merge into. The obstacle vehicle in the target lane is the vehicle that is currently traveling in the target lane and has an impact on the lane change of the target vehicle. For example, the obstacle vehicle may include vehicles traveling in the target lane whose longitudinal distance with the target vehicle is less than or equal to the target distance. The target distance may be a preset value and may be determined based on the latest lane change position. For example, the latest lane change position may include the position where the type of lane line between the current lane and the target lane changes from allowing lane change to not allowing lane change, or the required latest lane change position of the target vehicle. The current lane is the lane in which the target vehicle is traveling at the current moment.

[0053] The lane change condition may include that the type of lane line between the current lane and the target lane in the target interval is a type that allows lane change, for example, the type of lane line between the current lane and the target lane in the target interval is a dotted line, or, a dotted line on one side of the current lane. The target interval may be an interval that includes the current position of the target vehicle and is located in the driving direction of the target vehicle.

[0054] The driving information of the obstacle vehicle may include the driving speed, driving acceleration, heading angle, etc. of the obstacle vehicle.

[0055] During implementation, the driving information of the obstacle vehicle can be obtained through the perception unit (such as lidar, camera, millimeter-wave radar, etc.) and map module (such as radar fusion navigation module) set on the target vehicle. The driving information of the obstacle vehicle can also be obtained through external systems such as the vehicle-road cooperative system. The specific settings can be made according to actual needs.

[0056] S102, based on the driving information of each of the obstacle vehicles, the driving information of the target vehicle and the execution order of multiple lane change stages, controlling the target vehicle to perform lane change in accordance with the safety threshold corresponding to each lane change stage in order to merge into the target lane;

[0057] Among them, the multiple lane change stages correspond one-to-one to multiple lateral target positions, and each lane change stage is used to control the target vehicle to move laterally to the corresponding lateral target position.

[0058] Specifically, multiple lane change stages may be set, and the multiple lane change stages may correspond to multiple lateral target positions one by one. Each lane change stage is used to control the target vehicle to move laterally to the corresponding lateral target position. For any lane change stage, the lateral target position corresponding to the lane change stage may indicate the target position to which the target vehicle may be controlled to move laterally in the lane change stage, that is, the target vehicle may be controlled to move laterally step by step in stages according to the multiple lane change stages to merge into the target lane. For example, three lane change stages may be set, and the lateral target position corresponding to the first lane change stage may be the target lane line, that is, the target vehicle does not cross the line, and the lateral target position corresponding to the second lane change stage may be that the wheels of the target vehicle on one side of the target lane cross the target lane line, and less than or equal to 1 / 2 of the vehicle body crosses the target lane line, and the lateral target position corresponding to the third lane change stage may be that the vehicle merges into the target lane, and the target lane line may be the lane line between the current lane and the target lane.

[0059] Among them, each lane change stage may correspond to a set of safety thresholds, and different lane change stages may correspond to different safety thresholds. For example, for any lane change stage, the safety threshold corresponding to the lane change stage may include a threshold corresponding to a safety parameter between the target vehicle and the preceding vehicle and the following vehicle, and the safety parameter may include a safety distance, a collision time (TTC, Time-to-Collision), a time gap, etc. The preceding vehicle and the following vehicle may include an obstacle vehicle adjacent to the target vehicle in the longitudinal direction during the lateral movement of the target vehicle.

[0060] During implementation, based on the driving information of each obstacle vehicle, the driving information of the target vehicle and the execution order of multiple lane change stages, the target vehicle can be controlled to change lanes in sequence according to the safety threshold corresponding to each lane change stage to merge into the target lane.

[0061] For example, in any lane change stage, the target lane change window can be determined first, and based on the driving information of each obstacle vehicle corresponding to the target lane change window, the driving information of the target vehicle and the safety threshold corresponding to the lane change stage, it is determined whether the target vehicle meets the safety conditions for merging into the target lane change window. If not, the target vehicle is controlled to travel longitudinally first, and the speed of the target vehicle is adjusted during the longitudinal driving process so that the target vehicle meets the safety conditions for merging into the target lane change window. When the target vehicle meets the safety conditions for merging into the target lane change window, the target vehicle can be controlled to move laterally to the lateral target position corresponding to the lane change stage while traveling longitudinally, and the process is repeated until the target vehicle reaches the lateral target position of the last lane change stage, and the target vehicle can successfully merge into the target lane.

[0062] Therefore, during the lane changing process, the lane changing strategy of the target vehicle can be adaptively adjusted according to the safety threshold of each lane changing stage, the real-time driving information of each obstacle vehicle in the target lane, and the real-time driving information of the target vehicle, thereby greatly improving the probability of successful lane changing in traffic congestion scenarios and ensuring the safety of lane changing.

[0063] In a feasible implementation, based on the driving information of each obstacle vehicle, the driving information of the target vehicle, and the execution order of multiple lane change stages, controlling the target vehicle to perform lane change in sequence according to the safety threshold corresponding to each lane change stage includes:

[0064] At the initial moment of the current lane change phase, a current lane change window is obtained, and based on the driving information of the obstacle vehicle corresponding to the current lane change window, the driving information of the target vehicle and the safety threshold corresponding to the current lane change phase, it is determined whether the target vehicle meets the safety conditions for merging into the current lane change window; the initial moment of the current lane change phase is the initial lane change moment of the target vehicle or the moment when the target vehicle reaches the lateral target position corresponding to the previous lane change phase;

[0065] If satisfied, controlling the target vehicle to move laterally to the lateral target position corresponding to the current lane change stage;

[0066] If not satisfied, the target vehicle is controlled to move longitudinally to the longitudinal target position corresponding to the current lane change window, and when the target vehicle reaches the longitudinal target position, the target vehicle is controlled to move laterally to the lateral target position corresponding to the current lane change stage; the longitudinal target position includes a longitudinal position that meets the safety conditions for merging into the current lane change window.

[0067] Specifically, when the current lane change stage is the first lane change stage, the initial moment of the current lane change stage can be the initial lane change moment of the target vehicle, that is, the target vehicle has a lane change demand, and it is determined as the moment when the target vehicle meets the lane change conditions. When the current lane change stage is not the first lane change stage, that is, there are other lane change stages before the current lane change stage, the moment when the target vehicle reaches the lateral target position corresponding to the previous lane change stage can be used as the initial moment of the current lane change stage to achieve sequential execution of each lane change stage.

[0068] At the initial moment of the current lane change phase, the current lane change window can be obtained, and the current lane change window is the lane change window selected in the current lane change phase for merging into the target lane. In implementation, multiple candidate lane change windows can be determined, and the current lane change window can be randomly determined from the multiple candidate lane change windows. The candidate lane change window closest to the target vehicle can also be used as the current lane change window, and the largest candidate lane change window can also be used as the current lane change window. When the current lane change phase is not the first lane change phase, the historical lane change window determined in the previous lane change phase can also be used as the current lane change window; in addition, the current lane change window can also be determined based on the driving information of each obstacle vehicle at the current moment and the driving information of the target vehicle. Among them, the candidate lane change window can include the gap between two adjacent obstacle vehicles, and can also include the area before the obstacle vehicle that is the front in the driving direction of the target vehicle, and can also include the area behind the obstacle vehicle that is the rear in the driving direction of the target vehicle.

[0069] After determining the current lane change window, it is possible to determine whether the target vehicle meets the safety conditions for merging into the current lane change window based on the driving information of the obstacle vehicle corresponding to the current lane change window, the driving information of the target vehicle, and the safety threshold corresponding to the current lane change stage. The obstacle vehicle corresponding to the current lane change window is the obstacle vehicle constituting the current lane change window.

[0070] During implementation, the detection value corresponding to each safety parameter can be determined based on the driving information of the obstacle vehicle and the target vehicle corresponding to the current lane change window, and the detection value corresponding to each safety parameter can be compared with the corresponding threshold in the safety threshold corresponding to the current lane change stage, so as to determine whether the target vehicle meets the safety conditions for merging into the current lane change window based on the comparison result.

[0071] Among them, when the target vehicle does not meet the safety conditions for merging into the current lane change window, the target vehicle can be controlled to move longitudinally to the longitudinal target position corresponding to the current lane change window. The longitudinal target position may include the longitudinal position that the target vehicle needs to reach when it meets the safety conditions for merging into the current lane change window. In implementation, the longitudinal moving speed of the target vehicle can be adjusted based on the driving information of the obstacle vehicle corresponding to the current lane change window and the safety threshold corresponding to the current lane change stage, so that the target vehicle meets the safety conditions for merging into the current lane change window. It can be understood that when the longitudinal moving distance of the target vehicle reaches the specified distance, or the longitudinal moving time of the target vehicle reaches the specified time, or the target vehicle reaches the specified longitudinal position, if the target vehicle still cannot reach the longitudinal target position corresponding to the current lane change window, the current lane change window can be re-determined to avoid the target vehicle missing the opportunity to change lanes.

[0072] When the target vehicle meets the safety conditions for merging into the current lane change window, the target vehicle can be controlled to move laterally to the lateral target position corresponding to the current lane change stage. It can be understood that in the process of controlling the target vehicle to move laterally to the lateral target position corresponding to the current lane change stage, the longitudinal driving speed of the target vehicle can also be adjusted in real time based on the driving information of the obstacle vehicle corresponding to the current lane change window and the safety threshold corresponding to the current lane change stage, so that the target vehicle meets the safety conditions for merging into the current lane change window during the lateral movement, thereby being able to control the target vehicle to safely reach the lateral target position corresponding to the current lane change stage.

[0073] In addition, if the current lane change stage is not the last lane change stage, in the process of controlling the target vehicle to move laterally to the lateral target position corresponding to the current lane change stage, the longitudinal driving speed of the target vehicle can also be adjusted in real time based on the driving information of the obstacle vehicle corresponding to the current lane change window and the safety threshold corresponding to the next lane change stage, so that when the target vehicle reaches the lateral target position corresponding to the current lane change stage, it can meet the safety threshold corresponding to the next lane change stage as much as possible. Therefore, when the target vehicle reaches the lateral target position corresponding to the current lane change stage, it can continue to move laterally to the lateral target position corresponding to the next lane change stage, thereby effectively improving the lane change efficiency.

[0074] When the target vehicle safely reaches the lateral target position corresponding to the current lane change stage, if the current lane change stage is not the last lane change stage, the process can be repeated to control the target vehicle to reach the lateral target position corresponding to the next lane change stage, thereby ensuring the safety of the lane change while controlling the target vehicle to successfully merge into the target lane.

[0075] It is understandable that any lane change phase can be divided into multiple lane change sub-phases to control the target vehicle to successfully merge into the target lane while ensuring the safety of the lane change.

[0076] In a feasible implementation manner, the safety threshold includes a threshold corresponding to at least one safety parameter;

[0077] Determining whether the target vehicle meets the safety condition for merging into the current lane change window based on the driving information of the obstacle vehicle corresponding to the current lane change window, the driving information of the target vehicle, and the safety threshold corresponding to the current lane change stage includes:

[0078] Based on the driving information of the obstacle vehicle and the driving information of the target vehicle corresponding to the current lane change window, respectively determining the detection value corresponding to each of the safety parameters;

[0079] If the detection values ​​corresponding to the safety parameters all meet the safety thresholds corresponding to the current lane change stage, it is determined that the target vehicle meets the safety conditions for merging into the current lane change window;

[0080] If there is a detection value corresponding to at least one safety parameter that does not meet the safety threshold corresponding to the current lane change stage, it is determined that the target vehicle does not meet the safety condition for merging into the current lane change window.

[0081] Specifically, the safety threshold may include a threshold corresponding to at least one safety parameter. As a preferred implementation, the safety parameters may include the interval time with the leading vehicle, the collision time with the trailing vehicle, and the minimum safety distance with the trailing vehicle.

[0082] In implementation, the detection values ​​corresponding to each safety parameter can be determined based on the driving information of the obstacle vehicle corresponding to the current lane change window and the driving information of the target vehicle. For example, the first distance between the target vehicle and the front vehicle among the obstacle vehicles corresponding to the current lane change window can be obtained, and the ratio of the first distance to the longitudinal driving speed of the target vehicle can be used as the detection value of the interval time between the target vehicle and the front vehicle. At the same time, the second distance between the target vehicle and the rear vehicle among the obstacle vehicles corresponding to the current lane change window, as well as the speed difference between the rear vehicle among the obstacle vehicles corresponding to the current lane change window and the target vehicle can be obtained, and the ratio of the second distance to the speed difference can be used as the collision time between the target vehicle and the rear vehicle. It can be understood that the front vehicle and the rear vehicle among the obstacle vehicles corresponding to the current lane change window are determined based on the driving direction of the target vehicle. In addition, when the current lane change window is the area before the obstacle vehicle that is farthest forward in the driving direction of the target vehicle, the vehicle in front of the obstacle vehicle in the target lane can be regarded as the front vehicle among the obstacle vehicles corresponding to the current lane change window; when the current lane change window is the area behind the obstacle vehicle that is farthest back in the driving direction of the target vehicle, the vehicle behind the obstacle vehicle in the target lane can be regarded as the rear vehicle among the obstacle vehicles corresponding to the current lane change window.

[0083] After obtaining the detection value corresponding to each safety parameter, the detection value of each safety parameter can be compared with the corresponding threshold value in the safety threshold value corresponding to the current lane change stage, and whether the target vehicle meets the safety condition of merging into the current lane change window can be determined based on the comparison result. For example, when the detection values ​​corresponding to each safety parameter all meet the corresponding threshold value, it can be determined that the target vehicle meets the safety condition of merging into the current lane change window, and when there is a detection value corresponding to at least one safety parameter that does not meet the corresponding threshold value, it can be determined that the target vehicle does not meet the safety condition of merging into the current lane change window, thereby effectively ensuring the reliability of the determination result of whether the target vehicle meets the safety condition of merging into the current lane change window, and then in the process of controlling the target vehicle to change lanes based on the determination result of whether the target vehicle meets the safety condition of merging into the current lane change window, the safety of lane change can be effectively guaranteed.

[0084] In a feasible implementation manner, obtaining the current lane change window includes:

[0085] When the current lane change stage is the first lane change stage executed, or when the current lane change stage is not the first lane change stage executed and the target vehicle does not meet the safety condition of merging into the historical lane change window in the previous lane change stage, the current lane change window is determined from a plurality of candidate lane change windows based on the driving information of each of the obstacle vehicles, the driving information of the target vehicle and the safety threshold corresponding to the current lane change stage;

[0086] When the current lane change phase is not the first lane change phase executed and the target vehicle meets the safety condition of merging into the historical lane change window, the historical lane change window is used as the current lane change window.

[0087] Specifically, when the current lane change phase is not the first lane change phase to be executed, at the initial moment of the current lane change phase, it can be determined whether the target vehicle meets the safety condition of merging into the historical lane change window in the previous lane change phase based on the safety threshold corresponding to the current lane change phase. If it meets the safety condition, the historical lane change window in the previous lane change phase can be directly used as the current lane change window, and the target vehicle can be controlled to move laterally to the lateral target position corresponding to the current lane change phase, so that the target vehicle can be controlled to quickly merge into the target lane; if it does not meet the safety condition, the current lane change window can be re-determined to ensure safety during the lane change process. Among them, the historical lane change window in the previous lane change phase can be the current lane change window determined in the previous lane change phase.

[0088] In addition, when the current lane change phase is the first lane change phase to be executed (ie, the first lane change phase), the current lane change window may be determined at an initial moment of the current lane change phase.

[0089] Among them, when the current lane change stage is the first lane change stage to be executed, or, when the current lane change stage is not the first lane change stage to be executed and the current lane change window is re-determined, the current lane change window can be determined based on the driving information of each obstacle vehicle in the target lane, the driving information of the target vehicle and the safety threshold corresponding to the current lane change stage.

[0090] As a preferred implementation, based on the driving information of each obstacle vehicle, the driving information of the target vehicle and the safety threshold corresponding to the current lane change stage, determining the current lane change window from a plurality of candidate lane change windows includes:

[0091] Determine, based on the driving information of each of the obstacle vehicles, the driving information of the target vehicle, and the safety threshold corresponding to the current lane change stage, the predicted time for the target vehicle to reach the longitudinal target position corresponding to each of the candidate lane change windows from the current position;

[0092] Based on each of the predicted durations, the current lane change window is determined from a plurality of the candidate lane change windows.

[0093] Specifically, the candidate lane change windows of the current lane change phase can be obtained. For any candidate lane change window, the longitudinal target position corresponding to the candidate lane change window is the longitudinal position that the target vehicle needs to reach when it meets the safety conditions for merging into the candidate lane change window. The predicted time for the target vehicle to reach the longitudinal target position corresponding to each candidate lane change window from the current position is the time required for each obstacle vehicle corresponding to the candidate lane change window to reach the longitudinal target position corresponding to the candidate lane change window by adjusting the driving speed of the target vehicle when all the obstacle vehicles corresponding to the candidate lane change window are driving at the current driving speed and driving acceleration.

[0094] During implementation, the predicted time for the target vehicle to reach the longitudinal target position corresponding to each candidate lane change window from the current position can be determined based on the driving information of each obstacle vehicle in the target lane, the driving information of the target vehicle and the safety threshold corresponding to the current lane change stage, and the current lane change window can be determined from multiple candidate lane change windows based on each predicted time. This can effectively shorten the lane change time of the target vehicle and greatly improve the driving experience.

[0095] In a feasible implementation manner, based on each of the predicted durations, determining the current lane change window from a plurality of the candidate lane change windows includes:

[0096] The candidate lane changing window corresponding to the shortest predicted duration is used as the current lane changing window.

[0097] Specifically, the candidate lane change window corresponding to the shortest prediction duration can be used as the current lane change window, so as to control the target vehicle to quickly merge into the target lane while ensuring the safety of the lane change, thereby greatly improving the driving experience.

[0098] It is understandable that the candidate lane change window corresponding to the second shortest or second shortest predicted duration may also be used as the current lane change window, and no specific limitation is made here.

[0099] In one feasible embodiment, the safety threshold includes a first safety threshold between the target vehicle and a first obstacle vehicle in the target lane, and / or a second safety threshold between the target vehicle and a second obstacle vehicle in the target lane, the first obstacle vehicle and the second obstacle vehicle being adjacent to the target vehicle in the longitudinal direction of the target lane.

[0100] Specifically, the first obstacle vehicle and the second obstacle vehicle may be adjacent to the target vehicle in the longitudinal direction of the target lane. For example, the first obstacle vehicle and the second obstacle vehicle may be the front vehicle and the rear vehicle of the target vehicle, respectively.

[0101] The safety threshold may include a first safety threshold between the target vehicle and the first obstacle vehicle, and may also include a second safety threshold between the target vehicle and the second obstacle vehicle. For example, the first safety threshold may include a threshold corresponding to at least one first safety parameter, and the second safety threshold may include a threshold corresponding to at least one second safety parameter. The first safety parameter and the second safety parameter may be the same, different, or partially the same. For example, when the first obstacle vehicle and the second obstacle vehicle may be the front vehicle and the rear vehicle of the target vehicle, respectively, the first safety parameter may include the interval duration, and the second safety parameter may include the collision duration and the minimum safety distance.

[0102] Therefore, in the process of controlling the target vehicle to execute lane change according to the safety threshold corresponding to each lane change stage, the safety of lane change can be effectively guaranteed.

[0103] In a feasible implementation manner, the safety threshold corresponding to the lane changing stage is negatively correlated with the execution order of the lane changing stage.

[0104] Specifically, the safety threshold corresponding to the lane change phase is negatively correlated with the execution order of the lane change phase, that is, the earlier the execution order, the larger the corresponding safety threshold, and the later the execution order, the smaller the corresponding safety threshold.

[0105] Among them, the earlier the execution order of the lane change phase is, the farther the target vehicle is from the center of the target lane. At this time, the larger the corresponding safety threshold is, the higher the safety of the lane change is; the later the execution order of the lane change phase is, the closer the target vehicle is to the center line of the target lane. At this time, the smaller the corresponding safety threshold is, the higher the probability of successful lane change is. For example, the array corresponding to the safety threshold can be [the interval time between the target vehicle and the front vehicle, the collision time between the target vehicle and the rear vehicle, and the minimum safe distance between the target vehicle and the rear vehicle]. In the first lane change phase, the safety threshold can be [3 seconds, 6 seconds, 15 meters], in the second lane change phase, the safety threshold can be [2 seconds, 4 seconds, 10 meters], and in the third lane change phase, the safety threshold can be [1 second, 3 seconds, 8 meters].

[0106] Therefore, by setting the safety threshold corresponding to the lane changing stage to be negatively correlated with the execution order of the lane changing stage, the probability of successful lane changing can be effectively improved while ensuring the safety of lane changing.

[0107] Exemplary Devices

[0108] In an exemplary embodiment of the present specification, an electronic device is also provided, which includes at least one processor and at least one memory, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the lane change control method as described in any of the above embodiments is implemented.

[0109] Exemplary Systems and Vehicles

[0110] In an exemplary embodiment of the present specification, a lane change control system is also provided, such as Figure 2 As shown, it includes a data detection device 201 and a controller 202;

[0111] The data detection device 201 is used to obtain the driving information of the obstacle vehicle in the target lane and transmit it to the controller 202;

[0112] The controller 202 includes at least one processor and at least one memory, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the lane change control method as described in any one of the above embodiments is implemented.

[0113] In another exemplary embodiment of the present specification, a vehicle is provided, comprising the lane change control system as described in the above embodiment.

[0114] Exemplary computer program products and storage media

[0115] In addition to the above-mentioned methods and devices, the lane change control method provided in the embodiments of this specification may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps of the lane change control method according to various embodiments of this specification described in the above "Exemplary Method" section of this specification.

[0116] The computer program product may be written in any combination of one or more programming languages ​​to write program code for performing the operations of the embodiments of the present specification, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" language or similar programming languages. The program code may be executed entirely on the vehicle, partially on the vehicle, as a separate software package, partially on the vehicle and partially on a remote device, or entirely on a remote device or server.

[0117] In addition, an embodiment of the present specification also provides a computer-readable storage medium on which a computer program is stored, and the computer program is executed by a processor to execute the steps of the lane change control method according to various embodiments of the present specification described in the above "Exemplary Method" section of the present specification.

[0118] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this specification can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0119] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0120] The above-mentioned embodiments only express several implementation methods of this specification, and the descriptions are relatively specific and detailed, but they cannot be understood as limiting the scope of the solutions provided by the embodiments of this specification. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of this specification, which all belong to the protection scope of this specification. Therefore, the protection scope of the patent of this specification shall be based on the attached claims.

Claims

1. A lane change control method, characterized in that: include: When the target vehicle meets the lane change condition, the driving information of the obstacle vehicle in the target lane is obtained; Based on the driving information of each obstacle vehicle, the driving information of the target vehicle and the execution order of multiple lane change stages, controlling the target vehicle to perform lane change in sequence according to the safety threshold corresponding to each lane change stage to merge into the target lane; Among them, the multiple lane change stages correspond one-to-one to multiple lateral target positions, and each lane change stage is used to control the target vehicle to move laterally to the corresponding lateral target position.

2. The method according to claim 1, characterized in that Based on the driving information of each obstacle vehicle, the driving information of the target vehicle and the execution order of multiple lane change stages, controlling the target vehicle to perform lane change in sequence according to the safety threshold corresponding to each lane change stage, including: At the initial moment of the current lane change phase, a current lane change window is obtained, and based on the driving information of the obstacle vehicle corresponding to the current lane change window, the driving information of the target vehicle and the safety threshold corresponding to the current lane change phase, it is determined whether the target vehicle meets the safety conditions for merging into the current lane change window; the initial moment of the current lane change phase is the initial lane change moment of the target vehicle or the moment when the target vehicle reaches the lateral target position corresponding to the previous lane change phase; If satisfied, controlling the target vehicle to move laterally to the lateral target position corresponding to the current lane change stage; If not satisfied, the target vehicle is controlled to move longitudinally to the longitudinal target position corresponding to the current lane change window, and when the target vehicle reaches the longitudinal target position, the target vehicle is controlled to move laterally to the lateral target position corresponding to the current lane change stage; the longitudinal target position includes a longitudinal position that meets the safety conditions for merging into the current lane change window.

3. The method according to claim 2, characterized in that The safety threshold includes a threshold corresponding to at least one safety parameter; Determining whether the target vehicle meets the safety condition for merging into the current lane change window based on the driving information of the obstacle vehicle corresponding to the current lane change window, the driving information of the target vehicle, and the safety threshold corresponding to the current lane change stage includes: Based on the driving information of the obstacle vehicle and the driving information of the target vehicle corresponding to the current lane change window, respectively determining the detection value corresponding to each of the safety parameters; If the detection values ​​corresponding to the safety parameters all meet the safety thresholds corresponding to the current lane change stage, it is determined that the target vehicle meets the safety conditions for merging into the current lane change window; If there is a detection value corresponding to at least one safety parameter that does not meet the safety threshold corresponding to the current lane change stage, it is determined that the target vehicle does not meet the safety condition for merging into the current lane change window.

4. The method according to claim 2, characterized in that: Get the current lane change window, including: When the current lane change stage is the first lane change stage executed, or when the current lane change stage is not the first lane change stage executed and the target vehicle does not meet the safety condition of merging into the historical lane change window in the previous lane change stage, the current lane change window is determined from a plurality of candidate lane change windows based on the driving information of each of the obstacle vehicles, the driving information of the target vehicle and the safety threshold corresponding to the current lane change stage; When the current lane change phase is not the first lane change phase executed and the target vehicle meets the safety condition of merging into the historical lane change window, the historical lane change window is used as the current lane change window.

5. The method according to claim 4, characterized in that Determining the current lane change window from a plurality of candidate lane change windows based on the driving information of each of the obstacle vehicles, the driving information of the target vehicle, and a safety threshold corresponding to the current lane change stage includes: Determine, based on the driving information of each of the obstacle vehicles, the driving information of the target vehicle, and the safety threshold corresponding to the current lane change stage, the predicted time for the target vehicle to reach the longitudinal target position corresponding to each of the candidate lane change windows from the current position; Based on each of the predicted durations, the current lane change window is determined from a plurality of the candidate lane change windows.

6. The method according to claim 5, characterized in that Determining the current lane change window from the plurality of candidate lane change windows based on the predicted durations includes: The candidate lane changing window corresponding to the shortest predicted duration is used as the current lane changing window.

7. The method according to any one of claims 1 to 6, characterized in that: The safety threshold includes a first safety threshold between the target vehicle and a first obstacle vehicle in the target lane, and / or a second safety threshold between the target vehicle and a second obstacle vehicle in the target lane, the first obstacle vehicle and the second obstacle vehicle being adjacent to the target vehicle in the longitudinal direction of the target lane.

8. The method according to any one of claims 1 to 6, characterized in that: The safety threshold corresponding to the lane changing stage is negatively correlated with the execution order of the lane changing stage.

9. A lane change control system, characterized in that: It includes a data detection device and a controller; The data detection device is used to obtain the driving information of the obstacle vehicle in the target lane and transmit it to the controller; The controller includes at least one processor and at least one memory, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the lane change control method according to any one of claims 1 to 8 is implemented.

10. A vehicle, characterized in that: Includes the lane change control system as claimed in claim 9.

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