Vehicle lane changing method and device

Abstract

The invention discloses a vehicle lane changing method and device, and relates to the technical field of intelligent driving, and the method comprises the steps: recognizing a current lane changing scene of a vehicle according to navigation information provided by a navigation system of the vehicle; and then, according to map information provided by the current crowdsourcing map system and navigation information provided by the navigation system, whether the vehicle meets a lane changing condition corresponding to the identified lane changing scene is determined. If it is determined that the vehicle meets the lane changing condition corresponding to the identified lane changing scene, a lane changing instruction is triggered, and a lane changing decision of the vehicle is achieved. The data volume contained in the map information provided by the crowdsourcing map system and the navigation information provided by the navigation system is far smaller than that contained in a high-precision map, so that when the lane changing decision is made, the data volume needing to be processed is small, the load of a controller chip is low, and the processing efficiency of the lane changing decision is also improved.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving technology, and in particular to a vehicle lane changing method and device. Background Art

[0002] With the continuous development of intelligent driving technology, vehicles with automatic navigation assisted driving (Navigate on Autopilot, NOA) function support automatic lane change on highways or expressways to improve the driver's experience. In the existing technology, the vehicle's controller chip makes lane change decisions based on high-precision maps, and then controls the vehicle to change lanes according to the lane change decision output by the chip.

[0003] However, since high-precision maps involve a wide variety of data types and a huge amount of data, the controller chip needs to process a large amount of data when making lane change decisions, which makes the processing process of the controller chip when making lane change decisions cumbersome and complex, with a large load and low efficiency. Summary of the invention

[0004] In view of this, an embodiment of the present application provides a vehicle lane changing method and device, which makes lane changing decisions by using navigation information and map information provided by a crowdsourcing map system, thereby reducing the amount of data processed during the lane changing decision process, making the lane changing decision process simpler, reducing the load on the controller chip, and improving the efficiency of the controller chip in processing lane changing decisions.

[0005] To achieve the above objectives, the present application provides the following technical solutions:

[0006] In a first aspect, the present application discloses a vehicle lane changing method, comprising:

[0007] Identifying the current lane-changing scenario of the vehicle according to navigation information provided by the navigation system of the vehicle; wherein the navigation information is used to describe the road information and navigation path information of the lane in which the vehicle is currently traveling; and the lane-changing scenario is a scenario in which the vehicle may change lanes;

[0008] determining whether the vehicle satisfies a lane changing condition corresponding to the identified lane changing scenario based on map information provided by the current crowdsourced map system and navigation information provided by the navigation system;

[0009] If it is determined that the vehicle meets the lane changing condition corresponding to the identified lane changing scenario, a lane changing instruction is triggered; wherein the lane changing instruction is used to indicate that the vehicle needs to change lanes.

[0010] Optionally, in the above vehicle lane changing method, identifying the current lane changing scene of the vehicle according to navigation information provided by a navigation system of the vehicle includes:

[0011] The current lane changing scenario of the vehicle is identified based on the road type information of the current driving lane, the information indicating whether the vehicle is on a ramp, and the distance information between the vehicle and the ramp entrance provided by the vehicle's navigation system.

[0012] Optionally, in the above-mentioned vehicle lane changing method, the lane changing scenarios include: a lane changing scenario in a ramp, a lane changing scenario on a main road, and a lane changing scenario from a main road into a ramp.

[0013] Optionally, in the above-mentioned vehicle lane changing method, identifying the current lane changing scene of the vehicle according to the road type information of the current driving lane provided by the vehicle's navigation system, the information indicating whether the vehicle is on a ramp, and the distance information between the vehicle and the ramp entrance, includes:

[0014] If it is determined that the vehicle is in a ramp according to the information indicating whether the vehicle is on the ramp, identifying that the current lane-changing scenario of the vehicle is a lane-changing scenario in a ramp;

[0015] If it is determined according to the information indicating whether the vehicle is on the ramp that the vehicle is not on the ramp and the distance between the vehicle and the ramp exiting the main road is greater than a first distance threshold, identifying that the current lane changing scene of the vehicle is a main road lane changing scene;

[0016] If it is determined based on the information indicating whether the vehicle is on the ramp that the vehicle is not on the ramp, and the distance between the vehicle and the ramp exiting the main road is less than or equal to the first distance threshold, the current lane changing scenario of the vehicle is identified as a main road entering ramp lane changing scenario.

[0017] Optionally, in the above-mentioned vehicle lane changing method, the on-ramp lane changing scenario includes a ramp driving scenario and a ramp entering a main road scenario, and the main road lane changing scenario includes a main road driving scenario and a main road lane changing scenario to the right; wherein, after identifying that the current lane changing scenario of the vehicle is a ramp lane changing scenario, the method further includes:

[0018] If the distance between the vehicle and the ramp merging into the main road is greater than a second distance threshold, identifying that the current lane-changing scenario of the vehicle is a driving scenario on the ramp;

[0019] If the distance between the vehicle and the ramp merging into the main road is less than or equal to the second distance threshold, identifying the current lane-changing scenario of the vehicle as the ramp-into-main-road scenario;

[0020] After the current lane-changing scene of the vehicle is identified as a main road lane-changing scene, the method further includes:

[0021] If the distance between the vehicle and the ramp exiting the main road is greater than a third distance threshold, identifying that the current lane changing scenario of the vehicle is the main road driving scenario;

[0022] If the distance between the vehicle and the ramp exiting the main road is less than or equal to the third distance threshold, it is identified that the current lane changing scenario of the vehicle is a lane changing scenario of the main road to the right.

[0023] Optionally, in the above-mentioned vehicle lane changing method, determining whether the vehicle satisfies the lane changing condition corresponding to the identified lane changing scenario according to the map information provided by the current crowdsourced map system and the navigation information provided by the navigation system includes:

[0024] Based on the merging information, splitting information and the information of the drivable lane ahead of the vehicle provided by the crowdsourcing map system, and the drivable lane ahead information and the requested lane change direction information provided by the navigation system, it is determined whether the vehicle meets the lane changing conditions corresponding to the identified lane changing scenario; wherein the merging information is used to indicate whether the current driving lane is merged with other lanes; and the splitting information is used to indicate whether the current driving lane is split into multiple lanes.

[0025] Optionally, in the above-mentioned vehicle lane changing method, the lane changing conditions corresponding to the lane changing scenario include: the vehicle's current lane merges with other lanes to trigger lane changing, the vehicle's current lane is divided into multiple lanes to trigger lane changing, the information of the drivable lane ahead triggers lane changing, the navigation system sends a request for lane changing direction information to trigger lane changing, and the traffic speed of the vehicle's lane is less than the traffic speed of other lanes to trigger at least one of the lane changing.

[0026] Optionally, in the above-mentioned vehicle lane changing method, if it is identified that the current lane changing scene of the vehicle is a driving scene in a ramp, the lane changing condition corresponding to the identified lane changing scene is: the current driving lane of the vehicle and other lanes are merged to trigger the lane changing, the current driving lane of the vehicle is divided into multiple lanes to trigger the lane changing, the information of the drivable lane ahead triggers the lane changing, or the navigation system sends a request for lane changing direction information to trigger the lane changing under the condition that the distance between the vehicle and the ramp merging into the main road is greater than or equal to a fourth distance threshold;

[0027] If it is identified that the current lane-changing scenario of the vehicle is a ramp-to-main-road scenario, the lane-changing condition corresponding to the identified lane-changing scenario is: the current lane of the vehicle and other lanes merge to trigger the lane-changing; the current lane of the vehicle is divided into multiple lanes to trigger the lane-changing; the lane-changing is triggered by the information of the drivable lane ahead; or the navigation system issues a lane-changing direction information request to trigger the lane-changing under the condition that the distance between the vehicle and the ramp merging into the main road is less than or equal to a fifth distance threshold;

[0028] If it is identified that the current lane-changing scenario of the vehicle is a main road driving scenario, the lane-changing conditions corresponding to the identified lane-changing scenario are: the current lane of the vehicle is merged with other lanes to trigger the lane-changing; the current lane of the vehicle is divided into multiple lanes to trigger the lane-changing; the information of the drivable lane ahead triggers the lane-changing; or the passing speed of the lane of the vehicle is lower than the passing speed of other lanes to trigger the lane-changing;

[0029] If it is identified that the current lane-changing scenario of the vehicle is a lane-changing scenario from the main road to the right, the lane-changing conditions corresponding to the identified lane-changing scenario are: the current lane of the vehicle is merged with other lanes to trigger the lane-changing; the current lane of the vehicle is divided into multiple lanes to trigger the lane-changing; the information of the drivable lane ahead triggers the lane-changing; or the navigation system sends a request for lane-changing direction information to trigger the lane-changing;

[0030] If it is identified that the current lane-changing scenario of the vehicle is a main road-to-ramp lane-changing scenario, the lane-changing condition corresponding to the identified lane-changing scenario is: the lane-changing direction information requested by the navigation system triggers the lane-changing.

[0031] Optionally, in the above vehicle lane changing method, if it is determined that the vehicle meets the lane changing condition corresponding to the identified lane changing scenario, after triggering the lane changing instruction, the method further includes:

[0032] If it is detected that N consecutive detection cycles trigger the lane change instruction, a lane change request is triggered; wherein the lane change request is used to request control of the vehicle to change lanes; N is a positive integer.

[0033] In a second aspect, the present application discloses a vehicle lane changing device, comprising:

[0034] an identification unit, configured to identify a current lane-changing scenario of the vehicle according to navigation information provided by a navigation system of the vehicle; wherein the navigation information is used to describe road information and navigation path information of a lane in which the vehicle is currently traveling; and the lane-changing scenario is a scenario in which the vehicle may change lanes;

[0035] a determination unit, configured to determine whether the vehicle satisfies a lane-changing condition corresponding to the identified lane-changing scenario based on map information provided by a current crowd-sourced map system and navigation information provided by the navigation system;

[0036] The first trigger unit is used to trigger a lane change instruction if it is determined that the vehicle meets the lane change condition corresponding to the identified lane change scenario; wherein the lane change instruction is used to indicate that the vehicle needs to change lanes.

[0037] Based on the vehicle lane changing method proposed in the above-mentioned embodiment of the present application, the present application identifies the current lane changing scene of the vehicle according to the navigation information provided by the navigation system of the vehicle. Then, according to the map information provided by the current crowdsourcing map system and the navigation information provided by the navigation system, it is determined whether the vehicle meets the lane changing conditions corresponding to the identified lane changing scene. If it is determined that the vehicle meets the lane changing conditions corresponding to the identified lane changing scene, the lane changing instruction is triggered to implement the lane changing decision for the vehicle. Since the embodiment of the present application implements the vehicle lane changing decision based on the navigation information of the vehicle and the map information provided by the crowdsourcing map system, and the amount of data contained in the map information provided by the crowdsourcing map system and the navigation information provided by the navigation system is much smaller than the high-precision map, the controller chip processes less data when making lane changing decisions through navigation information and map information, the load of the controller chip is lower, and the processing efficiency of the lane changing decision is also improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0039] Figure 1 A schematic diagram of a process flow of a vehicle lane changing method proposed in an embodiment of the present application;

[0040] Figure 2 Schematic diagram of the process of the vehicle lane change scene recognition method proposed in the embodiment of the present application Figure 1 ;

[0041] Figure 3 Schematic diagram of the process of the vehicle lane change scene recognition method proposed in the embodiment of the present application Figure 2 ;

[0042] Figure 4 This is a schematic diagram of a scene where a vehicle merges into the main road from a ramp;

[0043] Figure 5 This is a schematic diagram of a scene in which a vehicle exits a ramp from a main road;

[0044] Figure 6 Schematic diagram of the process of the vehicle lane change scene recognition method proposed in the embodiment of the present application Figure 3 ;

[0045] Figure 7 A schematic structural diagram of a vehicle lane changing device proposed in an embodiment of the present application. DETAILED DESCRIPTION

[0046] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments. It should be noted that the embodiments and features in the embodiments of the present invention can be combined with each other without conflict.

[0047] The following detailed description is an exemplary description, which is intended to provide further detailed description of the present invention. Unless otherwise specified, all technical terms used in the present invention have the same meaning as those generally understood by those skilled in the art to which the present invention belongs. The terms used in the present invention are only for describing specific embodiments, and are not intended to limit the exemplary embodiments according to the present invention.

[0048] See also Figure 1 The embodiment of the present application discloses a vehicle lane changing method, which is applied to a controller chip of a vehicle, and the controller chip can be used to execute the NOA function of the vehicle. The controller chip can be a system-on-chip (SoC) or a microcontroller unit (MCU), etc. The embodiment of the present application does not limit the chip type of the controller chip. The vehicle proposed in the embodiment of the present application can be a gasoline vehicle, a new energy vehicle, and other different types of vehicles. The different types of vehicles do not affect the sight of the embodiment of the present application.

[0049] It should be noted that Figure 1 The method flow shown is repeatedly executed. Specifically, it can be repeatedly executed in real time or according to a preset cycle. Figure 1 The process shown can ensure that the vehicle can pass when it needs to change lanes. Figure 1 The method shown controls the vehicle lane change in a timely manner.

[0050] It should also be noted that the trigger starts Figure 1 There are many ways to change lanes for a vehicle, which are not limited in this application. For example, when the driver starts the vehicle, turns on the navigation system of the vehicle, enters the starting point and destination to turn on the navigation function of the vehicle, and turns on the NOA function of the vehicle, the controller chip detects that the current navigation function and NOA function of the vehicle are both turned on, and then triggers the execution of repeated execution. Figure 1 The process shown. The operation mode of the driver starting the navigation function and the NOA function is not limited in the embodiment of the present application.

[0051] Specifically, Figure 1The vehicle lane changing method shown includes the following steps:

[0052] S101. Identify a current lane-changing scenario of the vehicle according to navigation information provided by a navigation system of the vehicle.

[0053] Among them, the navigation system of the vehicle can be understood as an on-board navigation system that can provide navigation functions for the driver. Navigation information is used to describe the road information and navigation path information of the vehicle's current driving lane, and the lane change scenario is a scenario in which the vehicle may change lanes. Optionally, the road information of the current driving lane may include road type information, information used to indicate whether the vehicle is on the ramp, and information about the distance of the vehicle from the ramp entrance. Among them, the road type information is used to describe the road type of the current driving lane, and the road types include ramps, highway main roads, expressways, urban roads, national roads, rural roads, etc. The information used to indicate whether the vehicle is on the ramp can be obtained by the positioning signal sent by the navigation system. The navigation system can determine whether the vehicle is currently on the ramp by means of the sent positioning signal, and then provide the determined result to the controller chip.

[0054] The navigation path information can be understood as information used to describe the direction of the path from the starting point to the destination planned by the navigation system. Optionally, the navigation path information may include information about the drivable lane ahead and information about the requested lane change direction. The drivable lane ahead information is used to describe information about the drivable lane ahead of the vehicle's current position under the path planned by the navigation system. For example, the drivable lane ahead information may include the number of roads ahead of the vehicle, and which lanes on the road ahead are drivable lanes. The requested lane change direction information can be understood as lane change direction prompt information triggered under the path planned by the navigation system. For example, under the path planned by the navigation system, a lane change to the right to the rightmost lane is required in front in order to subsequently turn right to enter the ramp, and then the navigation system will trigger a lane change request direction information requesting a lane change to the right.

[0055] It should be noted that the navigation information that the navigation system can provide includes but is not limited to the content mentioned above. For example, the navigation system can also provide traffic congestion information, information on the current distance between the vehicle and the destination, information on the lanes ahead, information on the direction of requested lane changes, etc.

[0056] In the process of executing step S101, the controller chip can directly read the navigation information required for identifying the lane change scene from the navigation system, or the navigation system can actively send the current navigation information to the controller chip, and the controller chip can perform lane change scene identification after obtaining the navigation information. That is, there are many ways for the navigation system to provide navigation information to the controller chip, including but not limited to the contents proposed in the embodiments of the present application.

[0057] The lane-changing scene of the vehicle can be pre-configured, that is, the correspondence between the navigation information and the lane-changing scene is pre-configured, which can also be understood as pre-configuring the conditions of the navigation information corresponding to each lane-changing scene. When the acquired navigation information can meet the conditions of the lane-changing scene, it is recognized that the vehicle is currently in the lane-changing scene. If the acquired navigation information does not have a corresponding lane-changing scene, it means that the vehicle is not currently in a scene where a lane change is required, and therefore does not enter the subsequent step S102, but continues to repeat step S101 until the current lane-changing scene of the vehicle is recognized.

[0058] For example, if the vehicle lane change control is set to be performed only on expressways or highways, it is only necessary to pre-configure lane change scenarios on sections of expressways and highways. When it is identified that the vehicle currently meets a certain lane change scenario on an expressway or highway, step S102 is continued to be executed. If the vehicle is traveling on an ordinary urban highway, the corresponding lane change scenario cannot be identified through navigation information when executing step S101, so step S102 will not be entered, but step S101 will be repeatedly executed until the vehicle travels to an expressway or highway, and step S101 can identify the current lane change scenario through the navigation information provided by the vehicle's navigation system.

[0059] It should also be noted that after step S101 identifies the current lane-changing scenario of the vehicle, it only indicates that the vehicle may need to be controlled to change lanes in the current lane-changing scenario, but it is not necessarily necessary to change lanes. Whether the lane change is possible in this lane-changing scenario needs to be further determined through the subsequent step S102.

[0060] Optionally, in a specific embodiment of the present application, the lane changing scenario may include: a lane changing scenario in a ramp, a lane changing scenario on a main road, and a lane changing scenario when the main road enters the ramp. Among them, the lane changing scenario in the ramp can be understood as a scenario in which a lane change may be required when the vehicle is in a ramp. The lane changing scenario on the main road can be understood as a scenario in which a lane change may be required when the vehicle is in the main road. If the pre-configured vehicle lane changing method is implemented on a highway or an expressway, the main road mentioned in the embodiment of the present application can be understood as a highway or an expressway. The lane changing scenario when the main road enters the ramp can be understood as a lane changing scenario in the process when the vehicle enters the ramp from the main road. By pre-configuring the lane changing scenario as a lane changing scenario in a ramp, a lane changing scenario on the main road, and a lane changing scenario when the main road enters the ramp, the lane changing of the entire process of controlling the vehicle from the ramp to the main road, driving in the main road, and from the main road to the ramp can be covered.

[0061] Optionally, in another specific embodiment of the present application, the lane changing scenario in the ramp can be divided into a driving scenario in the ramp and a ramp entering the main road scenario. The main road lane changing scenario can also be divided into a main road driving scenario and a main road to right lane changing scenario. Among them, the driving scenario in the ramp is a lane changing scenario when the vehicle is driving in the ramp and does not need to enter the main road. The ramp entering the main road scenario is a scenario when the vehicle is driving from the ramp to the main road and changing lanes. The main road driving scenario is a lane changing scenario when the vehicle is driving in the main road and is far away from the ramp entrance and does not need to enter the ramp. The main road to right lane changing scenario is a lane changing scenario when the vehicle is driving on the main road and needs to change lanes to the right in advance so that it can enter the ramp later. By further subdividing the lane changing scenario in the ramp and the main road lane changing scenario, the subsequent vehicle lane changing control can be made more accurate and can meet the lane changing requirements in various scenarios.

[0062] It should be noted that the above-mentioned classification of several lane-changing scenarios is only one of the implementation methods, and more lane-changing scenarios can be expanded or other types of lane-changing scenarios can be configured according to changes in demand to meet the driver's lane-changing needs for vehicles in different scenarios. The lane-changing needs in different lane-changing scenarios are different, that is, the lane-changing conditions corresponding to different lane-changing scenarios may be different, so it is necessary to identify the lane-changing scenarios through step S101, so as to make corresponding lane-changing decisions for different lane-changing scenarios later.

[0063] Optionally, in a specific embodiment of the present application, an implementation of step S102 includes: identifying the vehicle's current lane changing scenario based on the road type information of the current driving lane provided by the vehicle's navigation system, information indicating whether the vehicle is on a ramp, and distance information between the vehicle and the ramp entrance.

[0064] Specifically, according to the road type information of the current driving lane, the information used to indicate whether the vehicle is on the ramp, and the distance information of the vehicle from the ramp entrance, it is possible to identify which lane change scenario the vehicle belongs to among the lane change scenario in the ramp, the lane change scenario on the main road, and the lane change scenario on the main road entering the ramp. Among them, the information on whether the vehicle is on the ramp can be determined by the positioning signal of the navigation system. For example, if the vehicle lane change method is pre-set to be triggered only on a highway or an expressway, it can be determined according to the road type information of the current driving lane whether the vehicle is currently on a highway, an expressway, a ramp entering a highway, or a ramp entering an expressway. When it is determined that the vehicle is currently on a highway, an expressway, a ramp entering a highway, or a ramp entering an expressway, it can be further identified according to the information used to indicate whether the vehicle is on the ramp and the distance information of the vehicle from the ramp entrance to identify which scene the vehicle is in among the lane change scenario in the ramp, the lane change scenario on the main road, and the lane change scenario on the main road entering the ramp. If the road type information determines that the vehicle is not on a highway, an expressway, a ramp to a highway, or a ramp to an expressway, then the controller does not currently need to change lanes, so the process can be terminated. Figure 1 The process shown in the figure is continued until the lane change scene of the vehicle is recognized when step S101 is executed again. Figure 1 The next steps are shown.

[0065] Optionally, see Figure 2 In a specific embodiment of the present application, according to the road type information of the current driving lane provided by the navigation system of the vehicle, the information indicating whether the vehicle is on the ramp, and the distance information of the vehicle from the ramp entrance, an implementation method of identifying the current lane change scenario of the vehicle may be:

[0066] S201. Determine whether the vehicle is on the ramp based on information indicating whether the vehicle is on the ramp.

[0067] The information indicating whether the vehicle is on the ramp can be obtained through the positioning signal sent by the navigation system. Optionally, in another embodiment, in order to accurately determine whether the vehicle is on the ramp, in addition to confirming whether the vehicle is on the ramp based on the positioning signal of the navigation system, the vehicle condition and the surrounding environment can also be monitored by sensors such as cameras on the vehicle to confirm whether the vehicle is currently on the ramp based on the vehicle condition and the surrounding environment.

[0068] If step S201 determines that the vehicle is in a ramp, it means that the current vehicle may need to trigger a lane change in the ramp, and step S202 is executed, that is, the current lane change scenario of the vehicle is identified as a lane change scenario in the ramp. If step S201 determines that the vehicle is not in the ramp, it means that the vehicle does not belong to the lane change scenario in the ramp, so step S203 is executed to further identify the lane change scenario of the vehicle to see whether the vehicle belongs to the main road lane change scenario or the main road entering the ramp lane change scenario.

[0069] S202: Identify that the current lane-changing scenario of the vehicle is a lane-changing scenario on a ramp.

[0070] After determining that the current lane-changing scenario of the vehicle is a lane-changing scenario on the ramp, the execution can continue. Figure 1 Step S102 is shown to further determine whether the vehicle can meet the corresponding lane changing conditions in the lane changing scenario in the ramp.

[0071] Optionally, see Figure 3 In another specific embodiment of the present application, if the lane changing scene in the ramp is divided into the driving scene in the ramp and the ramp entering the main road scene, then after executing step S202, you can continue to execute Figure 3 The process shown is used to further identify whether the vehicle belongs to the driving scenario in the ramp or the ramp entering the main road scenario.

[0072] S301: Determine whether the distance between the vehicle and the ramp merging into the main road is greater than a second distance threshold.

[0073] Among them, the setting method of the second distance threshold is not limited in the embodiment of the present application. For example, it can be manually set based on the experience of multiple debugging of the vehicle lane change process. Among them, the distance between the vehicle and the ramp that merges into the main road can be obtained from the navigation information provided by the navigation system. From the above introduction to the navigation information, it can be seen that the navigation information includes the distance information between the vehicle and the ramp. Therefore, the controller chip can determine the distance between the ramp vehicle and the ramp that merges into the main road through the distance information provided by the navigation system, and then determine whether the distance between the vehicle and the ramp that merges into the main road is greater than the second distance threshold.

[0074] It should be noted that the ramp that merges into the main road can be understood as the ramp that is passed when entering the main road from the ramp. Figure 4 The scene diagram shown is from Figure 4The scene shown shows that the vehicle is currently on the ramp, and the dotted line at the connection between the ramp and the main road represents the ramp entrance merging into the main road. The smaller the distance between the vehicle and the ramp entrance merging into the main road, the smaller it is, which means that the vehicle is driving from the ramp to the main road. Therefore, the distance between the vehicle and the ramp entrance merging into the main road can be used to distinguish whether the vehicle is in a driving scene in the ramp or a ramp entering the main road. The smaller the distance between the vehicle and the ramp entrance merging into the main road, the closer the vehicle is to the main road and is about to change lanes to the main road. Therefore, when it is determined that the distance between the vehicle and the ramp entrance merging into the main road is not greater than the second distance threshold, step S302 can be executed, that is, the vehicle's current lane change scene is identified as a ramp entering the main road scene. When it is determined that the distance between the vehicle and the ramp entrance merging into the main road is greater than the second distance threshold, it means that the lane change that may occur to the current vehicle is a lane change during driving on the ramp, rather than a lane change from the ramp to the main road. Therefore, step S303 is executed, that is, it is identified that the lane change scenario of the vehicle is a driving scenario on the ramp.

[0075] S302: Identify that the current lane-changing scenario of the vehicle is a ramp-to-main-road scenario.

[0076] S303: Identify that the current lane-changing scenario of the vehicle is a driving scenario on a ramp.

[0077] pass Figure 3 After the method shown identifies the current lane-changing scenario of the vehicle, step S102 is continued to be executed to further determine whether the vehicle can meet the lane-changing condition corresponding to the identified lane-changing scenario.

[0078] S203: Determine whether the distance between the vehicle and the ramp exiting the main road is greater than a first distance threshold.

[0079] Since the aforementioned step S201 has determined that the vehicle is not in the ramp, this indicates that the vehicle is traveling on a non-ramp main road, so the vehicle may be in a main road lane change scenario or a main road entering ramp lane change scenario. From the above introduction to the main road lane change scenario and the main road entering ramp lane change scenario, it can be seen that these two lane change scenarios can be distinguished by the distance between the vehicle and the ramp exiting the main road. It should be noted that the setting method of the first distance threshold is not limited in the embodiment of the present application. For example, it can be manually set based on the experience of multiple debugging of the vehicle lane change process. The distance between the vehicle and the ramp exiting the main road can be obtained from the distance information in the navigation information provided by the navigation system.

[0080] The ramp exit from the main road can be understood as the ramp exit passed when driving from the main road to the ramp. Figure 5 The scene diagram shown is from Figure 5The scene shown shows that the vehicle is currently on the main road. The dotted line at the connection between the main road and the ramp represents the ramp exiting the main road. The smaller the distance between the vehicle and the ramp exiting the main road, the smaller the vehicle is, which means that the vehicle is traveling from the main road to the ramp. Therefore, the distance between the vehicle and the ramp exiting the main road can be used to distinguish whether the vehicle is in a main road lane change scenario or a main road entering ramp lane change scenario. The smaller the distance between the vehicle and the ramp exiting the main road, the closer the vehicle is to the ramp, and the vehicle is about to change lanes to the ramp. Therefore, when it is determined that the distance between the vehicle and the ramp exiting the main road is not greater than the first distance threshold, step S204 can be executed, that is, identifying that the vehicle's current lane change scenario is a main road entering ramp lane change scenario. When it is determined that the distance between the vehicle and the ramp exiting the main road is greater than the first distance threshold, it means that the possible lane change of the current vehicle is a lane change during driving on the main road, rather than a lane change from the main road to the ramp, so step S205 is executed, that is, the current lane change scene of the vehicle is identified as a main road lane change scene.

[0081] S204: Identify that the current lane-changing scenario of the vehicle is a main road-to-ramp lane-changing scenario.

[0082] S205: Identify that the current lane-changing scenario of the vehicle is a main road lane-changing scenario.

[0083] Optionally, see Figure 6 In a specific embodiment of the present application, if the main road lane change scenario is divided into the main road driving scenario and the main road lane change to the right scenario, after executing step S205, the following steps may also be performed:

[0084] S601: Determine whether the distance between the vehicle and the ramp exiting the main road is greater than a third distance threshold.

[0085] The third distance threshold is greater than the second distance threshold mentioned above. The setting method of the third distance threshold is not limited in the embodiment of the present application. For example, it can be manually set based on the experience of multiple debugging of the vehicle lane change process. The distance between the vehicle and the ramp exiting the main road can be obtained from the navigation information provided by the navigation system.

[0086] From the above explanations of the main road driving scenario and the main road to right lane changing scenario, it can be seen that the main road to right lane changing scenario is a lane changing scenario in which the vehicle is close to the exit ramp of the main road and needs to change lanes in advance to facilitate subsequent exit from the main road and enter the ramp. Therefore, the distance between the vehicle and the exit ramp of the main road can be used to distinguish whether the vehicle is currently in the main road driving scenario or the main road to right lane changing scenario.

[0087] Specifically, when step S601 determines that the distance between the vehicle and the ramp exiting the main road is greater than the third distance threshold, it means that the current vehicle is far enough from the ramp exiting the main road, so it is not necessary to change lanes to the right in advance to prepare for entering the ramp, that is, step S602 is executed to identify that the current lane change scene of the vehicle is the main road driving scene. When step S601 determines that the distance between the vehicle and the ramp exiting the main road is not greater than the third distance threshold, it means that the current vehicle is close to the ramp exiting the main road, so it is necessary to change lanes to the right in advance to prepare for entering the ramp, that is, the vehicle is in the main road to the right lane change scene, so step S603 is executed.

[0088] To make the description clearer, an example is given. For example, if the third distance threshold is set to 1 km, when the vehicle is driving on the main road, there are three lanes on the main road. When the distance between the vehicle and the exit ramp of the main road is greater than 1 km, the controller chip recognizes that the vehicle is in the main road driving scene through the above method, and when the distance between the vehicle and the exit ramp of the main road is less than or equal to 1 km, it is necessary to drive in the rightmost lane in advance to avoid missing the exit ramp of the main road. The controller chip recognizes that the vehicle is in the main road to change lanes to the right through the above method.

[0089] S602: Identify that the current lane-changing scenario of the vehicle is a main road driving scenario.

[0090] S603: Identify that the current lane-changing scenario of the vehicle is a lane-changing scenario toward the right side of the main road.

[0091] It should be noted that the distance between the vehicle and any ramp mentioned in the above embodiments refers to the ramp closest to the vehicle in front on the navigation planning path, rather than any ramp on the road. Figure 1 The vehicle lane changing method shown is a vehicle lane changing control performed under a navigation-planned path.

[0092] After the lane-changing scenario of the vehicle is identified through the above-mentioned embodiments, the process proceeds to step S102 to further determine whether it is necessary to control the vehicle to change lanes.

[0093] S102: Determine whether the vehicle meets a lane changing condition corresponding to the identified lane changing scenario based on the map information provided by the current crowdsourcing map system and the navigation information provided by the navigation system.

[0094] Among them, the crowdsourcing map system is a system for drawing crowdsourcing maps (i.e., crowdsourcing maps). The crowdsourcing map system uses visual recognition technology to draw maps using low-bandwidth anonymous data packets collected by the front camera of the car, and finally forms a crowdsourcing map of the drivable path in the form of crowdsourcing. Among them, the crowdsourcing map system can be configured in the cloud. Exemplarily, the crowdsourcing map system can be a road network collection and management system (Road Experience Management, REM). The process of forming a crowdsourcing map by the REM system is: anonymous data is automatically collected through devices such as cameras during normal driving of the vehicle and transmitted to REM. REM identifies road-related information and generates marked data points on the vehicle side, and then uploads the data to the cloud with extremely low bandwidth. Then, by clustering and semantic recognition of the data, semantic information that can be understood by the vehicle is obtained. For example, lane lines, road edges, traffic lights, road traffic signs, etc., semantic information is continuously collected through the above process, and finally a REM map (i.e., a crowdsourcing map) is formed.

[0095] The map information provided by the crowdsourcing map system is more fine-grained than the navigation information provided by the navigation system, and can be detailed enough to explain the road traffic signs, lane lines, etc. within a few hundred meters around the current vehicle. Compared with the high-precision map used in lane change decisions in the prior art, although the information provided by the crowdsourcing map system is not as detailed as the high-precision map, its data volume is less, and in the embodiment of the present application, the map information provided by the crowdsourcing map system is combined with the navigation information, which is sufficient to achieve accurate vehicle lane change control. For example, in the existing vehicle lane change decision-making scheme based on high-precision maps, the controller chip needs to process data within a few kilometers around the vehicle, and because the information displayed by the high-precision map is very detailed, the amount of data that the controller chip needs to read and analyze will be very large. Compared with the existing lane change decision-making scheme based on high-precision maps, the controller chip in the embodiment of the present application greatly reduces the amount of data processed while ensuring accurate vehicle lane change control. In combination with navigation information, the map information within a few hundred meters provided by the crowdsourcing map system can allow the controller chip to accurately decide on the vehicle lane change. Since the amount of data processed by the controller chip is greatly reduced, the processing efficiency of the controller chip is also improved. Moreover, compared with the prior art, the vehicle lane changing method of the embodiment of the present application greatly reduces the computing power requirements of the controller chip, and some controller chips with lower computing power can also support the implementation of the embodiment of the present application.

[0096] Among them, the map information provided by the crowdsourcing map system is used to describe the information of the road environment around the vehicle. Specifically, the map information may include the merging information, splitting information and the information of the drivable lane ahead of the vehicle's current driving lane. Among them, the merging information is used to indicate whether the current driving lane is merged with other lanes, and the splitting information is used to indicate whether the current driving lane is split into multiple lanes. Optionally, in a specific embodiment of the present application, the merging information and splitting information in the crowdsourcing map information may include three parameters: distance, type, and direction. Among them, the distance parameter is used to indicate the distance of the vehicle from the merging point or the splitting point. The merging point can be understood as the merging position when the current driving lane merges with other lanes. The splitting point can be understood as the splitting position when the current driving lane is split into multiple lanes. The type parameter is used to indicate whether the current driving lane is merged or split. The direction parameter is used to indicate the direction in which the vehicle should travel after the current driving lane is split or merged. For example, after the current driving lane is split into two roads, the map information of the crowdsourcing map system can indicate that the left road should be taken after the two roads are split. The drivable lane ahead information is used to indicate which lanes are drivable ahead. The drivable lane ahead may be determined by a crowdsourced map system based on navigation path information.

[0097] It should be noted that the content of the map information provided by the crowdsourcing map system includes but is not limited to the content proposed in the embodiments of the present application.

[0098] Specifically, the process of executing step S102 is as follows: the controller chip obtains the navigation information provided by the navigation system and the map information provided by the crowdsourcing map system, and then determines whether the vehicle can be triggered to change lanes under the lane change scenario identified in step S101 based on the map information and navigation information, that is, determines whether the vehicle can meet the lane change conditions corresponding to the identified lane change scenario. The lane change conditions corresponding to the lane change scenario in the embodiment of the present application can be understood as being set based on the map information and navigation information. The conditions for generating lane change requirements in different lane change scenarios may be different, so the corresponding lane change conditions are pre-set for different lane change scenarios in the embodiment of the present application. After step S102 obtains the map information and navigation information, it can be determined whether the current map information and navigation information can meet the lane change conditions corresponding to the identified lane change scenario. If the vehicle meets the lane change conditions corresponding to the identified lane change scenario, step S103 is executed. If the vehicle does not meet the lane change conditions corresponding to the identified lane change scenario, there is no need to control the vehicle to change lanes, and the process ends directly, which can also be understood as returning to step S101 and re-executing. Figure 1 The method shown.

[0099] It should be noted that, from the introduction of the navigation information provided by the navigation system in the above embodiments, it can be seen that the navigation information includes many different types of information. The information used when executing step S101 and the information used in step S102 are only part of the information in the navigation information. And because the steps executed in step S101 and step S102 are different, the effects to be achieved are different, so the specific navigation information used is also different. For example, what is used in step S101 is the road type information of the current driving lane, the information used to indicate whether the vehicle is on the ramp, and the distance information of the vehicle from the ramp entrance. When executing step S102, since it is necessary to determine whether the lane change conditions are met, the navigation information used can be the information of the drivable lane ahead and the lane change direction information requested, which will trigger the vehicle to change lanes.

[0100] Optionally, in a specific embodiment of the present application, an implementation of step S102 includes:

[0101] Based on the merging information, splitting information and the drivable lane ahead information of the vehicle's current lane provided by the crowdsourcing map system, as well as the drivable lane ahead information and requested lane change direction information provided by the navigation system, it is determined whether the vehicle meets the lane changing conditions corresponding to the identified lane changing scenario.

[0102] The drivable lane information provided by the navigation system is used to indicate which roads are drivable ahead of the vehicle's current lane. The drivable lane information provided by the crowdsourcing map system is usually consistent with the drivable lane information provided by the navigation system. When there is a discrepancy, the drivable lane information provided by the navigation system shall prevail.

[0103] The lane change direction information requested is used to indicate the direction in which the navigation system requests the lane change. Exemplarily, the lane change direction information requested may include information such as the lanes that the navigation system can change lanes to and the lane change direction. For example, under the route currently planned by the navigation system, the navigation system indicates through the lane change direction information that it needs to change to the second lane or the third lane from the right.

[0104] From the above introduction to the merging information, splitting information and the drivable lane ahead information of the vehicle's current lane provided by the crowdsourcing map system, and the drivable lane ahead information and requested lane change direction information provided by the navigation system, it can be seen that the above information is all information that can trigger the vehicle to change lanes. Therefore, through the above information, it can be determined whether the vehicle meets the lane changing conditions corresponding to the identified lane changing scenario.

[0105] Optionally, in a specific embodiment of the present application, the lane changing conditions corresponding to the lane changing scenario include: the vehicle's current lane merges with other lanes to trigger a lane change, the vehicle's current lane is divided into multiple lanes to trigger a lane change, information about the drivable lane ahead triggers a lane change, the navigation system sends a request for lane change direction information to trigger a lane change, and the vehicle's lane speed is less than the speed of other lanes to trigger at least one of the following.

[0106] Among them, triggering a lane change can be understood as generating a lane change demand (lane change intention). When the merging information provided by the crowdsourcing map system indicates that the vehicle's current lane merges with other lanes, a lane change will be triggered. When the segmentation information indicates that the vehicle's current lane is segmented into multiple lanes, a lane change will also be triggered. The information about the drivable lane ahead provided by the crowdsourcing map system or the navigation system will also trigger a lane change due to changes in the drivable lane ahead. The lane change request direction information issued by the navigation system under the current path planning will trigger a lane change. When the speed of the vehicle's lane is lower than the speed of other lanes, a lane change will also be triggered to increase the speed. The above multiple lane change triggering methods can all be used to configure lane change conditions. In a specific embodiment, in order to improve the lane change accuracy in different lane change scenarios and avoid erroneous lane change control, one or more of the above lane change triggering methods can be selected according to the characteristics of different lane change scenarios to set the lane change conditions corresponding to the lane change scenario.

[0107] Optionally, in a specific embodiment of the present application, the lane changing conditions corresponding to different lane changing scenarios may be:

[0108] (1) The lane-changing scenario is a driving scenario on the ramp

[0109] The lane changing conditions corresponding to the driving scenario in the ramp can be: the vehicle's current lane merges with other lanes to trigger the lane change, the vehicle's current lane is divided into multiple lanes to trigger the lane change, the lane change is triggered by information about the drivable lane ahead, or the navigation system issues a request for lane change direction information to trigger the lane change when the distance between the vehicle and the ramp entrance into the main road is greater than or equal to a fourth distance threshold.

[0110] Specifically, when the vehicle's current driving lane merges with other lanes, it means that the current driving lane will merge into other lanes, thus triggering a change in the driving lane, i.e., triggering a lane change. When the crowdsourced map system triggers a lane change when the vehicle's current driving lane merges with other lanes, the controller chip can determine that the vehicle meets the lane change conditions corresponding to the driving scenario in the ramp, i.e., the controller chip can control the vehicle to change lanes.

[0111] Similarly, when the vehicle's current lane is divided into multiple lanes, it means that the current lane is switched to one of the divided roads, thus triggering a lane change, i.e., triggering a lane change. Therefore, when the crowdsourced map system triggers a lane change when the vehicle's current lane is divided into multiple lanes, the controller chip can determine that the vehicle meets the lane change conditions corresponding to the driving scenario in the ramp, i.e., the controller chip can control the vehicle to change lanes.

[0112] The information of the drivable lane ahead is used to indicate which lanes are drivable ahead. If the current driving lane and the drivable lane ahead are not on the same lane, a lane change will be triggered. Therefore, when the information of the drivable lane ahead triggers a lane change, it can be considered that the vehicle meets the lane change conditions corresponding to the driving scenario in the ramp.

[0113] When the distance between the vehicle and the ramp that merges into the main road is greater than or equal to the fourth distance threshold, it means that the vehicle is still in the driving scene in the ramp and has not changed to the scene of the ramp entering the main road. Therefore, under the condition that the vehicle is still in the driving scene in the ramp confirmed by the distance between the vehicle and the ramp that merges into the main road, the navigation system sends a lane change direction information, which means that the navigation system needs to change lanes in the ramp according to the currently planned navigation path. At this time, the lane change triggered by the navigation system can be determined, that is, the controller chip can determine that the vehicle meets the lane change conditions corresponding to the driving scene in the ramp.

[0114] It should be noted that the setting method of the fourth distance threshold is not limited in the embodiment of the present application, for example, it can be manually set according to multiple experiences.

[0115] It should also be noted that in the process of confirming whether the lane change conditions corresponding to the driving scene in the ramp are met, it can be confirmed whether the lane change conditions are met according to the priority of the pre-configured several ways of triggering lane change. For example, the first level of triggering lane change in the driving scene in the ramp can be set to trigger lane change by merging the current lane of the vehicle and other lanes, or the current lane of the vehicle is divided into multiple lanes to trigger lane change. The second level is set to trigger lane change by information of the drivable lane ahead. The third level is set to trigger lane change by the navigation system sending a request for lane change direction information under the condition that the distance between the vehicle and the ramp entrance merging into the main road is greater than or equal to the fourth distance threshold. The controller chip can first check whether there is a first-level trigger lane change, and if so, directly confirm that the lane change conditions corresponding to the current lane change scene are met. If not, continue to check whether there is a second-level trigger lane change, and if so, confirm that the lane change conditions corresponding to the current lane change scene are met. If not, continue to check whether there is a third-level trigger lane change.

[0116] (2) Lane change scenario: ramp into main road scenario

[0117] The lane changing conditions corresponding to the ramp-to-main road scenario may be: the vehicle's current lane merges with other lanes to trigger a lane change, the vehicle's current lane is divided into multiple lanes to trigger a lane change, information about the drivable lane ahead triggers a lane change, or the navigation system issues a request for lane change direction information to trigger a lane change when the distance between the vehicle and the ramp that merges into the main road is less than or equal to a fifth distance threshold.

[0118] Among them, the introduction of the three ways of triggering lane changing, namely, the merging of the vehicle's current lane and other lanes to trigger lane changing, the vehicle's current lane being divided into multiple lanes to trigger lane changing, and the lane changing triggered by the information of the drivable lane ahead, can be found in the above-mentioned related content and will not be repeated here.

[0119] Under the condition that the distance between the vehicle and the ramp that merges into the main road is less than or equal to the fifth distance threshold, it means that the vehicle is still in the ramp-to-main road scenario, and in the ramp-to-main road scenario, the lane change direction information requested by the navigation system can trigger the vehicle to change lanes to the main road, that is, to the left. Therefore, when the controller chip detects that the navigation system issues a lane change direction information request to trigger a lane change under the condition that the distance between the vehicle and the ramp that merges into the main road is less than or equal to the fifth distance threshold, it can be considered that the lane change conditions of the ramp-to-main road scenario are currently met.

[0120] It should be noted that in the process of confirming whether the lane changing conditions corresponding to the ramp entering the main road scenario are met, it can be confirmed whether the lane changing conditions are met based on the pre-configured priorities of the above-mentioned several ways to trigger lane changing. For example, the first level of triggering lane changing in the ramp entering the main road scenario can be set to the vehicle's current lane and other lanes merge to trigger lane changing, or the vehicle's current lane is divided into multiple lanes to trigger lane changing. The second level is set to trigger lane changing based on information about the drivable lane ahead. The third level is set to trigger lane changing based on the navigation system's request for lane changing direction information when the distance between the vehicle and the ramp that merges into the main road is less than or equal to the fifth distance threshold. The process of the controller chip confirming whether the lane changing conditions are met according to priority can refer to the relevant content of the driving scenario in the ramp above, which will not be repeated here.

[0121] (3) Lane-changing scenario: Main road driving scenario

[0122] The lane changing conditions corresponding to the main road driving scenario are: the vehicle's current lane merges with other lanes to trigger a lane change, the vehicle's current lane is divided into multiple lanes to trigger a lane change, the lane change is triggered by information about the drivable lane ahead, or the speed of the vehicle's lane is lower than the speed of other lanes to trigger a lane change.

[0123] Among them, the introduction of the three ways of triggering lane changing, namely, the merging of the vehicle's current lane and other lanes to trigger lane changing, the vehicle's current lane being divided into multiple lanes to trigger lane changing, and the lane changing triggered by the information of the drivable lane ahead, can be found in the above-mentioned related content and will not be repeated here.

[0124] In the main road driving scenario, the vehicle can be changed to a lane with a higher speed in order to improve the vehicle's traffic efficiency. Therefore, when the vehicle triggers a lane change because the speed of the current lane is lower than the speed of other lanes, it can be considered that the way of triggering the lane change meets the lane change conditions corresponding to the main road driving scenario. In this way of triggering the lane change, the lane change direction of the triggered lane change can be the direction of another lane in the same direction with a faster speed than the current lane. For example, when the vehicle is currently driving in the second lane, it is detected that the speed of the second lane is lower than that of the first lane and the third lane, thus triggering the vehicle to change lanes to the first lane and the third lane.

[0125] Optionally, in another specific embodiment of the present application, in order to reduce unnecessary lane changes, the lane change can be triggered only when the vehicle's speed is less than the preset cruising speed and the speed of the current lane is less than the speed of other lanes. When the vehicle's speed is greater than or equal to the preset cruising speed, the lane change is not triggered even if the speed of the current lane is less than the speed of other lanes.

[0126] Optionally, in a specific embodiment of the present application, the speed of the vehicle's current lane, the speed of the left lane of the current lane, and the speed of the right lane can be calculated based on the surrounding lane target information input by devices such as cameras and corner radars. The surrounding lane target information may include information such as the speed of the vehicle in the lane next to the current lane and the distance between the vehicle and the vehicle in the lane next to it.

[0127] It should be noted that in the process of confirming whether the lane changing conditions corresponding to the main road driving scenario are met, it is possible to confirm whether the lane changing conditions are met based on the pre-configured priorities of the above-mentioned methods of triggering lane changing. For example, the first level of triggering lane changing in the main road driving scenario can be set to trigger lane changing by merging the vehicle's current lane and other lanes, or the vehicle's current lane is divided into multiple lanes to trigger lane changing. The second level is set to trigger lane changing by information about the drivable lane ahead. The third level is set to trigger lane changing when the speed of the vehicle's lane is less than the speed of other lanes. The process of the controller chip confirming whether the lane changing conditions are met according to priority can refer to the relevant content of the driving scenario in the above ramp, which will not be repeated here.

[0128] (4) Lane-changing scenario: Lane-changing scenario from the main road to the right

[0129] The lane changing conditions corresponding to the scenario of changing lanes to the right on the main road are: the vehicle's current lane merges with other lanes to trigger the lane change, the vehicle's current lane is divided into multiple lanes to trigger the lane change, the lane change is triggered by the information of the drivable lane ahead, or the navigation system sends a request for lane change direction information to trigger the lane change.

[0130] Among them, the introduction to the four ways of triggering lane changing, namely, the vehicle's current lane merging with other lanes to trigger lane changing, the vehicle's current lane being divided into multiple lanes to trigger lane changing, the lane information of the drivable lane ahead triggering lane changing, and the navigation system sending a request for lane changing direction information to trigger lane changing, can be found in the above-mentioned related content and will not be repeated here.

[0131] It should be noted that in the process of confirming whether the lane change conditions corresponding to the main road driving scene are met, the lane change conditions can be confirmed according to the pre-configured priorities of the above-mentioned several ways to trigger lane change. The process of the controller chip confirming whether the lane change conditions are met according to the priority can refer to the relevant content of the driving scene in the ramp above, which will not be repeated here.

[0132] (5) Lane-changing scenario: Lane-changing scenario when entering the ramp from the main road

[0133] The lane changing condition corresponding to the main road entering ramp lane changing scenario is: the lane changing is triggered by the lane changing direction information requested by the navigation system.

[0134] Among them, the introduction of the four ways of triggering lane changing, that is, the navigation system sending a lane changing direction information request to trigger lane changing, can be found in the above-mentioned related content and will not be repeated here.

[0135] It should be noted that the lane changing conditions corresponding to some of the above-mentioned lane changing scenarios include one or more ways to trigger lane changing. In the actual execution of step S102, as long as one of the ways to trigger lane changing under the lane changing conditions is met, it can be considered that the lane changing conditions corresponding to the lane changing scenario are met.

[0136] It should also be noted that the lane change triggering mentioned in the above embodiments can be understood as a lane change information triggered by the navigation system, crowdsourced map system, or other system when a certain scenario in the above lane change conditions is detected. After the controller chip identifies the lane change scenario, if it is detected that the current lane change triggering method belongs to the lane change condition corresponding to the lane change scenario, it can be considered that the vehicle needs to change lanes in the current lane change scenario.

[0137] The above embodiments are only one of the pre-configuration methods of the lane changing conditions corresponding to the lane changing scenarios shown in this application. In other embodiments, the lane changing conditions corresponding to the lane changing scenarios can also be readjusted according to experience, driving requirements, etc.

[0138] In order to make the description of the above embodiments clearer, the present application also makes the following explanation: the "other lanes" mentioned above refer to lanes other than the lane in which the vehicle is currently traveling. And the meanings of roads and lanes in the embodiments of the present application are the same.

[0139] S103: triggering a lane change instruction, wherein the lane change instruction is used to indicate that the vehicle needs to change lanes.

[0140] Since step S102 has determined that the vehicle meets the lane change conditions corresponding to the identified lane change scenario, it means that the vehicle needs to change lanes in the current scenario. Therefore, the controller chip can trigger the corresponding lane change instruction according to the lane change triggering method in the lane change conditions met by the vehicle. The lane change instruction may include the lane change direction and the lane to which the vehicle changes. The lane change direction and the lane to which the vehicle changes can be determined based on the map information provided by the current crowdsourcing map system and the navigation information provided by the navigation system.

[0141] Optionally, in some embodiments, after the controller chip triggers the lane change instruction, the vehicle can be controlled to change lanes according to the lane change instruction. Optionally, in other embodiments, in order to improve the accuracy of the vehicle lane change and avoid the situation where the lane change instruction is wrong, after executing step S103, it can also include: if it is detected that the lane change instruction is triggered for N consecutive detection cycles, then a lane change request is triggered. Among them, the lane change request is used to request to control the vehicle to change lanes, and N is a positive integer. That is, the controller chip periodically detects whether there is a lane change instruction triggered according to the preset detection cycle. If the triggering of the same lane change instruction is detected for N consecutive detection cycles, it means that the lane change instruction is not triggered by mistake, so the lane change request can be triggered, and the vehicle can be controlled to change lanes through the lane change request. On the contrary, if the detection cycle of the lane change instruction is detected and there are N consecutive detection cycles, it means that the lane change instruction may be a false alarm, so there is no need to trigger the lane change request, that is, the vehicle is not controlled to change lanes. Among them, the lane change request may include information about the lane change direction of the vehicle lane change and the lane to which the vehicle changes.

[0142] In the prior art, high-precision maps are used for vehicle lane change control. The map information provided by the high-precision map contains information within a few kilometers of the vehicle, and the information provided by the high-precision map is too detailed and contains a large amount of redundant data. That is, in the process of vehicle lane change control, many data in the high-precision map are not actually needed, but the controller chip still needs to read and parse, which makes the processing process of the controller chip too cumbersome. The controller chip needs to perform a large amount of calculations, and the processing efficiency is not high. Therefore, the existing vehicle lane change method has very high requirements on the computing power of the controller chip. Chips with low computing power cannot adapt to the existing solutions, and the processing efficiency of vehicle lane change is not high.

[0143] Through the above Figure 1 As can be seen from the introduction of the method shown, the embodiment of the present application identifies the current lane-changing scene of the vehicle through the navigation information provided by the navigation system. The navigation information provided by the navigation system has a small amount of data, and the information provided is relatively coarse-grained (i.e., the amount of information is relatively rough), and will not be specific to specific lanes, road signs and other overly detailed information. Therefore, in the embodiment of the present application, it is necessary to first use the navigation information to do a lane-changing scene identification step, and then use the map information of the crowdsourcing map system to combine with the navigation information to further confirm whether the lane-changing conditions corresponding to the lane-changing scene are met, and only perform lane-changing control when the lane-changing conditions are met to ensure the accuracy of the vehicle's lane-changing control. Compared with the navigation information, the map information of the crowdsourcing map system provides more detailed and accurate information, and the crowdsourcing map system provides map information within a few hundred meters of the vehicle, and the amount of data covered is much smaller than that of the high-precision map. Therefore, in the embodiment of the present application, when accurately realizing the vehicle lane-changing control, the navigation information and the map information of the crowdsourcing map system used are both information with a small amount of data, so that the controller chip can accurately control the vehicle lane-changing while processing a small amount of data.

[0144] In the vehicle lane changing method proposed in the embodiment of the present application, the current lane changing scene of the vehicle is identified based on the navigation information provided by the navigation system of the vehicle. Then, based on the map information provided by the current crowdsourcing map system and the navigation information provided by the navigation system, it is determined whether the vehicle meets the lane changing conditions corresponding to the identified lane changing scene. If it is determined that the vehicle meets the lane changing conditions corresponding to the identified lane changing scene, the lane changing instruction is triggered to implement the lane changing decision for the vehicle. Since the embodiment of the present application implements the vehicle lane changing decision based on the navigation information of the vehicle and the map information provided by the crowdsourcing map system, and the map information provided by the crowdsourcing map system is lightweight map (light map) information, the amount of data contained in the map information provided by the navigation system and the crowdsourcing map system is much smaller than the high-precision map, which results in the controller chip processing less data when making lane changing decisions through navigation information and map information, the load of the controller chip is lower, and the processing efficiency of the lane changing decision is also improved.

[0145] See also Figure 7 Based on the lane changing method proposed in the above-mentioned embodiment of the present application, the embodiment of the present application correspondingly discloses a vehicle lane changing device, including: an identification unit 701, a determination unit 702 and a first triggering unit 703.

[0146] The identification unit 701 is used to identify the current lane change scenario of the vehicle according to the navigation information provided by the navigation system of the vehicle. The navigation information is used to describe the road information and navigation path information of the lane the vehicle is currently traveling in. The lane change scenario is a scenario where the vehicle may change lanes.

[0147] Optionally, in a specific embodiment of the present application, the identification unit 701 includes: a first identification subunit, used to identify the vehicle's current lane changing scenario based on the road type information of the current driving lane provided by the vehicle's navigation system, information indicating whether the vehicle is on the ramp, and the distance information of the vehicle from the ramp entrance.

[0148] Optionally, in a specific embodiment of the present application, the lane changing scenarios include: a lane changing scenario in a ramp, a lane changing scenario on a main road, and a lane changing scenario from a main road into a ramp.

[0149] Optionally, in a specific embodiment of the present application, the first identification subunit includes: a second identification subunit, a third identification subunit and a fourth identification subunit.

[0150] The second identification subunit is used to identify that the current lane-changing scene of the vehicle is a lane-changing scene in the ramp if it is determined that the vehicle is in the ramp according to the information indicating whether the vehicle is on the ramp.

[0151] The third identification subunit is used to identify that the current lane changing scene of the vehicle is a main road lane changing scene if it is determined based on the information indicating whether the vehicle is on the ramp that the vehicle is not on the ramp and the distance between the vehicle and the ramp exiting the main road is greater than a first distance threshold.

[0152] The fourth identification subunit is used to identify that the vehicle's current lane changing scenario is a main road entering ramp lane changing scenario if it is determined based on the information used to indicate whether the vehicle is on the ramp that the vehicle is not on the ramp and the distance between the vehicle and the ramp exiting the main road is less than or equal to the first distance threshold.

[0153] Optionally, in a specific embodiment of the present application, the ramp lane changing scene includes the ramp driving scene and the ramp entering the main road scene, and the main road lane changing scene includes the main road driving scene and the main road lane changing scene. Among them, the vehicle lane changing device also includes: a fifth identification subunit, a sixth identification subunit, a seventh identification subunit and an eighth identification subunit.

[0154] The fifth identification subunit is used to identify that the current lane changing scene of the vehicle is a driving scene on the ramp if the distance between the vehicle and the ramp entrance merging into the main road is greater than a second distance threshold.

[0155] The sixth identification subunit is used to identify that the current lane changing scenario of the vehicle is a ramp-to-main-road scenario if the distance between the vehicle and the ramp merging into the main road is less than or equal to a second distance threshold.

[0156] The seventh identification subunit is used to identify that the current lane changing scene of the vehicle is a main road driving scene if the distance between the vehicle and the ramp exiting the main road is greater than a third distance threshold.

[0157] The eighth identification subunit is used to identify that the current lane changing scene of the vehicle is a lane changing scene from the main road to the right if the distance between the vehicle and the ramp exiting the main road is less than or equal to a third distance threshold.

[0158] The determination unit 702 is used to determine whether the vehicle meets the lane change condition corresponding to the identified lane change scenario based on the map information provided by the current crowdsourcing map system and the navigation information provided by the navigation system.

[0159] Optionally, in a specific embodiment of the present application, the determination unit 702 includes: a determination subunit, which is used to determine whether the vehicle meets the lane change conditions corresponding to the identified lane change scenario based on the merging information, segmentation information and the front drivable lane information of the vehicle's current driving lane provided by the crowdsourcing map system, and the front drivable lane information and the requested lane change direction information provided by the navigation system. Among them, the merging information is used to indicate whether the current driving lane is merged with other lanes. The segmentation information is used to indicate whether the current driving lane is divided into multiple lanes.

[0160] Optionally, in a specific embodiment of the present application, the lane changing conditions corresponding to the lane changing scenario include: the vehicle's current lane merges with other lanes to trigger a lane change, the vehicle's current lane is divided into multiple lanes to trigger a lane change, information about the drivable lane ahead triggers a lane change, the navigation system sends a request for lane change direction information to trigger a lane change, and the vehicle's lane speed is less than the speed of other lanes to trigger at least one of the following.

[0161] Optionally, in a specific embodiment of the present application, if the fifth identification subunit identifies that the vehicle's current lane change scenario is a driving scenario on a ramp, the lane change condition corresponding to the identified lane change scenario is: the vehicle's current lane merges with other lanes to trigger a lane change, the vehicle's current lane is divided into multiple lanes to trigger a lane change, information about the drivable lane ahead triggers a lane change, or the navigation system issues a request for lane change direction information to trigger a lane change under the condition that the distance between the vehicle and the ramp entrance into the main road is greater than or equal to a fourth distance threshold.

[0162] If the sixth identification subunit identifies that the vehicle's current lane changing scenario is a ramp-to-main road scenario, the lane changing conditions corresponding to the identified lane changing scenarios are: the vehicle's current lane merges with other lanes to trigger a lane change, the vehicle's current lane is divided into multiple lanes to trigger a lane change, information about the drivable lane ahead triggers a lane change, or the navigation system issues a request for lane change direction information to trigger a lane change under the condition that the distance between the vehicle and the ramp that merges into the main road is less than or equal to a fifth distance threshold.

[0163] If the seventh identification subunit identifies that the vehicle's current lane changing scenario is a main road driving scenario, the lane changing conditions corresponding to the identified lane changing scenario are: the vehicle's current lane merges with other lanes to trigger the lane changing, the vehicle's current lane is divided into multiple lanes to trigger the lane changing, the information of the drivable lane ahead triggers the lane changing, or the vehicle's driving lane has a lower speed than other lanes to trigger the lane changing.

[0164] If the eighth identification subunit identifies that the vehicle's current lane-changing scenario is a lane-changing scenario to the right of the main road, the lane-changing conditions corresponding to the identified lane-changing scenario are: the vehicle's current lane merges with other lanes to trigger the lane change, the vehicle's current lane is divided into multiple lanes to trigger the lane change, the information of the drivable lane ahead triggers the lane change, or the navigation system issues a request for lane-changing direction information to trigger the lane change.

[0165] If the fourth identification subunit identifies that the current lane-changing scenario of the vehicle is a main road-to-ramp lane-changing scenario, the lane-changing condition corresponding to the identified lane-changing scenario is: the lane-changing direction information requested by the navigation system triggers the lane-changing.

[0166] The first triggering unit 703 is used to trigger a lane change instruction if it is determined that the vehicle meets the lane change condition corresponding to the identified lane change scenario. The lane change instruction is used to indicate that the vehicle needs to change lanes.

[0167] Optionally, in a specific embodiment of the present application, it also includes:

[0168] The second triggering unit is used to trigger a lane change request if it is detected that N consecutive detection cycles all trigger the lane change command. The lane change request is used to request the vehicle to change lanes. N is a positive integer.

[0169] The principles and execution processes of the various units and sub-units in the vehicle lane changing device disclosed in the above-mentioned embodiment of the present application are the same as those of the vehicle lane changing method disclosed in the above-mentioned embodiment of the present application. Please refer to the corresponding parts of the vehicle lane changing method disclosed in the above-mentioned embodiment of the present application, and no further details will be given here.

[0170] In the vehicle lane changing device disclosed in the embodiment of the present application, the identification unit 701 identifies the current lane changing scene of the vehicle based on the navigation information provided by the navigation system of the vehicle. Then the determination unit 702 determines whether the vehicle meets the lane changing conditions corresponding to the identified lane changing scene based on the map information provided by the current crowdsourcing map system and the navigation information provided by the navigation system. If it is determined that the vehicle meets the lane changing conditions corresponding to the identified lane changing scene, the first trigger unit 703 triggers the lane changing instruction to implement the lane changing decision for the vehicle. Since the embodiment of the present application implements the vehicle lane changing decision based on the navigation information of the vehicle and the map information provided by the crowdsourcing map system, and the amount of data contained in the map information provided by the crowdsourcing map system and the navigation information provided by the navigation system is much smaller than the high-precision map, the vehicle lane changing device processes less data and has a smaller load when making lane changing decisions through navigation information and map information, and the processing efficiency of the lane changing decision is also improved.

[0171] The present application discloses a computer-readable medium having a computer program stored thereon, wherein when the program is executed by a processor, any of the above-mentioned vehicle lane changing methods is implemented.

[0172] The present application discloses a vehicle lane changing device, comprising: one or more processors; a storage device having one or more programs stored thereon; when the one or more programs are executed by one or more processors, the one or more processors implement any of the above-mentioned vehicle lane changing methods.

[0173] It is known from common technical knowledge that the present invention can be implemented by other embodiments that do not deviate from its spirit or essential features. Therefore, the above disclosed embodiments are only illustrative in all respects and are not exclusive. All changes within the scope of the present invention or within the scope equivalent to the present invention are included in the present invention.

[0174] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0175] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0176] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0177] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0178] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A vehicle lane changing method, characterized in that: include: Identifying the current lane-changing scenario of the vehicle according to navigation information provided by the navigation system of the vehicle; wherein the navigation information is used to describe the road information and navigation path information of the lane in which the vehicle is currently traveling; and the lane-changing scenario is a scenario in which the vehicle may change lanes; determining whether the vehicle satisfies a lane changing condition corresponding to the identified lane changing scenario based on map information provided by the current crowdsourced map system and navigation information provided by the navigation system; If it is determined that the vehicle meets the lane changing condition corresponding to the identified lane changing scenario, a lane changing instruction is triggered; wherein the lane changing instruction is used to indicate that the vehicle needs to change lanes.

2. The vehicle lane changing method according to claim 1, characterized in that: The identifying, based on navigation information provided by a navigation system of the vehicle, a current lane changing scenario of the vehicle includes: The current lane changing scenario of the vehicle is identified based on the road type information of the current driving lane, the information indicating whether the vehicle is on a ramp, and the distance information between the vehicle and the ramp entrance provided by the vehicle's navigation system.

3. The vehicle lane changing method according to claim 2, characterized in that: The lane changing scenarios include: a lane changing scenario in a ramp, a lane changing scenario on a main road, and a lane changing scenario on a main road entering a ramp.

4. The vehicle lane changing method according to claim 3, characterized in that: The identifying the current lane changing scenario of the vehicle according to the road type information of the current driving lane provided by the navigation system of the vehicle, the information indicating whether the vehicle is on a ramp, and the distance information between the vehicle and the ramp entrance includes: If it is determined that the vehicle is in a ramp according to the information indicating whether the vehicle is on the ramp, identifying that the current lane-changing scenario of the vehicle is a lane-changing scenario in a ramp; If it is determined according to the information indicating whether the vehicle is on the ramp that the vehicle is not on the ramp and the distance between the vehicle and the ramp exiting the main road is greater than a first distance threshold, identifying that the current lane changing scene of the vehicle is a main road lane changing scene; If it is determined based on the information indicating whether the vehicle is on the ramp that the vehicle is not on the ramp, and the distance between the vehicle and the ramp exiting the main road is less than or equal to the first distance threshold, the current lane changing scenario of the vehicle is identified as a main road entering ramp lane changing scenario.

5. The vehicle lane changing method according to claim 4, characterized in that: The ramp lane-changing scenario includes a ramp driving scenario and a ramp-entering-main-road scenario, and the main-road lane-changing scenario includes a main-road driving scenario and a main-road lane-changing-to-the-right scenario; wherein, after identifying that the current lane-changing scenario of the vehicle is a ramp lane-changing scenario, the method further includes: If the distance between the vehicle and the ramp merging into the main road is greater than a second distance threshold, identifying that the current lane-changing scenario of the vehicle is a driving scenario on the ramp; If the distance between the vehicle and the ramp merging into the main road is less than or equal to the second distance threshold, identifying the current lane-changing scenario of the vehicle as the ramp-into-main-road scenario; After the current lane-changing scene of the vehicle is identified as a main road lane-changing scene, the method further includes: If the distance between the vehicle and the ramp exiting the main road is greater than a third distance threshold, identifying that the current lane-changing scenario of the vehicle is the main road driving scenario; If the distance between the vehicle and the ramp exiting the main road is less than or equal to the third distance threshold, it is identified that the current lane changing scenario of the vehicle is a lane changing scenario of the main road to the right.

6. The vehicle lane changing method according to any one of claims 1 to 5, wherein determining whether the vehicle satisfies the lane changing condition corresponding to the identified lane changing scenario based on the map information provided by the current crowdsourced map system and the navigation information provided by the navigation system comprises: Based on the merging information, splitting information and the information of the drivable lane ahead of the vehicle provided by the crowdsourcing map system, and the drivable lane ahead information and the requested lane change direction information provided by the navigation system, it is determined whether the vehicle meets the lane changing conditions corresponding to the identified lane changing scenario; wherein the merging information is used to indicate whether the current driving lane is merged with other lanes; and the splitting information is used to indicate whether the current driving lane is split into multiple lanes.

7. The method according to claim 6, characterized in that The lane changing conditions corresponding to the lane changing scenario include: the vehicle's current lane merges with other lanes to trigger lane changing, the vehicle's current lane is divided into multiple lanes to trigger lane changing, the information of the drivable lane ahead triggers lane changing, the navigation system sends a request for lane changing direction information to trigger lane changing, and the vehicle's lane has a lower speed than other lanes to trigger lane changing.

8. The method according to claim 7, characterized in that If it is identified that the current lane-changing scenario of the vehicle is a driving scenario on a ramp, the lane-changing condition corresponding to the identified lane-changing scenario is: the current lane of the vehicle is merging with other lanes to trigger the lane-changing; the current lane of the vehicle is divided into multiple lanes to trigger the lane-changing; the information of the drivable lane ahead triggers the lane-changing; or the navigation system issues a lane-changing direction information request to trigger the lane-changing under the condition that the distance between the vehicle and the ramp merging into the main road is greater than or equal to a fourth distance threshold; If it is identified that the current lane-changing scenario of the vehicle is a ramp-to-main-road scenario, the lane-changing condition corresponding to the identified lane-changing scenario is: the current lane of the vehicle and other lanes merge to trigger the lane-changing; the current lane of the vehicle is divided into multiple lanes to trigger the lane-changing; the lane-changing is triggered by the information of the drivable lane ahead; or the navigation system issues a lane-changing direction information request to trigger the lane-changing under the condition that the distance between the vehicle and the ramp merging into the main road is less than or equal to a fifth distance threshold; If it is identified that the current lane-changing scenario of the vehicle is a main road driving scenario, the lane-changing conditions corresponding to the identified lane-changing scenario are: the current lane of the vehicle is merged with other lanes to trigger the lane-changing; the current lane of the vehicle is divided into multiple lanes to trigger the lane-changing; the information of the drivable lane ahead triggers the lane-changing; or the passing speed of the lane of the vehicle is lower than the passing speed of other lanes to trigger the lane-changing; If it is identified that the current lane-changing scenario of the vehicle is a lane-changing scenario from the main road to the right, the lane-changing conditions corresponding to the identified lane-changing scenario are: the current lane of the vehicle is merged with other lanes to trigger the lane-changing; the current lane of the vehicle is divided into multiple lanes to trigger the lane-changing; the information of the drivable lane ahead triggers the lane-changing; or the navigation system sends a request for lane-changing direction information to trigger the lane-changing; If it is identified that the current lane-changing scenario of the vehicle is a main road-to-ramp lane-changing scenario, the lane-changing condition corresponding to the identified lane-changing scenario is: the lane-changing direction information requested by the navigation system triggers the lane-changing.

9. The vehicle lane changing method according to claim 1, characterized in that: If it is determined that the vehicle meets the lane change condition corresponding to the identified lane change scenario, after the lane change instruction is triggered, the method further includes: If it is detected that N consecutive detection cycles trigger the lane change instruction, a lane change request is triggered; wherein the lane change request is used to request control of the vehicle to change lanes; N is a positive integer.

10. A vehicle lane changing device, characterized in that: include: an identification unit, configured to identify a current lane-changing scenario of the vehicle according to navigation information provided by a navigation system of the vehicle; wherein the navigation information is used to describe road information and navigation path information of a lane in which the vehicle is currently traveling; and the lane-changing scenario is a scenario in which the vehicle may change lanes; a determination unit, configured to determine whether the vehicle satisfies a lane-changing condition corresponding to the identified lane-changing scenario based on map information provided by a current crowd-sourced map system and navigation information provided by the navigation system; The first trigger unit is used to trigger a lane change instruction if it is determined that the vehicle meets the lane change condition corresponding to the identified lane change scenario; wherein the lane change instruction is used to indicate that the vehicle needs to change lanes.

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