Vehicle lane changing method and device

Abstract

The application discloses a lane changing method and device of a vehicle, and relates to the technical field of intelligent driving. The method identifies a current lane changing scene of the vehicle according to navigation information provided by a navigation system of the vehicle. Then, the method determines whether the vehicle meets lane changing conditions corresponding to the identified lane changing scene according to map information provided by a crowd-sourcing 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, a lane changing instruction is triggered to realize lane changing decision of the vehicle. Since the data amount contained in the map information provided by the crowd-sourcing map system and the navigation information provided by the navigation system is far less than that of a high-precision map, the data amount that needs to be processed is less when making the lane changing decision, the load of a controller chip is lower, and the processing efficiency of the lane changing decision is improved.

Description

TECHNICAL FIELD

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

[0002] With the continuous development of intelligent driving technology, vehicles with the function of automatic navigation auxiliary driving (Navigate on Autopilot, NOA) support automatic lane changing on highways or expressways to improve the user experience of drivers. In the prior art, the controller chip of the vehicle makes lane changing decisions based on a high-definition map, and then controls the vehicle to change lanes according to the lane changing decisions output by the chip.

[0003] However, due to the large amount of data involved in the high-definition map, the controller chip needs to process a large amount of data when making lane changing decisions, which leads to a complex and heavy processing process and low efficiency of the controller chip when making lane changing decisions. SUMMARY

[0004] Therefore, the embodiments of the present application provide a vehicle lane changing method and device, which reduces the amount of data processed in the lane changing decision process by making lane changing decisions based on navigation information and map information provided by a crowdsourcing map system, makes the lane changing decision process simpler, reduces the load of the controller chip, and improves the efficiency of the controller chip when processing lane changing decisions.

[0005] To achieve the above object, the embodiments of the present application provide the following technical solutions:

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

[0007] According to the navigation information provided by the navigation system of the vehicle, a current lane changing scenario of the vehicle is identified; wherein the navigation information is used to indicate road information and navigation path information of a current lane of the vehicle; the lane changing scenario is a scenario in which the vehicle may change lanes;

[0008] 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 scenario;

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

[0010] Optionally, in the vehicle lane changing method described above, the lane changing scenario of the vehicle is identified according to the navigation information provided by the navigation system of the vehicle, comprising:

[0011] The current lane-changing scenario of the vehicle is identified according to road type information of a current lane in which the vehicle is driving, information indicating whether the vehicle is on a ramp, and distance information of the vehicle from a ramp opening.

[0012] Optionally, in the vehicle lane-changing method, the lane-changing scenario includes a ramp-in lane-changing scenario, a main road lane-changing scenario, and a main road-to-ramp lane-changing scenario.

[0013] Optionally, in the vehicle lane-changing method, the current lane-changing scenario of the vehicle is identified according to road type information of a current lane in which the vehicle is driving, information indicating whether the vehicle is on a ramp, and distance information of the vehicle from a ramp opening, and includes:

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

[0015] If it is determined according to the information indicating whether the vehicle is on a ramp that the vehicle is not on a ramp and the distance between the vehicle and a ramp opening for exiting a main road is greater than a first distance threshold, the current lane-changing scenario of the vehicle is identified as a main road lane-changing scenario.

[0016] If it is determined according to the information indicating whether the vehicle is on a ramp that the vehicle is not on a ramp and the distance between the vehicle and a ramp opening for exiting a 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-to-ramp lane-changing scenario.

[0017] Optionally, in the vehicle lane-changing method, the ramp-in lane-changing scenario includes a ramp-in driving scenario and a ramp-to-main road scenario, and the main road lane-changing scenario includes a main road driving scenario and a main road-to-right lane-changing scenario; and after the current lane-changing scenario of the vehicle is identified as the ramp-in lane-changing scenario, the method further includes:

[0018] If the distance between the vehicle and a ramp opening for merging into a main road is greater than a second distance threshold, the current lane-changing scenario of the vehicle is identified as the ramp-in driving scenario.

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

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

[0021] if the distance between the vehicle and the ramp exit of the main road is greater than a third distance threshold, the current lane changing scenario of the vehicle is identified as the main road driving scenario;

[0022] if the distance between the vehicle and the ramp exit of the main road is less than or equal to the third distance threshold, the current lane changing scenario of the vehicle is identified as the main road right lane changing scenario.

[0023] Optionally, in the vehicle lane changing method, the determination of whether the vehicle meets the lane changing condition corresponding to the identified lane changing scenario comprises:

[0024] determination of whether the vehicle meets the lane changing condition corresponding to the identified lane changing scenario according to the merging information, the splitting information and the front drivable lane information of the current driving lane of the vehicle provided by the crowd-sourced map system, and the front drivable lane information and the requested lane changing direction information provided by the navigation system, 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 vehicle lane changing method, the lane changing condition corresponding to the lane changing scenario comprises at least one of the following: the current driving lane of the vehicle is merged with other lanes to trigger lane changing, the current driving lane of the vehicle is split into multiple lanes to trigger lane changing, the front drivable lane information triggers lane changing, the navigation system issues the requested lane changing direction information to trigger lane changing, and the driving speed of the current driving lane of the vehicle is less than the driving speed of other lanes to trigger lane changing.

[0026] Optionally, in the vehicle lane changing method, if the current lane changing scenario of the vehicle is identified as the ramp driving scenario, the lane changing condition corresponding to the identified lane changing scenario comprises at least one of the following: the current driving lane of the vehicle is merged with other lanes to trigger lane changing, the current driving lane of the vehicle is split into multiple lanes to trigger lane changing, the front drivable lane information triggers lane changing, or the navigation system issues the requested lane changing direction information to trigger lane changing under the condition that the distance between the vehicle and the ramp exit of 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 the ramp-to-main road scenario, the lane-changing condition corresponding to the identified lane-changing scenario is that the current lane of the vehicle and other lanes are combined to trigger lane changing, the current lane of the vehicle is divided into multiple lanes to trigger lane changing, the drivable lane information in front triggers lane changing, or the distance between the vehicle and the ramp to the main road is less than or equal to a fifth distance threshold, and the navigation system issues a request for lane-changing direction information to trigger lane changing.

[0028] If it is identified that the current lane-changing scenario of the vehicle is the main road driving scenario, the lane-changing condition corresponding to the identified lane-changing scenario is that the current lane of the vehicle and other lanes are combined to trigger lane changing, the current lane of the vehicle is divided into multiple lanes to trigger lane changing, the drivable lane information in front triggers lane changing, or the traffic speed of the lane in which the vehicle is driving is less than the traffic speed of other lanes to trigger lane changing.

[0029] If it is identified that the current lane-changing scenario of the vehicle is the main road driving scenario, the lane-changing condition corresponding to the identified lane-changing scenario is that the current lane of the vehicle and other lanes are combined to trigger lane changing, the current lane of the vehicle is divided into multiple lanes to trigger lane changing, the drivable lane information in front triggers lane changing, or the traffic speed of the lane in which the vehicle is driving is less than the traffic speed of other lanes to trigger lane changing.

[0030] If it is identified that the current lane-changing scenario of the vehicle is the main road driving scenario, the lane-changing condition corresponding to the identified lane-changing scenario is that the current lane of the vehicle and other lanes are combined to trigger lane changing, the current lane of the vehicle is divided into multiple lanes to trigger lane changing, the drivable lane information in front triggers lane changing, or the traffic speed of the lane in which the vehicle is driving is less than the traffic speed of other lanes to trigger lane changing.

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

[0032] If it is detected that the lane-changing instruction is triggered in N consecutive detection periods, a lane-changing request is triggered; the lane-changing request is used to request the vehicle to change lanes; N is a positive integer.

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

[0034] An identification unit is configured to identify a current lane-changing scenario of the vehicle according to navigation information provided by a navigation system of the vehicle; the navigation information is used to describe road information and navigation path information of a current lane of the vehicle; the lane-changing scenario is a scenario in which the vehicle is likely to change lanes.

[0035] determining unit, configured to determine whether the vehicle meets a lane-changing condition corresponding to the identified lane-changing scene according to map information provided by a current crowd-sourced map system and navigation information provided by the navigation system of the vehicle;

[0036] a first triggering unit, configured to trigger a lane-changing instruction if it is determined that the vehicle meets the lane-changing condition corresponding to the identified lane-changing scene; wherein the lane-changing instruction is used to instruct the vehicle to perform lane changing.

[0037] Based on the vehicle lane-changing method proposed in the above embodiments 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, the present application determines whether the vehicle meets the lane-changing condition corresponding to the identified lane-changing scene according to the map information provided by the current crowd-sourced map system and the navigation information provided by the navigation system of the vehicle. 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 to realize the lane-changing decision of the vehicle. Since the lane-changing decision of the vehicle is realized based on the navigation information of the vehicle and the map information provided by the crowd-sourced map system in the embodiments of the present application, the data amount contained in the map information provided by the crowd-sourced map system and the navigation information provided by the navigation system is much smaller than that of the high-definition map. Therefore, the data amount processed by the controller chip when making the lane-changing decision based on the navigation information and the map information is relatively small, the load of the controller chip is relatively low, and the processing efficiency of the lane-changing decision is also improved. BRIEF DESCRIPTION OF DRAWINGS

[0038] The accompanying drawings, which form a part of the present description, are used to provide a further understanding of the present application, and are incorporated herein for explanatory purposes. The illustrative embodiments of the present application and their description serve to explain the present application. They should not be considered as limiting the present application. In the drawings:

[0039] Figure 1 A flowchart of a vehicle lane-changing method according to an embodiment of the present application;

[0040] Figure 2 A flowchart of a vehicle lane-changing scene identification method according to an embodiment of the present application Figure 1 ;

[0041] Figure 3 A flowchart of a vehicle lane-changing scene identification method according to an embodiment of the present application Figure 2 ;

[0042] Figure 4 A scene diagram in which a vehicle enters a main road from a ramp;

[0043] Figure 5 A scene diagram in which a vehicle exits a ramp from a main road;

[0044] Figure 6 A flowchart of a vehicle lane-changing scene identification method according to an embodiment of the present applicationFigure 3 ;

[0045] Figure 7 A structural schematic diagram of a vehicle lane changing device according to an embodiment of the present application is shown. DETAILED DESCRIPTION

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

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

[0048] Referring to Figure 1 The present application discloses a vehicle lane changing method, applied to a controller chip of a vehicle, which can be used to execute the NOA function of the vehicle. The controller chip can be a system on chip (SoC), a microcontroller unit (MCU), or the like, and the present application does not limit the chip type of the controller chip. The vehicle according to the present application can be an oil vehicle, a new energy vehicle, or the like, and the type of the vehicle does not affect the line of sight 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 it can be repeatedly executed according to a preset period. By repeatedly executing Figure 1 The flow shown can ensure that the vehicle can pass through Figure 1 The method shown can timely control the vehicle to change lanes.

[0050] It should also be noted that the trigger to start Figure 1 There are many ways to execute the vehicle lane changing method shown, and the present application does not limit this. Exemplarily, when the driver starts the vehicle, opens the navigation system of the vehicle, inputs the starting point and destination to start the navigation function of the vehicle, and starts the NOA function of the vehicle, the controller chip detects that the current navigation function and the NOA function of the vehicle are in the starting state, and then triggers the repeatedly executed Figure 1 The flow shown. The operation mode of the driver to start the navigation function and the NOA function is not limited by the present application.

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

[0052] S101, according to the navigation information provided by the navigation system of the vehicle, identify the current lane changing scene of the vehicle.

[0053] The navigation system of the vehicle can be understood as a vehicle navigation system, which can provide navigation functions for the driver. The navigation information is used to describe the road information of the current driving lane and the navigation path information, and the lane changing scene is the scene in which the vehicle may change lanes. Optionally, the road information of the current driving lane can include road type information, information indicating whether the vehicle is on a ramp, distance information of the vehicle from a ramp, etc. The road type information is used to describe the road type of the current driving lane, and the road type includes ramps, highway main roads, expressways, urban highways, national highways, and country roads. The information indicating whether the vehicle is on a ramp can be obtained from the positioning signal sent by the navigation system. The navigation system can determine whether the vehicle is currently on a ramp by sending a positioning signal, and then provide the result to the controller chip.

[0054] The navigation path information can be understood as information describing the direction of the path planned by the navigation system from the starting point to the destination. Optionally, the navigation path information can include forward drivable lane information and request lane changing direction information. The forward drivable lane information is used to describe the information of the drivable lane in front of the vehicle at the current position on the path planned by the navigation system. For example, the forward drivable lane information can include the number of roads in front of the vehicle, and which lanes in the front roads are drivable. The request lane changing direction information can be understood as a lane changing direction prompt information triggered on the path planned by the navigation system. For example, on the path planned by the navigation system, the forward lane needs to be changed to the rightmost lane to the right, so as to subsequently turn right to enter the ramp, and then the navigation system triggers a request for right lane changing request lane changing direction information.

[0055] It should be noted that the navigation information provided by the navigation system includes but is not limited to the above-mentioned content, for example, the navigation system can also provide traffic congestion information, the distance information of the vehicle from the destination, the forward drivable lane information, the request lane changing direction information, etc.

[0056] During the execution of step S101, the controller chip can directly read the navigation information required for identifying the lane changing 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 identify the lane changing scene 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 content proposed in the embodiments of the present application.

[0057] The lane changing scenario of the vehicle can be preconfigured, that is, the correspondence between the navigation information and the lane changing scenario is preconfigured, or the condition of the navigation information corresponding to each lane changing scenario is preconfigured. When the obtained navigation information meets the condition of the lane changing scenario, it is determined that the vehicle is currently in the lane changing scenario. If the obtained navigation information does not correspond to any lane changing scenario, it is determined that the vehicle is not currently in a lane changing scenario, and thus the subsequent step S102 is not entered, and step S101 is repeatedly executed until the lane changing scenario of the vehicle is identified.

[0058] For example, if it is set that the vehicle lane changing control is only performed on the expressway or the highway, the lane changing scenario only needs to be preconfigured on the road section of the expressway and the highway. When it is identified that the vehicle currently meets a lane changing scenario on the expressway or the highway, step S102 is continued to be executed. If the vehicle is driving on an ordinary urban road, the corresponding lane changing scenario cannot be identified through the navigation information when step S101 is executed, and thus step S102 is not entered, and step S101 is repeatedly executed until the vehicle drives to the expressway or the highway. Step S101 can identify the current lane changing scenario through the navigation information provided by the navigation system of the vehicle.

[0059] It should be further noted that after step S101 identifies the current lane changing scenario of the vehicle, it is only indicated that the vehicle may need to be controlled to change lanes in the current lane changing scenario, but it is not necessarily required to change lanes. Whether the lane changing can be performed in the lane changing scenario needs to be further determined through step S102.

[0060] Optionally, in an embodiment of the present application, the lane changing scenario can include a ramp lane changing scenario, a main road lane changing scenario, and a main road entering ramp lane changing scenario. The ramp lane changing scenario can be understood as a scenario in which the vehicle may need to change lanes when the vehicle is in the ramp. The main road lane changing scenario can be understood as a scenario in which the vehicle may need to change lanes when the vehicle is in the main road. If the preconfigured vehicle lane changing method is implemented on the highway or the expressway, the main road mentioned in the embodiment of the present application can be understood as the highway or the expressway. The main road entering ramp lane changing scenario can be understood as a lane changing scenario in the process of the vehicle entering the ramp from the main road. By preconfiguring the lane changing scenario as the ramp lane changing scenario, the main road lane changing scenario, and the main road entering ramp lane changing scenario, the lane changing of the vehicle from the ramp to the main road, the lane changing in the main road, and the entire process of the vehicle from the main road to the ramp can be covered.

[0061] Optionally, in another specific embodiment of the present application, the ramp lane changing scene can be divided into a ramp lane driving scene and a ramp lane entering main road scene. The main road lane changing scene can also be divided into a main road driving scene and a main road right lane changing scene. Among them, the ramp lane driving scene is a lane changing scene when the vehicle is driving in the ramp lane and does not need to enter the main road yet. The ramp lane entering main road scene is a lane changing scene when the vehicle is driving from the ramp lane to the main road. The main road driving scene is a lane changing scene 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 lane yet. The main road right lane changing scene is a lane changing scene 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 lane later. By further subdividing the ramp lane changing scene and the main road lane changing scene, the subsequent vehicle lane changing control can be more accurate and can meet the lane changing needs in various scenes.

[0062] It should be noted that the above-mentioned several lane changing scene divisions are only one implementation, and more lane changing scenes or other types of lane changing scenes can be added according to the needs to meet the vehicle lane changing needs of the driver in different scenes. The lane changing needs in different lane changing scenes are different, that is, the lane changing conditions corresponding to different lane changing scenes can be different, so the lane changing scene needs to be identified through step S101 to make corresponding lane changing decisions for different lane changing scenes.

[0063] Optionally, in one embodiment of the present application, one implementation of step S102 includes identifying the current lane changing scene of the vehicle according to the road type information of the current driving lane provided by the navigation system of the vehicle, the information for indicating whether the vehicle is on the ramp lane, and the distance information of the vehicle from the ramp entrance.

[0064] Specifically, according to the road type information of the current driving lane, the information indicating whether the vehicle is on the ramp, and the distance information of the vehicle from the ramp, it can be identified which one of the lane-changing scene in the ramp, the lane-changing scene on the main road, and the lane-changing scene of the main road entering the ramp the vehicle belongs to. The information indicating whether the vehicle is on the ramp can be determined by the positioning signal of the navigation system. For example, if it is preset that the vehicle lane-changing method is triggered only on the expressway or the freeway, it can be determined according to the road type information of the current driving lane whether the vehicle is currently on the expressway, the freeway, the ramp entering the expressway, or the ramp entering the freeway. When it is determined that the vehicle is currently on the expressway, the freeway, the ramp entering the expressway, or the ramp entering the freeway, it can be further identified according to the information indicating whether the vehicle is on the ramp and the distance information of the vehicle from the ramp which one of the lane-changing scene in the ramp, the lane-changing scene on the main road, and the lane-changing scene of the main road entering the ramp the vehicle is in. If it is determined through the road type information that the vehicle is not currently on the expressway, the freeway, the ramp entering the expressway, and the ramp entering the freeway, it indicates that the current scene does not meet the requirement for the controller to perform vehicle lane-changing, and thus the subsequent steps shown in the flowchart can be ended until the lane-changing scene of the vehicle is identified again when the step S101 is performed again. Figure 1 the subsequent steps shown in the flowchart can be continued to be performed. Figure 1 the subsequent steps shown in the flowchart can be continued to be performed.

[0065] Optionally, referring to Figure 2 In an embodiment of the present application, one implementation of the method for identifying the current lane-changing scene 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 the ramp, and the distance information of the vehicle from the ramp can be:

[0066] S201, determining whether the vehicle is in the ramp according to the 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 of the navigation system. Alternatively, in another embodiment, in order to accurately determine whether the vehicle is in the ramp, in addition to confirming whether the vehicle is on the ramp according to the positioning signal of the navigation system, the whole vehicle condition and the surrounding environment can be monitored through the camera and other types of sensors on the vehicle to confirm whether the vehicle is currently on the ramp through the whole vehicle condition and the surrounding environment.

[0068] If it is determined in step S201 that the vehicle is in the ramp, it indicates that the current vehicle may need to trigger lane changing in the ramp, and then step S202 is performed, i.e., identifying that the current lane changing scenario of the vehicle is the ramp lane changing scenario. If it is determined in step S201 that the vehicle is not in the ramp, it indicates that the vehicle does not belong to the ramp lane changing scenario, and then step S203 is performed to further identify the lane changing scenario of the vehicle, i.e., whether the vehicle belongs to the main road lane changing scenario or the main road entering ramp lane changing scenario.

[0069] S202, identifying that the current lane changing scenario of the vehicle is the ramp lane changing scenario.

[0070] After determining that the current lane changing scenario of the vehicle is the ramp lane changing scenario, the step S102 shown in the figure can be further performed to determine whether the vehicle can meet the corresponding lane changing condition in the ramp lane changing scenario. Figure 1

[0071] Optionally, referring to Figure 3 In another specific embodiment of the present application, if the ramp lane changing scenario is divided into the ramp driving scenario and the ramp entering main road scenario, after step S202 is performed, the flow shown in the figure can be further performed to further identify whether the vehicle belongs to the ramp driving scenario or the ramp entering main road scenario. Figure 3

[0072] S301, determining whether the distance between the vehicle and the ramp entrance of the merging main road is greater than a second distance threshold.

[0073] The setting manner of the second distance threshold is not limited in the embodiments of the present application, which can be artificially set according to the experience of multiple times of debugging the vehicle lane changing flow. The distance between the vehicle and the ramp entrance of the merging main road can be obtained from the navigation information provided by the navigation system. As described above, the navigation information includes the distance information between the vehicle and the ramp entrance, so that the controller chip can determine the distance between the ramp vehicle and the ramp entrance of the merging main road according to the distance information provided by the navigation system, and then determine whether the distance between the vehicle and the ramp entrance of the merging main road is greater than the second distance threshold.

[0074] It should be noted that the ramp entrance of the merging main road can be understood as the ramp entrance through which the vehicle enters the main road from the ramp. In order to make the description clearer, the scenario schematic diagram shown in the figure can be referred to. Figure 4 Figure 4 ​​​The illustrated scene can see that the vehicle is currently on the ramp, and the dashed line between the ramp and the main road represents the ramp merging into the main road. The smaller the distance between the vehicle and the ramp merging into the main road, the closer the vehicle is to the main road, that is, the vehicle is about to change lanes to the main road. Therefore, the distance between the vehicle and the ramp merging into the main road can be used to distinguish whether the vehicle is in a ramp driving scene or a ramp entering main road scene. The smaller the distance between the vehicle and the ramp merging into the main road, the closer the vehicle is to the main road, that is, the vehicle is about to change lanes to the main road. Therefore, when it is determined that the distance between the vehicle and the ramp merging into the main road is not greater than a second distance threshold, step S302 is performed, that is, it is recognized that the current lane changing scene of the vehicle is a ramp entering main road scene. When it is determined that the distance between the vehicle and the ramp merging into the main road is greater than the second distance threshold, it is indicated that the lane changing that the vehicle is likely to occur is lane changing in the process of driving on the ramp, rather than lane changing from the ramp to the main road, and therefore step S303 is performed, that is, it is recognized that the lane changing scene of the vehicle is a ramp driving scene.

[0075] S302, recognizing that the current lane changing scene of the vehicle is a ramp entering main road scene.

[0076] S303, recognizing that the current lane changing scene of the vehicle is a ramp driving scene.

[0077] By Figure 3 After the method illustrated recognizes the current lane changing scene of the vehicle, step S102 is further performed to determine whether the vehicle can meet the lane changing condition corresponding to the recognized lane changing scene.

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

[0079] Since the foregoing step S201 has determined that the vehicle is not in the ramp, it is indicated that the vehicle is driving on the main road that is not a ramp, and therefore the vehicle can be in a main road lane changing scene or a main road entering ramp lane changing scene. As known from the foregoing description of the main road lane changing scene and the main road entering ramp lane changing scene, the two lane changing scenes can be distinguished by the distance between the vehicle and the ramp exiting the main road. It should be noted that the setting manner of the first distance threshold is not limited in the embodiments of the present application, for example, the first distance threshold can be artificially set according to the experience of debugging the vehicle lane changing process for many times. 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 exiting the main road can be understood as the ramp through which the vehicle drives from the main road to the ramp. In order to make the description clearer, reference can be made to Figure 5 The illustrated scene schematic diagram shows that the vehicle is currently driving on the main road, and the dashed line between the vehicle and the ramp exiting the main road represents the ramp exiting the main road. The smaller the distance between the vehicle and the ramp exiting the main road, the closer the vehicle is to the ramp, that is, the vehicle is about to change lanes 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 changing scene or a main road entering ramp lane changing scene. The smaller the distance between the vehicle and the ramp exiting the main road, the closer the vehicle is to the ramp, that is, 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 a first distance threshold, step S302 is performed, that is, it is recognized that the current lane changing scene of the vehicle is a main road entering ramp scene. 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 is indicated that the lane changing that the vehicle is likely to occur is lane changing on the main road, rather than lane changing from the main road to the ramp, and therefore step S303 is performed, that is, it is recognized that the lane changing scene of the vehicle is a main road lane changing scene. Figure 5The illustrated scene can see that the vehicle is currently on the main road, and the dashed line between the main road and the ramp represents the ramp exit of the main road. The smaller the distance between the vehicle and the ramp exit of the main road, the closer the vehicle is to the ramp from the main road. Therefore, the distance between the vehicle and the ramp exit of the main road can be used to distinguish whether the vehicle is in a main road lane changing scene or a main road entering ramp lane changing scene. The smaller the distance between the vehicle and the ramp exit of the main road, the closer the vehicle is to the ramp, i.e., the vehicle is about to change lanes to the ramp. Therefore, when it is determined that the distance between the vehicle and the ramp exit of the main road is not greater than a first distance threshold, step S204 is performed, i.e., it is identified that the current lane changing scene of the vehicle is a main road entering ramp lane changing scene. When it is determined that the distance between the vehicle and the ramp exit of the main road is greater than the first distance threshold, it is indicated that the lane changing that may occur to the current vehicle is lane changing in the main road, rather than lane changing from the main road to the ramp, and therefore step S205 is performed, i.e., it is identified that the current lane changing scene of the vehicle is a main road lane changing scene.

[0081] S204, identifying that the current lane changing scene of the vehicle is a main road entering ramp lane changing scene.

[0082] S205, identifying that the current lane changing scene of the vehicle is a main road lane changing scene.

[0083] Optionally, referring to Figure 6 In an embodiment of the present application, if the main road lane changing scene is divided into a main road driving scene and a main road right lane changing scene, after step S205 is performed, the following step can also be performed:

[0084] S601, determining whether the distance between the vehicle and the ramp exit of 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, which can be artificially set according to the experience of multiple vehicle lane changing process debugging. The distance between the vehicle and the ramp exit of the main road can be obtained from the navigation information provided by the navigation system.

[0086] As can be known from the above explanation of the main road driving scene and the main road right lane changing scene, the main road right lane changing scene is a lane changing scene in which the vehicle is close to the ramp exit of the main road and needs to change lanes in advance to facilitate subsequent lane changing from the main road to the ramp. Therefore, the distance between the vehicle and the ramp exit of the main road can be used to distinguish whether the vehicle is currently in a main road driving scene or a main road right lane changing scene.

[0087] Specifically, when the distance between the vehicle and the ramp exit of the main road is greater than the third distance threshold, it indicates that the vehicle is far enough from the ramp exit of the main road, and thus no need to prepare for changing lanes to the right for the on-ramp, i.e., performing step S602, identifying that the current lane changing scenario of the vehicle is the main road driving scenario. When the distance between the vehicle and the ramp exit of the main road is not greater than the third distance threshold, it indicates that the vehicle is close to the ramp exit of the main road, and thus need to prepare for changing lanes to the right for the on-ramp, i.e., the vehicle is in the main road right lane changing scenario, and thus performing step S603.

[0088] For the purpose of making the description clearer, taking the third distance threshold as 1 kilometer for example, when the vehicle is currently driving on the main road, there are three lanes on the main road in total. When the distance between the vehicle and the ramp exit of the main road is greater than 1 kilometer, the controller chip identifies that the vehicle is in the main road driving scenario through the above method, and when the distance between the vehicle and the ramp exit of the main road is less than or equal to 1 kilometer, it indicates that the vehicle needs to drive on the rightmost lane in advance to avoid missing the ramp exit of the main road, and the controller chip identifies that the vehicle is in the main road right lane changing scenario through the above method.

[0089] S602, identifying that the current lane changing scenario of the vehicle is the main road driving scenario.

[0090] S603, identifying that the current lane changing scenario of the vehicle is the main road right lane changing scenario.

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

[0092] After identifying the lane changing scenario of the vehicle through the above embodiments, step S102 is performed to further determine whether the vehicle needs to be controlled to change lanes.

[0093] S102, determining whether the vehicle meets the lane changing condition corresponding to the identified lane changing scenario according to the map information provided by the current crowd-sourced map system and the navigation information provided by the navigation system.

[0094] The crowdsourcing map system is a system for generating a crowdsourced map. The crowdsourcing map system uses visual recognition technology to generate a map using low-bandwidth anonymous data packets collected by a front camera of a vehicle, and finally forms a crowdsourced map of a drivable path in a crowdsourcing manner. The crowdsourcing map system can be configured in the cloud. For example, the crowdsourcing map system can be a road experience management (REM) system. The REM system generates a crowdsourced map as follows: anonymous data is automatically collected by a camera during normal driving of a vehicle and transmitted to the REM. The REM identifies road-related information and generates marked data points at the vehicle end, and then uploads the data to the cloud with extremely low bandwidth. Then, through 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. The semantic information is continuously collected through the above process, and finally a REM map (i.e., a crowdsourced map) is formed.

[0095] The map information provided by the crowdsourcing map system is more granular than the navigation information provided by the navigation system, and can be as detailed as indicating road traffic signs, lane lines, etc. within a few hundred meters around the current vehicle. Compared with the high-precision map used in the lane changing decision of the prior art, although the information provided by the crowdsourcing map system is not as detailed as the high-precision map, the data amount is smaller, and in the embodiments of the present application, the map information provided by the crowdsourcing map system in combination with the navigation information is sufficient to achieve accurate vehicle lane changing control. For example, in the existing vehicle lane changing decision scheme based on a high-precision map, 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 needs to be read and analyzed by the controller chip is very large. Compared with the existing lane changing decision scheme based on a high-precision map, in the embodiments of the present application, the amount of data processed by the controller chip is greatly reduced while ensuring accurate vehicle lane changing control, and in combination with the navigation information, the map information within a few hundred meters provided by the crowdsourcing map system can enable the controller chip to accurately decide the vehicle lane changing. Because the amount of data processed by the controller chip is greatly reduced, the processing efficiency of the controller chip is also improved. Compared with the prior art, the vehicle lane changing method of the embodiments of the present application greatly reduces the requirement for the computing power of the controller chip, and some controller chips with lower computing power can also support the implementation of the embodiments of the present application.

[0096] The map information provided by the crowd-sourced map system is used to describe the information of the road environment around the vehicle. Specifically, the map information can include merging information, splitting information, and forward drivable lane information of the current lane of the vehicle. The merging information is used to describe whether the current lane merges with other lanes, and the splitting information is used to describe whether the current lane is split into multiple lanes. Optionally, in an embodiment of the present application, the merging information and the splitting information in the crowd-sourced map information can include three parameters: distance, type, and direction. The distance parameter is used to describe the distance between the vehicle and a merging point or a splitting point. The merging point can be understood as a merging position when the current lane merges with other lanes. The splitting point can be understood as a splitting position when the current lane is split into multiple lanes. The type parameter is used to describe whether the current lane is merged or split. The direction parameter is used to indicate the direction in which the vehicle should travel after the current lane is merged or split. For example, after the current lane is split into two lanes, the map information of the crowd-sourced map system can indicate that the left lane should be traveled after the lane is split into two lanes. The forward drivable lane information is used to describe which lanes are drivable in front of the vehicle. The forward drivable lane can be determined by the crowd-sourced map system according to the navigation path information.

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

[0098] Specifically, the process of performing step S102 is that the controller chip acquires the navigation information provided by the navigation system and the map information provided by the crowd-sourced map system, and then determines whether the vehicle can trigger lane changing in the lane changing scenario identified in step S101 according to the map information and the navigation information, i.e., determines whether the vehicle can meet the lane changing condition corresponding to the identified lane changing scenario. The lane changing condition corresponding to the lane changing scenario in the embodiments of the present application can be understood as being set according to the map information and the navigation information. The conditions for generating a lane changing demand can be different in different lane changing scenarios, so the corresponding lane changing conditions are pre-set for different lane changing scenarios in the embodiments of the present application. When the map information and the navigation information are acquired in step S102, it can be determined whether the current map information and the navigation information can meet the lane changing condition corresponding to the identified lane changing scenario. If the vehicle meets the lane changing condition corresponding to the identified lane changing scenario, step S103 is performed. If the vehicle does not meet the lane changing condition corresponding to the identified lane changing scenario, the vehicle does not need to be controlled to change lanes, and the process is directly ended. It can also be understood that the process is returned to step S101 and the process is re-executed Figure 1 The method shown in the flowchart.

[0099] It should be noted that, from the above description of the navigation information provided by the navigation system in each of the embodiments, it can be seen that the navigation information includes a plurality of different types of information. The information used when step S101 is performed and the information used when step S102 is performed are only part of the navigation information. Moreover, because the steps performed in step S101 and step S102 are different, the effects to be achieved are different, and therefore the navigation information used is different. For example, in step S101, the road type information of the current lane, the information indicating whether the vehicle is on a ramp, and the distance information of the vehicle from the ramp are used. When step S102 is performed, because it is necessary to determine whether the lane changing condition is met, the navigation information used can be the information of the drivable lane ahead and the information of the requested lane changing direction, which can trigger the vehicle to change lanes.

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

[0101] According to the merging information, the segmentation information, and the drivable lane information of the current lane of the vehicle provided by the crowd-sourced map system, and the drivable lane information and the requested lane changing direction information provided by the navigation system, it is determined whether the vehicle meets the lane changing condition corresponding to the identified lane changing scenario.

[0102] The drivable lane information provided by the navigation system is used to indicate how many drivable roads there are ahead of the current lane of the vehicle. The drivable lane provided by the crowd-sourced map system is usually consistent with the drivable lane information provided by the navigation system. When there is inconsistency, the drivable lane information provided by the navigation system is used as the reference.

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

[0104] From the above description of the merging information, the segmentation information, and the drivable lane information of the current lane of the vehicle provided by the crowd-sourced map system, and the drivable lane information and the requested lane changing 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, and therefore through the above information, it can be determined whether the vehicle meets the lane changing condition corresponding to the identified lane changing scenario.

[0105] Optionally, in an embodiment of the present application, the lane-changing condition corresponding to the lane-changing scenario includes at least one of the following: the current lane of the vehicle and other lanes are merged to trigger lane changing, the current lane of the vehicle is divided into multiple lanes to trigger lane changing, the front drivable lane information triggers lane changing, the navigation system issues a request for lane-changing direction information to trigger lane changing, and the traffic speed of the lane where the vehicle is driving is less than the traffic speed of other lanes to trigger lane changing.

[0106] Among them, triggering lane changing can be understood as generating a lane-changing demand (lane-changing intention). When the merging information provided by the crowd-sourced map system indicates that the current lane of the vehicle and other lanes are merged, lane changing is triggered. When the division information indicates that the current lane of the vehicle is divided into multiple lanes, lane changing is triggered. The front drivable lane information provided by the crowd-sourced map system or the navigation system also triggers lane changing due to the change of the front drivable lane. The request for lane-changing direction information issued by the navigation system under the current path planning triggers lane changing. When the traffic speed of the lane where the vehicle is driving is less than the traffic speed of other lanes, lane changing is triggered in order to improve the traffic speed. The above multiple ways of triggering lane changing can be used to configure the lane-changing condition. In an embodiment, in order to improve the lane-changing accuracy under different lane-changing scenarios and avoid generating false lane-changing control, one or more of the above ways of triggering lane changing can be selected to set the lane-changing condition corresponding to the lane-changing scenario according to the characteristics of different lane-changing scenarios.

[0107] Optionally, in an embodiment of the present application, the lane-changing condition corresponding to different lane-changing scenarios can be:

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

[0109] The lane-changing condition corresponding to the ramp driving scenario can be that the current lane of the vehicle and other lanes are merged to trigger lane changing, the current lane of the vehicle is divided into multiple lanes to trigger lane changing, the front drivable lane information triggers lane changing, or the navigation system issues a request for lane-changing direction information to trigger lane changing under the condition that the distance between the vehicle and the ramp entrance of the merging main road is greater than or equal to a fourth distance threshold.

[0110] Specifically, when the current lane of the vehicle and other lanes are merged, it means that the current driving lane will be merged into other lanes, so the change of the driving lane will be triggered, i.e. lane changing is triggered. When the crowd-sourced map system triggers lane changing when the current lane of the vehicle and other lanes are merged, the controller chip can determine that the vehicle meets the lane-changing condition corresponding to the ramp driving scenario, i.e. the controller chip can control the vehicle to change lanes.

[0111] Similarly, when the current lane of the vehicle is split into multiple lanes, it means that the current lane is changed to one of the split lanes, thus triggering the lane change. Therefore, when the crowd-sourced map system triggers the lane change when the current lane of the vehicle is split into multiple lanes, the controller chip can determine that the vehicle meets the lane change condition corresponding to the ramp-in-main-road driving scenario, i.e., the controller chip can control the vehicle to change lanes.

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

[0113] When the distance between the vehicle and the ramp-in-main-road ramp is greater than or equal to the fourth distance threshold, it means that the current driving scenario is still in the ramp-in-main-road driving scenario and has not changed to the ramp-in-main-road driving scenario. Therefore, under the condition that the distance between the vehicle and the ramp-in-main-road ramp is confirmed to be still in the ramp-in-main-road driving scenario, the navigation system issues a request for 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, i.e., the controller chip can determine that the vehicle meets the lane change condition corresponding to the ramp-in-main-road driving scenario.

[0114] It should be noted that the fourth distance threshold is not limited by the embodiments of the present application, for example, it can be set artificially according to experience.

[0115] It should be further noted that in the process of confirming whether the lane change condition corresponding to the ramp-in-main-road driving scenario is met, the priority of the above-mentioned several ways of triggering lane change can be used to confirm whether the lane change condition is met. For example, the first level of triggering lane change in the ramp-in-main-road driving scenario can be set as the merging of the current lane of the vehicle and other lanes triggering lane change, or the splitting of the current lane of the vehicle into multiple lanes triggering lane change. The second level is set to trigger lane change by front drivable lane information. The third level is set to trigger lane change by the navigation system issuing a request for lane change direction information under the condition that the distance between the vehicle and the ramp-in-main-road ramp is greater than or equal to the fourth distance threshold. The controller chip can first check whether there is a first level of triggering lane change, and if there is, it is directly confirmed that the current lane change scenario meets the corresponding lane change condition. If not, it continues to check whether there is a second level of triggering lane change, and if there is, it is confirmed that the current lane change scenario meets the corresponding lane change condition. If not, it continues to check whether there is a third level of triggering lane change.

[0116] (2) The lane change scenario is a ramp-in-main-road driving scenario

[0117] The lane-changing condition corresponding to the ramp-entering-main-road scene can be that the vehicle's current lane and other lanes merge to trigger lane changing, the vehicle's current lane is split into multiple lanes to trigger lane changing, the information of drivable lanes in front triggers lane changing, or the distance between the vehicle and the ramp entrance of the main road is less than or equal to a fifth distance threshold, and the navigation system issues a request for lane-changing direction information to trigger lane changing.

[0118] The three ways of triggering lane changing, i.e., the vehicle's current lane and other lanes merge to trigger lane changing, the vehicle's current lane is split into multiple lanes to trigger lane changing, and the information of drivable lanes in front triggers lane changing, can refer to the related content described above, and will not be repeated here.

[0119] When the distance between the vehicle and the ramp entrance of the main road is less than or equal to the fifth distance threshold, it means that the vehicle is still in the ramp-entering-main-road scene, and the navigation system initiates a request for lane-changing direction information to trigger the vehicle to change lanes to the main road, i.e., to change lanes to the left. Therefore, when the controller chip detects that the navigation system issues a request for lane-changing direction information to trigger lane changing when the distance between the vehicle and the ramp entrance of the main road is less than or equal to the fifth distance threshold, it can be considered that the lane-changing condition of the ramp-entering-main-road scene is met.

[0120] It should be noted that in the process of confirming whether the lane-changing condition corresponding to the ramp-entering-main-road scene is met, the priority of the above-mentioned several ways of triggering lane changing can be used to confirm whether the lane-changing condition is met. For example, the first level of triggering lane changing in the ramp-entering-main-road scene can be set to the vehicle's current lane and other lanes merging to trigger lane changing, or the vehicle's current lane being split into multiple lanes to trigger lane changing. The second level is set to the information of drivable lanes in front triggering lane changing. The third level is set to the navigation system issuing a request for lane-changing direction information to trigger lane changing when the distance between the vehicle and the ramp entrance of the main road is less than or equal to the fifth distance threshold. The process of confirming whether the lane-changing condition is met according to the priority can refer to the related content of the ramp-driving scene part described above, and will not be repeated here.

[0121] (3) Lane-changing scene is main road driving scene

[0122] The lane-changing condition corresponding to the main road driving scene is that the vehicle's current lane and other lanes merge to trigger lane changing, the vehicle's current lane is split into multiple lanes to trigger lane changing, the information of drivable lanes in front triggers lane changing, or the speed of the vehicle's driving lane is less than the speed of other lanes to trigger lane changing.

[0123] The three ways of triggering the lane change are described above, and will not be repeated here.

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

[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 passing speed of the vehicle is less than the preset cruising speed, and the passing speed of the current lane is less than the passing speed of other lanes. When the passing speed of the vehicle is greater than or equal to the preset cruising speed, the lane change is not triggered even if the passing speed of the current lane is less than the passing speed of other lanes.

[0126] Optionally, in an embodiment of the present application, the passing speed of the current lane, the passing speed of the left lane of the current lane, and the passing speed of the right lane of the vehicle can be calculated according to the surrounding lane target information input by the camera, the angle radar and other devices. The surrounding lane target information can include the speed of the vehicle on the lane beside the current lane, and the distance between the vehicle and the vehicle on the lane beside the current lane.

[0127] It should be noted that in the process of confirming whether the lane change condition corresponding to the main road driving scenario is met, the priority of the above-mentioned several ways of triggering the lane change can be used to confirm whether the lane change condition is met. For example, the first level of triggering the lane change in the main road driving scenario can be set as the lane change triggered by the merging of the current lane of the vehicle and other lanes, or the lane change triggered by the splitting of the current lane of the vehicle into multiple lanes. The second level is set as the lane change triggered by the drivable lane information in front. The third level is set as the lane change triggered by the passing speed of the lane of the vehicle being less than the passing speed of other lanes. The process of confirming whether the lane change condition is met by the controller chip according to the priority can refer to the related contents of the ramp driving scenario part described above, and will not be repeated here.

[0128] (4) The lane change scenario is the main road right lane change scenario

[0129] The lane-changing condition corresponding to the main road lane-changing scene to the right is that the lane-changing is triggered by merging of the current lane and other lanes, the lane-changing is triggered by the current lane being divided into multiple lanes, the lane-changing is triggered by the drivable lane information in front, or the lane-changing direction information is requested by the navigation system.

[0130] The four lane-changing triggering manners, i.e., the lane-changing is triggered by merging of the current lane and other lanes, the lane-changing is triggered by the current lane being divided into multiple lanes, the lane-changing is triggered by the drivable lane information in front, and the lane-changing direction information is requested by the navigation system, can be referred to the above related content, and will not be described here.

[0131] It should be noted that, in the process of confirming whether the lane-changing condition is met, the priority of the above-mentioned several lane-changing triggering manners can be used to confirm whether the lane-changing condition is met. The process of confirming whether the lane-changing condition is met according to the priority can be referred to the related content of the on-ramp driving scene, and will not be described here.

[0132] (5) The lane-changing scene is the main road lane-changing scene into the ramp

[0133] The lane-changing condition corresponding to the main road lane-changing scene into the ramp is that the lane-changing direction information is requested by the navigation system.

[0134] The four lane-changing triggering manners, i.e., the lane-changing direction information is requested by the navigation system, can be referred to the above related content, and will not be described here.

[0135] It should be noted that, in the process of confirming whether the lane-changing condition is met, the priority of the above-mentioned several lane-changing triggering manners can be used to confirm whether the lane-changing condition is met. The process of confirming whether the lane-changing condition is met according to the priority can be referred to the related content of the on-ramp driving scene, and will not be described here.

[0136] It should be further noted that, the lane-changing mentioned in the above embodiments can be understood as a lane-changing information triggered by the navigation system, the crowd-sourced map system, or other systems in the detection of one of the above lane-changing conditions. After the controller chip recognizes the lane-changing scene, if it is detected that the current lane-changing manner belongs to the lane-changing condition corresponding to the lane-changing scene, it can be considered that the vehicle needs to change lanes in the current lane-changing scene.

[0137] The above embodiments are only one of the pre-configuration manners of the lane-changing conditions corresponding to the lane-changing scenes shown in the present application. In other embodiments, the lane-changing conditions corresponding to the lane-changing scenes can also be adjusted according to experience, driving needs, etc.

[0138] To make the description of the above embodiments more clear, the following is further explained: the above-mentioned "other lane" refers to a lane other than the current lane of the vehicle. And the meanings of road and lane in the embodiments are the same.

[0139] S103, triggering a lane changing instruction, wherein the lane changing instruction is used to instruct the vehicle to change lanes.

[0140] Since it is determined in step S102 that the vehicle meets the lane changing condition corresponding to the identified lane changing scenario, it means that the vehicle needs to change lanes in the current scenario. Therefore, the controller chip can trigger a corresponding lane changing instruction according to the triggering manner of the lane changing condition met by the vehicle. The lane changing instruction can include the lane changing direction and the lane to which the vehicle changes. The lane changing direction and the lane to which the vehicle changes can be determined according to the map information provided by the current crowd-sourced map system and the navigation information provided by the navigation system.

[0141] Alternatively, in some embodiments, after the controller chip triggers the lane changing instruction, the vehicle can be controlled to change lanes according to the lane changing instruction. Alternatively, in other embodiments, in order to improve the accuracy of vehicle lane changing and avoid the case that the lane changing instruction is wrong, after step S103, the method further includes: if it is detected that the lane changing instruction is triggered in consecutive N detection periods, triggering a lane changing request. Wherein the lane changing request is used to request the vehicle to change lanes, and N is a positive integer. That is, the controller chip periodically detects whether the lane changing instruction is triggered according to a preset detection period. If the same lane changing instruction is detected in consecutive N detection periods, it means that the lane changing instruction is not a false trigger, so the lane changing request can be triggered to control the vehicle to change lanes. On the contrary, if the detection period of the lane changing instruction is not consecutive N detection periods, it means that the lane changing instruction may be a false alarm, so the lane changing request does not need to be triggered, that is, the vehicle is not controlled to change lanes. The lane changing direction and the lane to which the vehicle changes can be included in the lane changing request.

[0142] In the prior art, the vehicle lane changing control is performed by using a high-precision map. 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, which contains a large amount of redundant data. That is, in the process of vehicle lane changing control, many data in the high-precision map are actually not needed, but the controller chip still needs to read and analyze them, which makes the processing process of the controller chip too complicated and requires a large amount of calculation, so the processing efficiency is not high. Therefore, the existing vehicle lane changing method has a high requirement on the operation ability of the controller chip, and a low-power chip cannot adapt to the existing solution, and the processing efficiency of vehicle lane changing is not high.

[0143] Through the above description of theFigure 1 As can be known 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 data amount of the navigation information provided by the navigation system is small, and the information provided is coarse-grained (i.e., the information amount is relatively rough), and thus the information is not specific to specific lanes, road signs, and other overly fine information. Therefore, in the embodiment of the present application, a lane-changing scene identification step needs to be performed through the navigation information, and then the map information of the crowd-sourced map system is combined with the navigation information to further confirm whether the lane-changing condition corresponding to the lane-changing scene is met, and lane-changing control is performed only when the lane-changing condition is met, so as to ensure the accuracy of the lane-changing control of the vehicle. Compared with the navigation information, the map information of the crowd-sourced map system is more detailed and accurate, and the map information provided by the crowd-sourced map system is within a range of several hundred meters of the vehicle, and the data amount covered is much smaller than that of the high-definition map. Therefore, in the case of accurately realizing the lane-changing control of the vehicle, the navigation information and the map information of the crowd-sourced map system used in the embodiment of the present application are both information with small data amount, so that the controller chip can accurately control the lane-changing of the vehicle in the case of 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 according to the navigation information provided by the navigation system of the vehicle. Then, whether the vehicle meets the lane-changing condition corresponding to the identified lane-changing scene is determined according to the map information provided by the current crowd-sourced map system and the 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 scene, a lane-changing instruction is triggered to realize the lane-changing decision of the vehicle. Since the lane-changing decision of the vehicle is realized based on the navigation information of the vehicle and the map information provided by the crowd-sourced map system in the embodiment of the present application, the map information provided by the crowd-sourced map system belongs to light map (light map) information, and the data amount contained in the map information provided by the navigation system and the crowd-sourced map system is much smaller than that of the high-definition map, and thus the data amount processed by the controller chip when making the lane-changing decision through the navigation information and the map information is small, the load of the controller chip is low, and the processing efficiency of the lane-changing decision is also improved.

[0145] Referring to Figure 7 Based on the lane-changing method proposed in the above embodiment of the present application, the embodiment of the present application discloses a vehicle lane-changing device, which comprises an identification unit 701, a determination unit 702, and a first triggering unit 703.

[0146] The identification unit 701 is configured to identify the current lane-changing scene of the vehicle according to the navigation information provided by the navigation system of the vehicle. The navigation information is used to indicate the road information and navigation path information of the current driving lane of the vehicle. The lane-changing scene is a scene in which the vehicle may change lanes.

[0147] Optionally, in an embodiment of the present application, the identifying unit 701 comprises a first identifying subunit, configured to identify the current lane-changing scenario of the vehicle according to the road type information of the current 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.

[0148] Optionally, in an embodiment of the present application, the lane-changing scenario comprises a ramp-in lane-changing scenario, a main road lane-changing scenario, and a main road entering ramp lane-changing scenario.

[0149] Optionally, in an embodiment of the present application, the first identifying subunit comprises a second identifying subunit, a third identifying subunit, and a fourth identifying subunit.

[0150] The second identifying subunit is configured to identify the current lane-changing scenario of the vehicle as the ramp-in lane-changing scenario if it is determined according to the information indicating whether the vehicle is on the ramp that the vehicle is in the ramp.

[0151] The third identifying subunit is configured to identify the current lane-changing scenario of the vehicle as the main road lane-changing scenario if it is determined according to the information indicating whether the vehicle is on the ramp that the vehicle is not in the ramp and the distance between the vehicle and the ramp exit of the main road is greater than a first distance threshold.

[0152] The fourth identifying subunit is configured to identify the current lane-changing scenario of the vehicle as the main road entering ramp lane-changing scenario if it is determined according to the information indicating whether the vehicle is on the ramp that the vehicle is not in the ramp and the distance between the vehicle and the ramp exit of the main road is less than or equal to the first distance threshold.

[0153] Optionally, in an embodiment of the present application, the ramp-in lane-changing scenario comprises a ramp-in driving scenario and a ramp-entering-main road scenario, and the main road lane-changing scenario comprises a main road driving scenario and a main road right lane-changing scenario. The vehicle lane-changing device further comprises a fifth identifying subunit, a sixth identifying subunit, a seventh identifying subunit, and an eighth identifying subunit.

[0154] The fifth identifying subunit is configured to identify the current lane-changing scenario of the vehicle as the ramp-in driving scenario if the distance between the vehicle and the ramp exit of the main road is greater than a second distance threshold.

[0155] The sixth identifying subunit is configured to identify the current lane-changing scenario of the vehicle as the ramp-entering-main road scenario if the distance between the vehicle and the ramp exit of the main road is less than or equal to the second distance threshold.

[0156] The seventh identifying subunit is configured to identify the current lane-changing scenario of the vehicle as the main road driving scenario if the distance between the vehicle and the ramp exit of the main road is greater than a third distance threshold.

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

[0158] The determination unit 702 is configured to determine whether the vehicle meets the lane changing condition corresponding to the identified lane changing scene according to the map information provided by the current crowd-sourced map system and the navigation information provided by the navigation system.

[0159] Optionally, in an embodiment of the present application, the determination unit 702 includes a determination subunit configured to determine whether the vehicle meets the lane changing condition corresponding to the identified lane changing scene according to the merging information, the splitting information and the front drivable lane information of the current driving lane of the vehicle provided by the crowd-sourced map system, and the front drivable lane information and the requested lane changing direction information provided by the navigation system. The merging information is used to indicate whether the current driving lane is merged with other lanes. The splitting information is used to indicate whether the current driving lane is split into multiple lanes.

[0160] Optionally, in an embodiment of the present application, the lane changing condition corresponding to the lane changing scene includes at least one of the following: the current driving lane of the vehicle is merged with other lanes to trigger lane changing, the current driving lane of the vehicle is split into multiple lanes to trigger lane changing, the front drivable lane information triggers lane changing, the navigation system issues the requested lane changing direction information to trigger lane changing, and the traffic speed of the driving lane of the vehicle is less than the traffic speed of other lanes to trigger lane changing.

[0161] Optionally, in an embodiment of the present application, if the fifth identification subunit identifies that the current lane changing scene of the vehicle is the ramp driving scene, the lane changing condition corresponding to the identified lane changing scene is at least one of the following: the current driving lane of the vehicle is merged with other lanes to trigger lane changing, the current driving lane of the vehicle is split into multiple lanes to trigger lane changing, the front drivable lane information triggers lane changing, or the navigation system issues the requested lane changing direction information to trigger lane changing under the condition that the distance between the vehicle and the ramp exit of the main road is greater than or equal to the fourth distance threshold.

[0162] If the sixth identification subunit identifies that the current lane changing scene of the vehicle is the ramp entering main road scene, the lane changing condition corresponding to the identified lane changing scene is at least one of the following: the current driving lane of the vehicle is merged with other lanes to trigger lane changing, the current driving lane of the vehicle is split into multiple lanes to trigger lane changing, the front drivable lane information triggers lane changing, or the navigation system issues the requested lane changing direction information to trigger lane changing under the condition that the distance between the vehicle and the ramp exit of the main road is less than or equal to the fifth distance threshold.

[0163] If the seventh identification subunit identifies that the current lane-changing scene of the vehicle is the main road driving scene, the lane-changing condition corresponding to the identified lane-changing scene is that the current lane of the vehicle and other lanes are combined to trigger lane changing, the current lane of the vehicle is divided into multiple lanes to trigger lane changing, the drivable lane information in front triggers lane changing, or the traffic speed of the lane where the vehicle travels is less than the traffic speed of other lanes to trigger lane changing.

[0164] If the eighth identification subunit identifies that the current lane-changing scene of the vehicle is the main road right lane-changing scene, the lane-changing condition corresponding to the identified lane-changing scene is that the current lane of the vehicle and other lanes are combined to trigger lane changing, the current lane of the vehicle is divided into multiple lanes to trigger lane changing, the drivable lane information in front triggers lane changing, or the navigation system issues the requested lane-changing direction information to trigger lane changing.

[0165] If the fourth identification subunit identifies that the current lane-changing scene of the vehicle is the main road entering ramp lane-changing scene, the lane-changing condition corresponding to the identified lane-changing scene is that the navigation system issues the requested lane-changing direction information to trigger lane changing.

[0166] The first triggering unit 703 is configured to trigger a lane-changing instruction if it is determined that the vehicle meets the lane-changing condition corresponding to the identified lane-changing scene. The lane-changing instruction is used to instruct the vehicle to perform lane changing.

[0167] Optionally, in an embodiment of the present application, the vehicle further comprises:

[0168] The second triggering unit is configured to trigger a lane-changing request if it is detected that the lane-changing instruction is triggered in N continuous detection periods. The lane-changing request is used to request the vehicle to perform lane changing. N is a positive integer.

[0169] The principles and execution processes of the units and subunits in the vehicle lane-changing device disclosed in the embodiments of the present application are the same as those in the vehicle lane-changing method disclosed in the embodiments of the present application. For details, refer to the corresponding parts in the vehicle lane-changing method disclosed in the embodiments of the present application, which will not be described here.

[0170] The vehicle lane changing device disclosed by the embodiment of the application comprises a recognition unit 701, a determination unit 702 and a first trigger unit 703. The recognition unit 701 recognizes the current lane changing scene of the vehicle according to the navigation information provided by the navigation system of the vehicle. The determination unit 702 determines whether the vehicle meets the lane changing condition corresponding to the recognized lane changing scene according to the map information provided by the current crowd-sourced map system and the navigation information provided by the navigation system. If it is determined that the vehicle meets the lane changing condition corresponding to the recognized lane changing scene, the first trigger unit 703 triggers the lane changing instruction to realize the lane changing decision of the vehicle. Since the lane changing decision of the vehicle is realized based on the navigation information of the vehicle and the map information provided by the crowd-sourced map system in the embodiment of the application, the data amount contained in the map information provided by the crowd-sourced map system and the navigation information provided by the navigation system is much smaller than that of the high-definition map, and thus the data amount processed by the vehicle lane changing device when making the lane changing decision based on the navigation information and the map information is small, the load is small, and the processing efficiency of the lane changing decision is improved.

[0171] The application discloses a computer readable medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the vehicle lane changing method of any of the above.

[0172] The 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 the one or more processors, the one or more processors implement the vehicle lane changing method of any of the above.

[0173] It is to be understood by those skilled in the art that the application can be implemented by other embodiments without departing from the spirit or essential characteristics thereof. Therefore, the above disclosed embodiments are merely illustrative in all aspects and are not the only ones. All changes within the scope of the application or within the scope equivalent to the application are included in the application.

[0174] Those skilled in the art should understand that the embodiments of the application can be provided as a method, a system or a computer program product. Therefore, the application can be in the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware aspects. Moreover, the application can be in the form of a computer program product implemented on one or more computer usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer usable program code.

[0175] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flow or blocks Figure 1 one or more flow or blocks

[0176] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flow or blocks Figure 1 one or more flow or blocks

[0177] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flow or blocks Figure 1 one or more flow or blocks

[0178] Finally, it should be noted that the above-mentioned embodiments are merely used to illustrate the technical solutions of the present application, rather than limiting the same. Although the present application is described in detail with reference to the above embodiments, it should be understood by those skilled in the art that the specific embodiments of the present application can be modified or replaced equivalently, and any modification or replacement without departing from the spirit and scope of the present application should be covered within the protection scope of the claims of the present application.

Claims

1. A vehicle lane-changing method characterized by, The method comprises the following steps: identifying 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 current lane of the vehicle; the lane-changing scenario is a scenario in which the vehicle is likely to change lanes; determining whether the vehicle meets a lane-changing condition corresponding to the identified lane-changing scenario according to map information provided by a current crowd-sourced map system and the 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, triggering a lane-changing instruction; wherein the lane-changing instruction is used to instruct the vehicle to change lanes; the step of identifying the current lane-changing scenario of the vehicle according to the navigation information provided by the navigation system of the vehicle comprises: identifying the current lane-changing scenario of the vehicle according to road type information of the current lane of the vehicle, information used to describe whether the vehicle is on a ramp, and distance information of the vehicle from a ramp junction, which are provided by the navigation system of the vehicle; the step of determining whether the vehicle meets the lane-changing condition corresponding to the identified lane-changing scenario according to the map information provided by the crowd-sourced map system and the navigation information provided by the navigation system comprises: determining whether the vehicle meets the lane-changing condition corresponding to the identified lane-changing scenario according to merging information, splitting information and front drivable lane information of the current lane of the vehicle, which are provided by the crowd-sourced map system, and front drivable lane information and requested lane-changing direction information, which are provided by the navigation system; wherein the merging information is used to describe whether the current lane is merged with other lanes; the splitting information is used to describe whether the current lane is split into multiple lanes.

2. The vehicle lane-changing method according to claim 1, characterized by, The lane-changing scenarios comprise a ramp-in lane-changing scenario, a main road lane-changing scenario and a main road-to-ramp lane-changing scenario.

3. The vehicle lane-changing method according to claim 2, characterized by, the step of identifying the current lane-changing scenario of the vehicle according to the road type information of the current lane of the vehicle, the information used to describe whether the vehicle is on a ramp, and the distance information of the vehicle from a ramp junction, which are provided by the navigation system of the vehicle, comprises: if it is determined that the vehicle is in a ramp according to the information used to describe whether the vehicle is on a ramp, identifying that the current lane-changing scenario of the vehicle is a ramp-in lane-changing scenario; if it is determined that the vehicle is not in a ramp and the distance between the vehicle and a ramp junction for exiting a main road is greater than a first distance threshold according to the information used to describe whether the vehicle is on a ramp, identifying that the current lane-changing scenario of the vehicle is a main road lane-changing scenario; if it is determined that the vehicle is not in a ramp and the distance between the vehicle and a ramp junction for exiting a main road is less than or equal to the first distance threshold according to the information used to describe whether the vehicle is on a ramp, identifying that the current lane-changing scenario of the vehicle is a main road-to-ramp lane-changing scenario.

4. The vehicle lane-changing method according to claim 3, characterized by, The ramp-in lane-changing scenario comprises a ramp-in driving scenario and a ramp-to-main road scenario, and the main road lane-changing scenario comprises a main road driving scenario and a main road-to-right lane-changing scenario; wherein the step of identifying that the current lane-changing scenario of the vehicle is a ramp-in lane-changing scenario further comprises: If the distance between the vehicle and the ramp exit of the main road is greater than a third distance threshold, the current lane change scenario of the vehicle is identified as the main road driving scenario; If the distance between the vehicle and the ramp exit of the main road is less than or equal to the third distance threshold, the current lane change scenario of the vehicle is identified as the main road right lane change scenario. If the distance between the vehicle and the ramp exit of the main road is greater than a third distance threshold, the current lane change scenario of the vehicle is identified as the main road driving scenario; If the distance between the vehicle and the ramp exit of the main road is less than or equal to the third distance threshold, the current lane change scenario of the vehicle is identified as the main road right lane change scenario. The lane change condition corresponding to the lane change scenario includes at least one of the following: merging of the current lane of the vehicle and other lanes triggers lane change, the current lane of the vehicle is divided into multiple lanes triggers lane change, the front drivable lane information triggers lane change, the navigation system issues requested lane change direction information triggers lane change, and the traffic speed of the current lane of the vehicle is less than that of other lanes triggers lane change.

5. The method of claim 1, wherein, If the current lane change scenario of the vehicle is identified as the ramp driving scenario, the lane change condition corresponding to the identified lane change scenario is that the merging of the current lane of the vehicle and other lanes triggers lane change, the current lane of the vehicle is divided into multiple lanes triggers lane change, the front drivable lane information triggers lane change, or the navigation system issues requested lane change direction information triggers lane change under the condition that the distance between the vehicle and the ramp exit of the main road is greater than or equal to a fourth distance threshold; 6. The method of claim 5, wherein, If the current lane change scenario of the vehicle is identified as the ramp driving scenario, the lane change condition corresponding to the identified lane change scenario is that the merging of the current lane of the vehicle and other lanes triggers lane change, the current lane of the vehicle is divided into multiple lanes triggers lane change, the front drivable lane information triggers lane change, or the navigation system issues requested lane change direction information triggers lane change under the condition that the distance between the vehicle and the ramp exit of the main road is greater than or equal to a fourth distance threshold; If the current lane change scenario of the vehicle is identified as the main road driving scenario, the lane change condition corresponding to the identified lane change scenario is that the merging of the current lane of the vehicle and other lanes triggers lane change, the current lane of the vehicle is divided into multiple lanes triggers lane change, the front drivable lane information triggers lane change, or the traffic speed of the current lane of the vehicle is less than that of other lanes triggers lane change. ​ If the current lane-changing scene of the vehicle is identified as the main road right lane-changing scene, the lane-changing condition corresponding to the identified lane-changing scene is that the current lane of the vehicle and other lanes are combined to trigger lane-changing, the current lane of the vehicle is divided into multiple lanes to trigger lane-changing, the front drivable lane information triggers lane-changing, or the navigation system issues a request for lane-changing direction information to trigger lane-changing. If the current lane-changing scene of the vehicle is identified as the main road ramp lane-changing scene, the lane-changing condition corresponding to the identified lane-changing scene is that the navigation system issues a request for lane-changing direction information to trigger lane-changing.

7. The vehicle lane-changing method according to claim 1, characterized by, The method further includes: If it is detected that the lane-changing instruction is triggered in N continuous detection periods, a lane-changing request is triggered, wherein the lane-changing request is used to request the vehicle to change lanes, and N is a positive integer.

8. A vehicle lane-changing device for implementing the vehicle lane-changing method according to any one of claims 1 to 7, characterized by, The method further includes: An identifying unit is configured to identify a current lane-changing scene 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 current lane of the vehicle, and the lane-changing scene is a scene in which the vehicle is likely to change lanes; A determining unit is configured to determine whether the vehicle meets a lane-changing condition corresponding to the identified lane-changing scene according to map information provided by a current crowd-sourcing map system and the navigation information provided by the navigation system; A first triggering unit is configured to trigger a lane-changing instruction if it is determined that the vehicle meets the lane-changing condition corresponding to the identified lane-changing scene, wherein the lane-changing instruction is used to instruct the vehicle to change lanes.

Images