Vehicle lane changing method, vehicle lane changing device, electronic equipment and storage medium

Abstract

The invention discloses a vehicle lane changing method, a vehicle lane changing device, electronic equipment and a computer readable storage medium, and the vehicle lane changing method comprises the steps: responding to a lane changing request of an own vehicle, and planning a transverse lane changing path of the own vehicle for changing a lane to a target lane according to the lane changing request, the longitudinal lane changing speed of the vehicle is planned based on a comparison result between the first driving speed of the vehicle and the second driving speed of the interfering vehicle on the target lane; based on the transverse lane changing path and the longitudinal lane changing speed, lane changing of the vehicle is controlled. According to the scheme, the vehicle lane changing success rate and safety can be considered.

Description

Technical Field

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

[0002] More and more vehicles are equipped with intelligent driving technologies, such as Smart Cruise Control (SCC) and Navigate on Autopilot (NOA). Autonomous lane change is one of the most typical working conditions in intelligent driving technology and is the basis for advanced intelligent driving functions (obstacle avoidance and lane change).

[0003] Autonomous lane change means that when receiving a lane change request from the vehicle, the vehicle responds to the lane change request, plans the lane change trajectory of the vehicle, and controls the vehicle to change lanes according to the lane change trajectory. However, the existing lane change solutions have low success rate and safety of vehicle lane changes. Summary of the invention

[0004] The present application provides a vehicle lane changing method, a vehicle lane changing device, an electronic device and a computer-readable storage medium, which can solve the problem of low vehicle lane changing success rate and safety in the prior art.

[0005] The present application provides a vehicle lane changing method, comprising: in response to a lane change request of a self-vehicle, planning a lateral lane change path for the self-vehicle to change lanes to a target lane according to the lane change request, and based on a comparison result between a first driving speed of the self-vehicle and a second driving speed of an interfering vehicle on the target lane, planning a longitudinal lane change speed of the self-vehicle; and controlling the lane change of the self-vehicle based on the lateral lane change path and the longitudinal lane change speed.

[0006] The present application provides a vehicle lane changing device, comprising: a planning module and a control module. The planning module is used to respond to a lane change request of a self-vehicle, plan a lateral lane change path for the self-vehicle to change lanes to a target lane according to the lane change request, and plan a longitudinal lane change speed of the self-vehicle based on a comparison result between a first driving speed of the self-vehicle and a second driving speed of an interfering vehicle on the target lane; the control module is used to control the lane change of the self-vehicle based on the lateral lane change path and the longitudinal lane change speed.

[0007] The present application provides an electronic device, including a memory and a processor, wherein the processor is used to execute program instructions stored in the memory to implement the above-mentioned vehicle lane changing method.

[0008] The present application provides a computer-readable storage medium on which program instructions are stored. When the program instructions are executed by a processor, the above-mentioned vehicle lane changing method is implemented.

[0009] The above scheme, in response to the lane change request of the own vehicle, plans the lateral lane change path of the own vehicle to change lanes to the target lane according to the lane change request, and plans the longitudinal lane change speed of the own vehicle based on the comparison result between the first driving speed of the own vehicle and the second driving speed of the interfering vehicle on the target lane; based on the lateral lane change path and the longitudinal lane change speed, controls the lane change of the own vehicle. Since the first driving speed of the own vehicle is not directly used as the longitudinal lane change speed, nor is the longitudinal lane change speed planned only according to the driving state of the own vehicle, but the longitudinal lane change speed of the own vehicle is planned based on the comparison result between the first driving speed of the own vehicle and the second driving speed of the interfering vehicle on the target lane. Therefore, it is possible to avoid the interference of the interfering vehicle on the target lane with the lane change of the own vehicle, and take into account the safety and success rate of lane change.

[0010] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The drawings herein are incorporated into the specification and constitute a part of the specification. These drawings illustrate embodiments consistent with the present application and are used together with the specification to illustrate the technical solution of the present application.

[0012] Figure 1 It is a flowchart of an embodiment of a vehicle lane changing method provided by the present application;

[0013] Figure 2 is a flow chart of another embodiment of the vehicle lane changing method provided by the present application;

[0014] Figure 3 It is a flowchart of the JLT algorithm of this application;

[0015] Figure 4 It is a flowchart of a specific example of the vehicle lane changing method of the present application;

[0016] Figure 5 This application Figure 4 A schematic diagram of a process of S2;

[0017] Figure 6 This application Figure 4 Another schematic diagram of the process of S2;

[0018] Figure 7 It is a structural schematic diagram of an embodiment of a vehicle lane changing device provided by the present application;

[0019] Figure 8 It is a structural schematic diagram of an embodiment of the electronic device of the present application;

[0020] Fig. 9 It is a structural diagram of an embodiment of a computer-readable storage medium of the present application. DETAILED DESCRIPTION

[0021] The scheme of the embodiment of the present application is described in detail below in conjunction with the drawings of the specification.

[0022] In the following description, for the purpose of explanation rather than limitation, specific details such as specific system structures, interfaces, and technologies are provided to facilitate a thorough understanding of the present application.

[0023] The term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there may be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the objects associated before and after are in an "or" relationship. In addition, "many" in this article means two or more than two. In addition, the term "at least one" in this article means any combination of at least two of any one or more of a plurality of, for example, including at least one of A, B, and C, can mean including any one or more elements selected from the set consisting of A, B, and C.

[0024] Figure 1 1 is a flow chart of an embodiment of a vehicle lane changing method provided by the present application. Figure 1 As shown, in this embodiment, the vehicle lane changing method may include the following steps:

[0025] S110: In response to a lane change request of the own vehicle, plan a lateral lane change path for the own vehicle to change lanes to a target lane according to the lane change request, and plan a longitudinal lane change speed of the own vehicle based on a comparison result between a first driving speed of the own vehicle and a second driving speed of an interfering vehicle on the target lane.

[0026] The execution subject of this embodiment is a subject equipped with a lane change system, such as a vehicle or an electronic device.

[0027] A self-driving car refers to an intelligent driving vehicle. Intelligent driving can include assisted driving and automatic driving. Automatic driving can include semi-automatic driving, highly automatic driving, higher-level automatic driving, and the highest level of automatic driving. Assisted driving means that the driver still needs to control the vehicle by relying on adaptive cruise control, freeing both feet but not leaving the steering wheel with both hands. Semi-automatic driving means that the driver needs to continuously monitor the driving of the vehicle. In highly automatic driving, the driver does not need to continuously monitor the car, but in some situations, the driver needs to intervene in the driving of the vehicle according to the system requirements. A higher level of automatic driving means that, for example, when driving on a highway or entering a parking lot, the system automatically controls the vehicle and the driver does not need to monitor the car. The highest level of automatic driving refers to unmanned driving, and no driver is required at this time.

[0028] The lane change request may indicate the lane change direction (left lane change, right lane change or straight ahead). The lane that the ego vehicle is in before changing lanes is the current lane, and the lane that the lane change direction points to is the target lane. Interference vehicles refer to vehicles in the target lane that may interfere with the ego vehicle's lane change.

[0029] If the lane change direction is left lane change, it means that the vehicle needs to change lanes to the left lane of the current lane. If the lane change direction is right lane change, it means that the vehicle needs to change lanes to the right lane of the current lane. If the lane change direction is straight ahead, it means that the vehicle keeps going straight ahead.

[0030] In order to prevent the vehicle's lane change system from malfunctioning and affecting the vehicle's safety, before responding to the vehicle's lane change request, it may be determined whether changing lanes according to the lane change request will affect the vehicle's safety, or whether the vehicle actually has a lane change request.

[0031] In some embodiments, after receiving the lane change request of the own vehicle and before responding to the lane change request of the own vehicle, it also includes: when the lane change direction is straight ahead, ignoring the lane change request of the own vehicle, and controlling the own vehicle to continue driving in the current lane.

[0032] In some embodiments, before responding to the lane change request of the own vehicle, it also includes: when the lane change direction is left, determining whether the current lane is the leftmost lane; in response to the current lane being the leftmost lane, ignoring the lane change request of the own vehicle, and controlling the own vehicle to continue driving in the current lane; in response to the current lane not being the leftmost lane, planning the lateral lane change path and the longitudinal lane change speed in response to the lane change request of the own vehicle.

[0033] In some embodiments, before responding to the lane change request of the own vehicle, it also includes: when the lane change direction is right, determining whether the current lane is the rightmost lane; in response to the current lane being the rightmost lane, ignoring the lane change request of the own vehicle, and controlling the own vehicle to continue driving in the current lane; in response to the current lane not being the rightmost lane, responding to the lane change request of the own vehicle to plan the lateral lane change path and the longitudinal lane change speed.

[0034] The lateral lane change path is a lane change posture sequence from the current lane to the target lane, and the lane change posture sequence includes at least two lane change postures. The lane change posture includes information such as the lane change position and the heading angle. The time length corresponding to the lateral lane change path is the lane change duration.

[0035] In some embodiments, the lane change duration may be fixed (standard lane change duration). In S110, planning a lateral lane change path may include: planning a lateral lane change path based on the standard lane change duration.

[0036] In some embodiments, the lane change duration can be dynamic. In the case of a dynamic lane change duration, the lane change duration depends on factors such as the lane change style defined by the product function. It is understandable that setting the lane change duration to dynamic can make the vehicle lane change logic more "active" and adapt to different lane change scenarios. Taking the lane change duration depending on the lane change style of the vehicle as an example, the lane change style includes a more aggressive lane change style and a more stable lane change style. The more aggressive lane change style means that the lane change needs to be completed faster and a smaller lane change duration is set; the more stable lane change style means that the lane change needs to be completed slower and a larger lane change duration is set. The lane change style can be determined based on the driving information of the vehicle, the driving information of the interfering vehicle, the historical lane change style of the vehicle, etc. The driving information may include the current driving speed, acceleration, position, etc. For example, the driving information of the vehicle and the driving information of the interfering vehicle can be input into a pre-trained lane change style model to obtain the lane change style of the vehicle. For another example, the historical lane change style of the vehicle is used as the current lane change style of the vehicle. In the case of lane change durations corresponding to different lane change styles, in S110, planning the lateral lane change path of the vehicle may include: determining a target lane change style of the vehicle; determining a target lane change duration of the vehicle based on the target lane change style of the vehicle; and generating a lateral lane change path of the vehicle based on the target lane change duration.

[0037] The method for planning the lateral lane change path can be an algorithm based on curve fitting (such as polynomial curve, spline curve, Bezier curve), an algorithm based on numerical optimization, an algorithm based on sampling, etc. The algorithm based on polynomial curve planning can be a cubic polynomial curve, a quintic polynomial curve, a septad polynomial curve, etc. The higher the degree, the smoother the planned lateral lane change path. The following takes the quintic polynomial curve as an example to illustrate the planning of the lateral lane change path:

[0038] Given a lane change duration T. When a quintic polynomial curve is used for path planning, the lane change posture (lateral coordinate / longitudinal coordinate / orientation angle, the lateral, longitudinal and orientation angles are similar, and only the longitudinal direction will be explained later) is a curve about time t, t∈[0,T]. The lateral lane change path can be expressed as the following quintic polynomial curve:

[0039] P(t)=A0+A1t+A2t 2 +A3t 3 +A4t 4 +A5t 5 (1)

[0040] Among them, A0, A1, A2, A3, A4, and A5 are coefficients to be solved.

[0041] The boundary conditions of formula (1) are the current driving state and the target driving state of the vehicle. Based on the current driving state and the target driving state, the coefficients A0, A1, A2, A3, A4, and A5 can be solved.

[0042] The current driving state refers to the driving state of the current position, which is the starting point of the lateral lane change path, t = 0. The current driving state includes the current longitudinal coordinates of the current position and the current motion state information. The current longitudinal coordinate s0 can be obtained through navigation and perception information, and the corresponding Cartesian coordinate p0 can be obtained through the coordinate relationship. The current motion state information includes the current heading angle θ0, the current speed (i.e., the first driving speed) v0, and the current acceleration a0.

[0043] The target driving state refers to the driving state of the target position, the end point of the lateral lane change path of the target position, t = T. The driving information of the target position includes the target position (target longitudinal coordinate, target longitudinal coordinate) and the target motion state information. Under the assumption of uniform lane change, the target longitudinal coordinate s can be calculated based on the current longitudinal coordinate T =s0+v0·T, and the corresponding Cartesian coordinate p is obtained through the coordinate relationship T The target motion state information includes the target heading angle θ T 、Target speed v T 、Target acceleration a T .

[0044] Substituting the current driving state into formula (1), we can obtain the low-order coefficients A0, A1, and A2:

[0045]

[0046] The target driving state (t = T, p T 、v T 、a T ) into formula (1), we can get:

[0047]

[0048] Express formula (3) in matrix form:

[0049]

[0050] By inverting the matrix of formula (4), we can obtain the high-order coefficients A3, A4, and A5:

[0051]

[0052] The longitudinal lane change speed is a lane change speed sequence from the current lane to the target lane, including at least two lane change speeds, which correspond to the lane change postures in the lateral lane change path. In some embodiments, the lane change of the vehicle is a uniform lane change. In the case of uniform lane change, the lane change speeds corresponding to each lane change posture are the same.

[0053] In some embodiments, the lane change of the vehicle is a non-uniform lane change. In the case of a non-uniform lane change, at least some of the lane change postures correspond to different lane change speeds. In this case, the longitudinal lane change speed is a speed change curve.

[0054] The first driving speed of the ego vehicle refers to the current driving speed of the ego vehicle. The second driving speed of the intervening vehicle refers to the current driving speed of the intervening vehicle. The first driving speed and the second driving speed are obtained through navigation and perception information.

[0055] The number of interfering vehicles on the target lane includes 0, 1, and 2. When the number of interfering vehicles is 0, it means that there is no interfering vehicle on the target vehicle. When the number of interfering vehicles is 1, the interfering vehicles include the front vehicle or the rear vehicle. When the number of interfering vehicles is 2, it means that the interfering vehicles include the front vehicle and the rear vehicle. When the number of interfering vehicles is 0, the ego vehicle can change lanes safely at any speed (for example, it can change lanes safely according to the first driving speed). The second driving speed of the interfering vehicle needs to be considered when planning the longitudinal lane change speed of the ego vehicle. The front vehicle refers to the vehicle that is currently in the target lane and in front of the ego vehicle. The rear vehicle refers to the vehicle that is currently in the target lane and behind the ego vehicle.

[0056] In some embodiments, the longitudinal lane change speed can be directly determined based on the comparison result. For example, the intervening vehicle includes the front vehicle, and the planned longitudinal lane change speed is less than or equal to the second driving speed of the front vehicle. For another example, the intervening vehicle includes the rear vehicle, and the planned longitudinal lane change speed is greater than or equal to the second driving speed of the rear vehicle. For another example, the intervening vehicle includes the front vehicle and the rear vehicle, and the planned longitudinal lane change speed is greater than or equal to the second driving speed of the rear vehicle, or, it is a speed change curve with the second driving speed of the rear vehicle as the expected driving speed.

[0057] In some embodiments, based on the comparison result, it can be determined whether the vehicle can safely change lanes at a first driving speed; in response to being able to change lanes safely, the first driving speed of the vehicle is determined to be the longitudinal lane change speed; in response to being unable to change lanes safely, the longitudinal lane change speed is planned based on the second driving speed of the intervening vehicle (speed replanning).

[0058] In some embodiments, when it is determined that the vehicle can change lanes safely at the first driving speed, the vehicle can be controlled to change lanes at a constant speed at the first driving speed.

[0059] In some embodiments, when it is determined that the vehicle cannot change lanes safely at the first driving speed, the target vehicle can be controlled to change from the first driving speed to the longitudinal lane change speed (the second driving speed of the intervening vehicle) and change lanes at a constant speed based on the longitudinal lane change speed.

[0060] In some embodiments, when it is determined that the ego vehicle cannot change lanes safely at the first driving speed, the second driving speed of the intervening vehicle can be used as the desired driving speed, and the speed change curve of the ego vehicle can be planned as the longitudinal lane change speed. Subsequently, the ego vehicle can be controlled to change lanes at a non-uniform speed according to the speed change curve.

[0061] It is understandable that in S110, the first driving speed of the vehicle is not directly used as the longitudinal lane change speed, nor is the longitudinal lane change speed planned only according to the driving state of the vehicle, but the longitudinal lane change speed of the vehicle is planned based on the comparison result between the first driving speed of the vehicle and the second driving speed of the interfering vehicle on the target lane. Since the second driving speed of the interfering vehicle is taken into account when planning the longitudinal lane change speed, the interference of the interfering vehicle on the target lane with the lane change of the vehicle can be avoided, the safety and success rate of the lane change are taken into account, and the lane change failure caused by improper longitudinal lane change speed planning can be avoided.

[0062] S120: Control the vehicle to change lanes based on the lateral lane change path and the longitudinal lane change speed.

[0063] The lane change trajectory can be determined based on the lateral lane change path and the longitudinal lane change speed; based on the lane change trajectory, the lane change of the vehicle can be controlled.

[0064] It is understandable that, compared with the lane change trajectory, the lateral lane change path does not contain time information. The time information of each lane change posture in the lateral lane change path can be calculated based on the longitudinal lane change speed to obtain the lane change trajectory.

[0065] The above scheme, in response to the lane change request of the own vehicle, plans the lateral lane change path of the own vehicle to change lanes to the target lane according to the lane change request, and plans the longitudinal lane change speed of the own vehicle based on the comparison result between the first driving speed of the own vehicle and the second driving speed of the interfering vehicle on the target lane; based on the lateral lane change path and the longitudinal lane change speed, controls the lane change of the own vehicle. Since the first driving speed of the own vehicle is not directly used as the longitudinal lane change speed, nor is the longitudinal lane change speed planned only according to the driving state of the own vehicle, but the longitudinal lane change speed of the own vehicle is planned based on the comparison result between the first driving speed of the own vehicle and the second driving speed of the interfering vehicle on the target lane. Therefore, it is possible to avoid the interference of the interfering vehicle on the target lane with the lane change of the own vehicle, and take into account the safety and success rate of lane change.

[0066] In some embodiments, the vehicle lane changing method provided by the present application may also include: determining the number of interfering vehicles in the target lane; in response to the number of interfering vehicles being not zero, executing the step of planning the longitudinal lane changing speed of the own vehicle based on the comparison result between the first driving speed of the own vehicle and the second driving speed of the interfering vehicle in the target lane; in response to the number of interfering vehicles being zero, determining the first driving speed of the own vehicle as the longitudinal lane changing speed.

[0067] Figure 21 is a flow chart of another embodiment of the vehicle lane changing method provided by the present application. This embodiment is a further extension of the longitudinal lane changing speed planned in S110, and the interfering vehicles include the front vehicle and / or the rear vehicle, such as Figure 2 As shown, in this embodiment, the vehicle lane changing method may include the following steps:

[0068] S111: Based on the comparison result, determine whether the vehicle can change lanes safely at the first driving speed.

[0069] In response to the lane change being possible, S112 is executed; in response to the lane change being impossible, S113 is executed.

[0070] S112: Determine the first driving speed of the vehicle as the longitudinal lane change speed.

[0071] S113: Planning a longitudinal lane change speed based on the second driving speed of the intervening vehicle.

[0072] S111-S113 are described in detail as follows:

[0073] Intervening vehicles include a leading vehicle and / or a trailing vehicle.

[0074] 1. The intervening vehicle includes the vehicle ahead.

[0075] The comparison result is that the second running speed of the front vehicle is slower than the first running speed of the own vehicle (the front vehicle is slower).

[0076] Or, the second running speed of the leading vehicle is faster than the first running speed of the own vehicle (the leading vehicle is faster).

[0077] In response to the front vehicle being fast, it is determined that the vehicle can change lanes safely at a first driving speed; and the first driving speed of the vehicle is determined to be a longitudinal lane change speed.

[0078] In response to the vehicle ahead being slow, it is determined that the vehicle cannot change lanes safely at the first driving speed; it can be determined that the longitudinal lane change speed is less than or equal to the second driving speed of the vehicle ahead. That is, the vehicle can change lanes safely if it slows down to a speed not higher than the second driving speed of the vehicle ahead.

[0079] 2. The interfering vehicle includes the vehicle behind.

[0080] The comparison results are:

[0081] The second running speed of the rear vehicle is faster than the first running speed of the own vehicle (the rear vehicle is faster).

[0082] Or, the second running speed of the rear vehicle is slower than the first running speed of the own vehicle (the rear vehicle is slower).

[0083] In response to the rear vehicle being fast, it can be determined that the longitudinal lane change speed is greater than or equal to the second driving speed of the rear vehicle. That is, the self-vehicle can safely change lanes when accelerating to a speed not lower than the second driving speed of the rear vehicle.

[0084] In response to the rear vehicle being slow, it is determined that the own vehicle can change lanes safely at the first driving speed.

[0085] 3. The interfering vehicles include the vehicle in front and the vehicle behind.

[0086] The comparison results are:

[0087] The second running speed of the front vehicle is slower than the first running speed of the own vehicle (the front vehicle is slower) and the second running speed of the rear vehicle is faster than the first running speed of the own vehicle (the rear vehicle is faster).

[0088] Or, the second running speed of the front vehicle is faster than the first running speed of the own vehicle (the front vehicle is faster) and the second running speed of the rear vehicle is slower than the first running speed of the own vehicle (the rear vehicle is slower).

[0089] Or, the second driving speeds of the front vehicle and the rear vehicle are both slower than the first driving speed of the own vehicle (the front vehicle and the rear vehicle are both slower).

[0090] Or, the second driving speeds of the front vehicle and the rear vehicle are both faster than the first driving speed of the own vehicle (the front vehicle and the rear vehicle are both faster).

[0091] In response to the front vehicle being fast and the rear vehicle being slow, it is determined that the host vehicle can change lanes safely at the first driving speed.

[0092] In response to the fact that both the vehicle ahead and the vehicle behind are fast, it is determined that the vehicle cannot change lanes safely at the first driving speed. In this case, it can be determined that the vehicle does not meet the lane change condition. Alternatively, it can be determined whether the current vehicle can accelerate to the second driving speed of the vehicle behind within a preset time length; in response to being able to accelerate to the second driving speed of the vehicle behind within a preset time length, it is determined that the longitudinal lane change speed is greater than or equal to the second driving speed of the vehicle behind; in response to being unable to accelerate to the second driving speed of the vehicle behind within a preset time length, it is determined that the lane change condition is not met. That is, the vehicle can change lanes safely if it accelerates to a speed not lower than the second driving speed of the vehicle behind within a preset time length, otherwise the lane change condition is not met.

[0093] In response to the vehicle ahead and the vehicle behind being both slow, it is determined that the vehicle cannot change lanes safely at the first driving speed. In this case, it can be determined that the vehicle does not meet the lane change condition and the lane change request is ignored. Alternatively, it can be determined whether the vehicle can decelerate to the second driving speed of the vehicle behind within a preset time length; in response to being able to decelerate to the second driving speed of the vehicle behind within a preset time length, it is determined that the longitudinal lane change speed is less than or equal to the second driving speed of the vehicle behind; in response to being unable to decelerate to the second driving speed of the vehicle behind within a preset time length, it is determined that the vehicle does not meet the lane change condition. That is, the vehicle can change lanes safely if it decelerates to a speed not higher than the second driving speed of the vehicle behind within a preset time length, otherwise the lane change condition is not met.

[0094] In response to the vehicle in front being slow and the vehicle behind being fast, based on the order of time when the vehicle at the first driving speed and the vehicle behind reaching the crossing point at the second driving speed, it is determined whether the vehicle can change lanes safely at the first driving speed. The crossing point is the intersection between the lateral lane change path and the lane line, and the lane line is the dividing line between the target lane and the current lane where the vehicle is located. The time when the vehicle arrives at the crossing point can be calculated by the first driving speed of the vehicle, the current position of the vehicle, and the position of the crossing point. The time when the rear vehicle arrives at the crossing point can be calculated by the second driving speed of the rear vehicle, the current position of the rear vehicle, and the position of the crossing point. The first driving speed and the current position can be obtained by perception.

[0095] In response to the ego vehicle arriving at the crossover point earlier than the rear vehicle, it is determined that the ego vehicle can safely change lanes at a first driving speed; and the first driving speed of the ego vehicle is determined as the longitudinal lane change speed. In response to the ego vehicle arriving at the crossover point later than the rear vehicle, it is determined that the ego vehicle cannot safely change lanes at the first driving speed; and the second driving speed of the rear vehicle is used as the expected driving speed, and a speed change curve of the ego vehicle is planned as the longitudinal lane change speed. The speed change curve includes a time series of longitudinal lane change speeds, including at least two longitudinal lane change speeds, corresponding to each lane change posture in the lateral lane change path.

[0096] The speed change curve of the vehicle can be obtained through a pre-trained speed change model, that is, the lane change duration, the expected driving speed, and the first driving speed of the vehicle are input into the speed change model to obtain the speed change curve of the vehicle. Alternatively, the speed change curve of the vehicle can be obtained through JLT algorithm planning. The following is an example of JLT algorithm:

[0097] The first driving speed v0 of the vehicle, the acceleration a0, and the second driving speed (expected driving speed) of the vehicle behind are v f The acceleration constraint of the ego vehicle is a∈[a n ,a m ], the control quantity jerk constraint is j∈[j n ,j m]. It is necessary to plan a speed change curve that satisfies the acceleration constraint and the control amount constraint and enables the vehicle to reach the desired driving speed in the shortest time.

[0098] The JLT solver (Jerk Limited Velocity Target Solver) regards the speed curve solution problem as a second-order integral system, with the system state velocity and acceleration, and the control quantity is jerk. In order to achieve the fastest speed control, the control quantity always takes the saturation value j∈{j n ,0,j m}, so this scheme adopts the strategy of segmented discussion to solve the JLT speed shortest time control problem. The JLT algorithm flow is as follows Figure 3 As shown in the figure, the JLT algorithm process is an existing technology and will not be described here. The value of the control quantity always takes the saturation value. Based on this principle, the JLT algorithm divides the speed planning process into three stages, and the jerk takes different saturation values, thereby quickly solving this problem.

[0099] The above scheme determines whether the vehicle can change lanes safely at the first driving speed based on the comparison result. In response to the vehicle being able to change lanes safely, the first driving speed of the vehicle is determined as the longitudinal lane change speed. In response to the vehicle being unable to change lanes safely, the longitudinal lane change speed is planned based on the second driving speed of the intervening vehicle. Thus, it is first determined whether the vehicle's current first driving speed can change lanes safely. If it can change lanes safely, the first driving speed is used to change lanes. If it cannot change lanes safely, the longitudinal lane change speed is replanned based on the comparison result. Since the longitudinal lane change speed is further replanned when the first driving speed cannot change lanes, the success rate of lane change can be further improved.

[0100] Among them, when comparing the first driving speed of the own vehicle and the second driving speed of the interfering vehicle, various numbers of interfering vehicles and vehicles with various driving speed ranges are considered, and targeted strategies for planning the longitudinal lane change speed are made to achieve safe lane change. In addition, when the vehicle in front is slow and the vehicle behind is fast, the longitudinal lane change speed of the own vehicle is planned based on whether the crossing point is safe. Therefore, the safety and success rate of lane change can be further improved.

[0101] In some embodiments, the intersection point of the lateral lane change path and the lane line may be directly acquired as the cross-line point.

[0102] In some embodiments, the lateral lane change path and the lane line can be fitted, and the cross-line point can be found based on the fitting result. It can be understood that since the fitting result of the lateral lane change path and the lane line is more complete and smoother than the lateral lane change path and the lane line, finding the cross-line point based on the fitting result can improve the accuracy of the cross-line point.

[0103] In the case of fitting to obtain the cross-line point, the step of obtaining the cross-line point may include: fitting the lane line and the lateral lane change path respectively using cubic splines to obtain fitting results; wherein the fitting results include a first fitting result of the lane line and a second fitting result of the lateral lane change path; and calculating the fitting results using the Newton iteration method to obtain the cross-line point. The following is a detailed description in the form of a specific example:

[0104] 1. Use cubic spline polynomial to fit the lateral lane change path.

[0105] The following is an example of fitting a cubic spline polynomial:

[0106] Discrete sampling is performed on the lateral lane change path. The lateral lane change path is divided into N segments by sampling points. The i-th sampling point is (x i ,y i ), the i-th cubic polynomial can be expressed as:

[0107] S i (x) = a i +b i (xx i )+c i (xx i ) 2 +d i (xx i ) 3 for x i ≤x≤x i+1 (6)

[0108] Among them, a i 、b i 、c i d i are the polynomial coefficients, x i is the starting point of the i-th cubic spline polynomial.

[0109] In order to ensure that the cubic spline polynomials of adjacent segments are smooth at the connection, the following four types of interpolation conditions need to be met:

[0110] ① Interpolation condition: Each segment of the cubic spline polynomial must pass through the original sampling points.

[0111] S i (x i )=y i S i (x i+1 )=y i+1 (7)

[0112] ② First-order continuity: The first-order derivatives of adjacent cubic spline polynomials are equal at the connection point.

[0113] S′i (x i+1 ) = S′ i+1 (x i+1 ) (8)

[0114] ③ Second-order continuity: The second-order derivatives of adjacent cubic spline polynomials are equal at the connection point.

[0115] S″ i (x i+1 )=S″ i+1 (x i+1 ) (9)

[0116] Ideal boundary conditions: natural boundary conditions are adopted, that is, the second-order derivative at the boundary is zero.

[0117] S″(x0)=0 S″(x N )=0 (10)

[0118] Assume N=4, the lateral lane change path includes 5 sampling points, and the above four conditions can be combined to obtain the equation group Ac=b.

[0119]

[0120] Using the quadratic coefficients of each segment of the cubic spline polynomial, other coefficients can be further obtained:

[0121] a i =y i

[0122]

[0123] In summary, the complete cubic spline expression can be obtained:

[0124] S(x)=S i (x), x∈[x i , x i +1) (15)

[0125] 2. Use cubic spline polynomial to fit the lane line.

[0126] The lane line can be sampled discretely, and the sampling points can be fitted using a cubic spline polynomial to obtain the fitting result of the lane line. The fitting process of the lane line is similar to the fitting process of the lateral lane change path mentioned above, and will not be repeated here.

[0127] L(x)=L i (x), x∈[x i , x i+1 ) (16)

[0128] 3. Use Newton iteration method to calculate the fitting results of the lateral lane change path and the lane line to obtain the crossing point.

[0129] In order to calculate the position of the cross-line point, Newton's method is used to solve the zero point of the following function:

[0130] f(x)=L(x)-S(x) (17)

[0131] The first-order derivative is:

[0132] f′(x)=L′(x)-S′(x) (18)

[0133] The Newton iteration formula is:

[0134]

[0135] The termination conditions are:

[0136] |x n+1 -x n |<∈ (20)

[0137] Among them, ∈ is a positive number, representing the error, and its value represents the accepted error size.

[0138] Let the zero point obtained by the solution be x * , the position of the cross-line point is:

[0139] y c =L(x * ) (twenty one)

[0140] In some embodiments, the vehicle lane changing method provided by the present application may further include: determining whether the vehicle satisfies the lane changing condition based on the comparison result, for example, in response to the second driving speeds of the front vehicle and the rear vehicle being slower than the first driving speed of the vehicle or faster than the first driving speed of the vehicle, determining that the vehicle does not meet the lane changing condition. In response to meeting the lane changing condition, the step of planning the longitudinal lane changing speed of the vehicle in S110 is executed; in response to not meeting the lane changing condition, the step of planning the longitudinal lane changing speed of the vehicle in S110 is not executed, the lane changing request is ignored and feedback is given, or the time to meet the lane changing condition is waited for. The lane changing condition may include that the vehicle can change lanes safely when driving at the first driving speed. Alternatively, the lane changing condition may include that the interfering vehicle in the target lane drives at the second driving speed and does not interfere with the lane changing of the vehicle. Among them, not interfering with the lane changing of the vehicle means that it will not interfere with the lane changing of the vehicle at the longitudinal lane changing speed (first driving speed or re-planning speed). Thus, the safety of lane changing can be improved.

[0141] In order to facilitate the understanding of this application, the following Figure 4 , Figure 5 and Figure 6 , as a concrete example:

[0142] S1: Receive a lane change request from the ego vehicle. The lane change request indicates that the ego vehicle needs to change from the current lane to the left lane.

[0143] S2: responding to the lane change request, planning the lateral lane change path and the longitudinal lane change speed. The process of planning the lateral lane change path is shown in S21-S23; the process of planning the longitudinal lane change speed is shown in S24-S35.

[0144] S21: Determine the target lane-changing style of the vehicle.

[0145] S22: Determine a target lane change duration of the ego vehicle based on the target lane change style.

[0146] S23: Generate a lateral lane change path of the vehicle based on the target lane change duration.

[0147] S24: Determine an intervening vehicle on the left lane.

[0148] In response to there being no intervening vehicle, the process proceeds to S28. In response to the intervening vehicle including the vehicle in front, the process proceeds to S25. In response to the intervening vehicle including the vehicle behind, the process proceeds to S26. In response to the intervening vehicle including the vehicle in front and the vehicle behind, the process proceeds to S27.

[0149] S25: Compare the second driving speed of the vehicle ahead with the first driving speed of the vehicle. In response to the vehicle ahead being faster, proceed to S28; in response to the vehicle ahead being slower, proceed to S29.

[0150] S26: Compare the second driving speed of the rear vehicle with the first driving speed of the own vehicle. In response to the rear vehicle being faster, proceed to S30; in response to the rear vehicle being slower, proceed to S28.

[0151] S27: Compare the second driving speed of the front vehicle and the first driving speed of the vehicle, and the second driving speed of the rear vehicle and the first driving speed of the vehicle. In response to the front vehicle being fast and the rear vehicle being slow, enter S28; in response to the front vehicle being slow and the rear vehicle being fast, enter S32-S35; in response to both the front vehicle and the rear vehicle being fast, enter S31; in response to both the front vehicle and the rear vehicle being slow, enter S31.

[0152] S28: The first driving speed is the longitudinal lane changing speed.

[0153] S29: The longitudinal lane change speed is less than or equal to the second driving speed of the vehicle ahead.

[0154] S30: The longitudinal lane-changing speed is greater than or equal to the second driving speed of the rear vehicle.

[0155] S31: The lane change condition is not met, the lane change request is ignored and feedback is given.

[0156] S32: Use cubic splines to fit the lane line and the lateral lane change path respectively to obtain a fitting result of the lane line. The lane line is a dividing line between the current lane and the left lane.

[0157] S33: Obtaining a crossing point between the lane line and the lateral lane change path based on the fitting result.

[0158] S34: Determine the time sequence of the vehicle at the first speed and the vehicle behind at the second speed to reach the crossing point. In response to the vehicle reaching the crossing point earlier than the vehicle behind, proceed to S28; in response to the vehicle reaching the crossing point later than the vehicle behind, proceed to S35.

[0159] S35: The second driving speed of the rear vehicle is taken as the expected driving speed, and the speed change curve of the own vehicle is planned based on the JLT as the longitudinal lane change speed.

[0160] S3: Generate a lane change trajectory based on the lateral lane change path and the longitudinal lane change speed.

[0161] S4: Control the vehicle to change lanes according to the lane change trajectory.

[0162] Figure 7 Schematic diagram of the structure of an embodiment of a vehicle lane changing device provided by the present application. Figure 7 As shown, in this embodiment, the vehicle lane changing device 40 may include: a planning module 41 and a control module 42 .

[0163] Among them, the planning module 41 is used to respond to the lane change request of the own vehicle, plan the lateral lane change path of the own vehicle to change lanes to the target lane according to the lane change request, and plan the longitudinal lane change speed of the own vehicle based on the comparison result between the first driving speed of the own vehicle and the second driving speed of the interfering vehicle on the target lane; the control module 42 is used to control the lane change of the own vehicle based on the lateral lane change path and the longitudinal lane change speed.

[0164] The above scheme, in response to the lane change request of the own vehicle, plans the lateral lane change path of the own vehicle to change lanes to the target lane according to the lane change request, and plans the longitudinal lane change speed of the own vehicle based on the comparison result between the first driving speed of the own vehicle and the second driving speed of the interfering vehicle on the target lane; based on the lateral lane change path and the longitudinal lane change speed, controls the lane change of the own vehicle. Since the first driving speed of the own vehicle is not directly used as the longitudinal lane change speed, nor is the longitudinal lane change speed planned only according to the driving state of the own vehicle, but the longitudinal lane change speed of the own vehicle is planned based on the comparison result between the first driving speed of the own vehicle and the second driving speed of the interfering vehicle on the target lane. Therefore, it is possible to avoid the interference of the interfering vehicle on the target lane with the lane change of the own vehicle, and take into account the safety and success rate of lane change.

[0165] The functions of each module can be referred to the relevant description of the above-mentioned vehicle lane changing method embodiment, which will not be repeated here.

[0166] Figure 8 Schematic diagram of the structure of an embodiment of the electronic device of the present application. Figure 8 As shown, the electronic device 50 includes a memory 51 and a processor 52, and the processor 52 is used to execute the program instructions stored in the memory 51 to implement the steps in any of the above method embodiments. In a specific implementation scenario, the electronic device 50 may include but is not limited to: a microcomputer, a server, and in addition, the electronic device 50 may also include a carrier device such as a laptop computer and a tablet computer, which is not limited here.

[0167] Specifically, the processor 52 is used to control itself and the memory 51 to implement the steps in any of the above method embodiments. The processor 52 can also be called a CPU (Central Processing Unit). The processor 52 may be an integrated circuit chip with signal processing capabilities. The processor 52 can also be a general-purpose processor, a digital signal processor (Digital Signal Processor, DSP), an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), a field-programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. In addition, the processor 52 can be implemented by an integrated circuit chip.

[0168] The above scheme, in response to the lane change request of the own vehicle, plans the lateral lane change path of the own vehicle to change lanes to the target lane according to the lane change request, and plans the longitudinal lane change speed of the own vehicle based on the comparison result between the first driving speed of the own vehicle and the second driving speed of the interfering vehicle on the target lane; based on the lateral lane change path and the longitudinal lane change speed, controls the lane change of the own vehicle. Since the first driving speed of the own vehicle is not directly used as the longitudinal lane change speed, nor is the longitudinal lane change speed planned only according to the driving state of the own vehicle, but the longitudinal lane change speed of the own vehicle is planned based on the comparison result between the first driving speed of the own vehicle and the second driving speed of the interfering vehicle on the target lane. Therefore, it is possible to avoid the interference of the interfering vehicle on the target lane with the lane change of the own vehicle, and take into account the safety and success rate of lane change.

[0169] See also Fig. 9 , Fig. 9 The computer-readable storage medium 60 stores program instructions 601, which implement the steps in any of the above method embodiments when executed by a processor.

[0170] The above scheme, in response to the lane change request of the own vehicle, plans the lateral lane change path of the own vehicle to change lanes to the target lane according to the lane change request, and plans the longitudinal lane change speed of the own vehicle based on the comparison result between the first driving speed of the own vehicle and the second driving speed of the interfering vehicle on the target lane; based on the lateral lane change path and the longitudinal lane change speed, controls the lane change of the own vehicle. Since the first driving speed of the own vehicle is not directly used as the longitudinal lane change speed, nor is the longitudinal lane change speed planned only according to the driving state of the own vehicle, but the longitudinal lane change speed of the own vehicle is planned based on the comparison result between the first driving speed of the own vehicle and the second driving speed of the interfering vehicle on the target lane. Therefore, it is possible to avoid the interference of the interfering vehicle on the target lane with the lane change of the own vehicle, and take into account the safety and success rate of lane change.

[0171] In some embodiments, the functions or modules included in the device provided by the embodiments of the present disclosure can be used to execute the method described in the above method embodiments. The specific implementation can refer to the description of the above method embodiments, and for the sake of brevity, it will not be repeated here.

[0172] The above description of various embodiments tends to emphasize the differences between the various embodiments. The same or similar aspects can be referenced to each other, and for the sake of brevity, they will not be repeated herein.

[0173] In the several embodiments provided in the present application, it should be understood that the disclosed methods and devices can be implemented in other ways. For example, the device implementation described above is only schematic. For example, the division of modules or units is only a logical function division. There may be other division methods in actual implementation. For example, units or components can be combined or integrated into another system, or some features can be ignored or not executed. In another image position, the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0174] In addition, each functional unit in each embodiment of the present application can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit. If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor (processor) to perform all or part of the steps of each implementation method of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program code.

Claims

1. A vehicle lane changing method, characterized in that: include: In response to a lane change request of the ego vehicle, planning a lateral lane change path for the ego vehicle to change lanes to a target lane according to the lane change request, and planning a longitudinal lane change speed of the ego vehicle based on a comparison result between a first driving speed of the ego vehicle and a second driving speed of an interfering vehicle in the target lane; The lane change of the host vehicle is controlled based on the lateral lane change path and the longitudinal lane change speed.

2. The method according to claim 1, characterized in that: The planning of the longitudinal lane change speed of the vehicle based on the comparison result between the first driving speed of the vehicle and the second driving speed of the interfering vehicle on the target lane includes: Based on the comparison result, determining whether the vehicle can change lanes safely at the first driving speed; In response to being able to change lanes safely, determining a first driving speed of the vehicle as the longitudinal lane change speed; In response to the inability to change lane safely, the longitudinal lane change speed is planned based on a second travel speed of the intervening vehicle.

3. The method according to claim 2, characterized in that In the case where the interfering vehicle includes a front vehicle, determining whether the vehicle can change lanes safely at the first driving speed based on the comparison result includes: In response to the second driving speed of the front vehicle being slower than the first driving speed of the own vehicle, determining that the own vehicle cannot change lanes safely at the first driving speed; The planning of the longitudinal lane change speed based on the second driving speed of the interfering vehicle includes: The longitudinal lane change speed is determined to be less than or equal to a second driving speed of the leading vehicle.

4. The method according to claim 2, characterized in that: In the case where the interfering vehicle includes a rear vehicle, determining whether the vehicle can change lanes safely at the first driving speed based on the comparison result includes: In response to the second driving speed of the rear vehicle being faster than the first driving speed of the own vehicle, determining that the own vehicle cannot change lanes safely at the first driving speed; The planning of the longitudinal lane change speed based on the second driving speed of the interfering vehicle includes: The longitudinal lane change speed is determined to be greater than or equal to a second driving speed of the rear vehicle.

5. The method according to claim 2, characterized in that: In the case where the interfering vehicles include a front vehicle and a rear vehicle, determining whether the vehicle can change lanes safely at the first driving speed based on the comparison result includes: In response to the second driving speed of the front vehicle being slower than the first driving speed of the self-vehicle and the second driving speed of the rear vehicle being faster than the first driving speed of the self-vehicle, determining whether the self-vehicle can change lanes safely at the first driving speed based on the order of time when the self-vehicle arrives at the cross-line point at the first driving speed and the rear vehicle arrives at the second driving speed; wherein the cross-line point is the intersection point between the lateral lane change path and the lane line, and the lane line is the dividing line between the target lane and the current lane where the self-vehicle is located; The planning of the longitudinal lane change speed based on the second driving speed of the interfering vehicle includes: The second driving speed of the rear vehicle is used as the expected driving speed, and the speed change curve of the vehicle is planned as the longitudinal lane change speed.

6. The method according to claim 5, characterized in that The determining whether the vehicle can change lanes safely at the first driving speed based on the time sequence of when the vehicle arrives at the crossing point at the first driving speed and when the rear vehicle arrives at the second driving speed respectively includes: In response to the ego vehicle arriving at the lane-crossing point earlier than the rear vehicle, determining that the ego vehicle can change lanes safely at the first driving speed; In response to the ego vehicle arriving at the lane-crossing point later than the rear vehicle, it is determined that the ego vehicle cannot change lanes safely at the first driving speed.

7. The method according to claim 5, characterized in that The step of obtaining the cross-line points comprises: Using cubic splines to fit the lane line and the lateral lane change path respectively to obtain fitting results; wherein the fitting results include a first fitting result of the lane line and a second fitting result of the lateral lane change path; The fitting result is calculated using Newton's iteration method to obtain the cross-line point.

8. The method according to claim 1, characterized in that In the case where the interfering vehicles include a front vehicle and a rear vehicle, the method further includes: In response to the second driving speeds of the front vehicle and the rear vehicle being both slower than the first driving speed of the own vehicle or both faster than the first driving speed of the own vehicle, it is determined that the own vehicle does not meet the lane change condition, and the lane change request is ignored.

9. The method according to claim 1, characterized in that: The controlling the vehicle to change lanes based on the lateral lane change path and the longitudinal lane change speed includes: determining a lane change trajectory based on the lateral lane change path and the longitudinal lane change speed; Based on the lane-changing trajectory, the vehicle is controlled to change lanes.

10. A vehicle lane changing device, characterized in that: include: a planning module, configured to plan, in response to a lane change request of the ego vehicle, a lateral lane change path for the ego vehicle to change lanes to a target lane according to the lane change request, and to plan a longitudinal lane change speed of the ego vehicle based on a comparison result between a first driving speed of the ego vehicle and a second driving speed of an interfering vehicle on the target lane; A control module is used to control the lane change of the vehicle based on the lateral lane change path and the longitudinal lane change speed.

11. An electronic device, characterized in that: The invention comprises a memory and a processor, wherein the processor is used to execute program instructions stored in the memory to implement the vehicle lane changing method according to any one of claims 1 to 9.

12. A computer-readable storage medium having program instructions stored thereon, characterized in that: When the program instructions are executed by a processor, the vehicle lane changing method according to any one of claims 1 to 9 is implemented.

Images