Lane changing gap selection method, device, equipment and medium

Abstract

The invention relates to the technical field of automatic driving, in particular to a lane changing gap selection method and device, equipment and a medium, and the method comprises the steps: obtaining an effective gap of which the length meets a lane changing requirement from a plurality of gaps after a lane changing instruction signal is received; according to various factors of the front obstacle state and the vehicle state corresponding to each effective gap, the lane changing position and speed of the vehicle under each effective gap are obtained; according to the target position information and the target speed information, the cost value of each effective gap for evaluating the advantages and disadvantages of each effective gap is evaluated so that the optimal lane changing gap can be obtained from the effective gaps, compared with the related technology, the scheme can select the optimal lane changing gap under the complex working condition, and in addition, the efficiency of lane changing is improved. In addition, acceleration and deceleration lane changing can be achieved based on the target position information and the target speed information corresponding to the lane changing gap as references, so that the vehicle can safely and smoothly complete lane changing operation under the condition of complex working conditions.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving technology, and in particular to a lane change gap selection method, device, equipment and medium. Background Art

[0002] Advanced driver assistance systems are mainly composed of various sensors, cameras, radars, lidars, and control modules, which together realize real-time perception and analysis of the environment around obstacles. Most of the target gaps of the lane change assist function do not take obstacles into consideration, or only when the obstacles are far enough away will there be a gap for lane change. In ideal conditions without cars or in sufficiently open areas, the lane change assist function can more easily identify and select the appropriate gap for lane change. However, in complex conditions, the selection of gaps becomes particularly difficult. Summary of the invention

[0003] The purpose of the present application is to provide a lane-changing gap selection method, device, equipment and medium, which can select a suitable gap for lane changing under complex working conditions.

[0004] In a first aspect, a lane change gap selection method is provided, comprising:

[0005] After receiving the lane change command signal, obtaining the effective gap of the target lane, wherein the effective gap is obtained by screening according to the gap lengths corresponding to the multiple gaps of the target lane;

[0006] Determine the target position information and target speed information corresponding to each effective gap according to the front obstacle speed, the rear obstacle speed, the vehicle position information and the vehicle speed corresponding to each effective gap;

[0007] Determine the cost value corresponding to each effective gap according to the target position information and the target speed information corresponding to each effective gap;

[0008] A lane-changing gap is determined according to the cost value corresponding to each of the effective gaps.

[0009] In a preferred example, the present application may be further configured as follows: before obtaining the effective gap of the target lane, the method further includes:

[0010] Constructing a virtual obstacle at a first preset position relative to the front of the vehicle and a second preset position relative to the rear of the vehicle in the target lane;

[0011] According to the first obstacle information corresponding to the actual obstacle of the target lane and the second obstacle information corresponding to the virtual obstacle, the gap information corresponding to each of the plurality of gaps is obtained, and the gap information includes: gap length, front obstacle speed and rear obstacle speed.

[0012] In a preferred example, the present application may be further configured as follows: the obtaining of the effective gap of the target lane includes:

[0013] Determining a first reference distance according to a front obstacle speed, a front obstacle time distance, a rear obstacle speed, and a rear obstacle time distance of a target gap, wherein the target gap is any gap among the plurality of gaps;

[0014] Valid gaps are screened out from the plurality of gaps according to the second reference distance, the first reference distances corresponding to the plurality of gaps, and the gap lengths corresponding to the plurality of gaps.

[0015] In a preferred example, the present application can be further configured as follows: according to the front obstacle speed, the rear obstacle speed, the vehicle position information and the vehicle speed corresponding to each of the effective gaps, the target position information and the target speed information corresponding to each of the effective gaps are determined, including:

[0016] Determining front safety position information and rear safety position information according to the front obstacle speed and the vehicle speed of each effective gap;

[0017] Determine the target position information corresponding to each of the valid gaps according to the vehicle position information, the front safety position information and the rear safety position information corresponding to each of the valid gaps;

[0018] Determining a speed upper limit value according to the vehicle position information, the front safety position information corresponding to each of the effective gaps, and the front obstacle speed;

[0019] Determining a lower speed limit value according to the vehicle position information, the rear safety position information corresponding to each of the effective gaps, and the rear obstacle speed;

[0020] The target speed information corresponding to each of the effective gaps is determined according to the vehicle speed, the speed upper limit value corresponding to each of the effective gaps, and the speed lower limit value.

[0021] In a preferred example, the present application can be further configured as follows: determining the front safety position information and the rear safety position information according to the front obstacle speed and the vehicle speed of each effective gap, including: determining the initial front safety distance according to the speed difference between the front obstacle speed and the vehicle speed of each effective gap; and determining the initial rear safety distance according to the speed difference between the rear obstacle speed and the vehicle speed of each effective gap;

[0022] The front safety position information and the rear safety position information are determined according to the initial front safety distance, the initial rear safety distance and the target reference point position information corresponding to each of the effective gaps.

[0023] In a preferred example, the present application may be further configured as follows: the process of determining the target reference point position information includes:

[0024] Determine that the target reference point position information is the midpoint position information of the front obstacle and the rear obstacle of each effective gap;

[0025] Or, the target reference point position information of each effective gap is determined according to the distance between the front obstacle and the front safety position information of each effective gap, the distance between the rear obstacle and the rear safety position information, and the gap length.

[0026] In a preferred example, the present application may be further configured as follows: determining the cost value corresponding to each effective gap according to the target position information and the target speed information corresponding to each effective gap, including:

[0027] Determine the distance cost value corresponding to each of the effective gaps according to the target position information and the distance weight value corresponding to each of the effective gaps;

[0028] Determine the speed cost value corresponding to each effective gap according to the target speed information and the speed weight value corresponding to each effective gap;

[0029] Determine a collision cost value corresponding to each effective gap according to a predicted collision time and a collision weight value corresponding to each effective gap, wherein the predicted collision time is determined based on the speed of an adjacent vehicle in the own lane and a relative distance between the own vehicle and the adjacent vehicle;

[0030] The cost value corresponding to each of the effective gaps is determined according to the distance cost value, the speed cost value and the collision cost value corresponding to each of the effective gaps.

[0031] In a second aspect, a lane-changing gap selection device is provided, comprising:

[0032] an acquisition module, configured to acquire an effective gap of a target lane after receiving a lane change command signal, wherein the effective gap is obtained by screening according to gap lengths corresponding to each of a plurality of gaps of the target lane;

[0033] A target information determination module, used to determine the target position information and target speed information corresponding to each of the effective gaps according to the front obstacle speed, the rear obstacle speed, the vehicle position information and the vehicle speed corresponding to each of the effective gaps;

[0034] A cost value calculation module, used to determine the cost value corresponding to each of the effective gaps according to the target position information and the target speed information corresponding to each of the effective gaps;

[0035] The lane-changing gap determining module is used to determine the lane-changing gap according to the cost value corresponding to each of the effective gaps.

[0036] In a third aspect, an electronic device is provided, including:

[0037] one or more processors;

[0038] Memory;

[0039] One or more applications, wherein one or more applications are stored in a memory and configured to be executed by one or more processors, and one or more programs are configured to: perform operations corresponding to the method shown in any possible implementation of the first aspect.

[0040] In a fourth aspect, a computer-readable storage medium is provided, wherein the storage medium stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, at least one program, a code set or an instruction set is loaded by a processor and executes the steps of the method shown in any possible implementation of the first aspect.

[0041] In a fifth aspect, a computer program product is provided, comprising a computer program, wherein when the computer program is executed by a processor, operations corresponding to the method shown in any possible implementation manner in the first aspect are implemented.

[0042] In summary, the lane change gap selection method provided by the present application includes the following beneficial technical effects:

[0043] After receiving the lane-changing command signal, an effective gap is obtained by screening the gap lengths corresponding to each of the multiple gaps in the target lane, so that a gap whose length meets the lane-changing requirement can be obtained among the multiple gaps; the position and speed of the vehicle at each effective gap for lane change are obtained according to multiple factors including the front obstacle speed, the rear obstacle speed, the vehicle position information and the vehicle speed corresponding to each effective gap; the cost value corresponding to each effective gap is evaluated according to the target position information and the target speed information corresponding to each effective gap, and the size of the cost value is used to evaluate the pros and cons of each effective gap; the optimal lane-changing gap is obtained from the effective gap according to the cost value corresponding to each effective gap, and the target position information and the target speed information corresponding to the lane-changing gap can be used as guidance parameters for lane change. Compared with related technologies that can only change lanes under simple working conditions, or can only use uniform speed lane changing, this solution can combine the information of the vehicle and the information of surrounding obstacles to select the optimal lane changing gap under complex working conditions, such as when there are multiple gaps in the target lane. In addition, it can also implement acceleration and deceleration lane changing based on the target position information and target speed information corresponding to the lane changing gap as a reference, so that the vehicle can complete the lane changing operation safely and smoothly under more complex working conditions.

[0044] In addition, the present application also provides a lane-changing gap selection device, equipment and medium, all of which have the above-mentioned beneficial technical effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the embodiments of the present application or the technical solutions of the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0046] Figure 1 It is a schematic diagram of uniform speed lane changing under open working conditions in the related technology;

[0047] Figure 2 It is a schematic diagram of uniform lane changing under a vehicle-free condition in the related art;

[0048] Figure 3 A schematic diagram of a process flow of a lane change gap selection method provided in an embodiment of the present application;

[0049] Figure 4 A lane gap formation diagram provided in an embodiment of the present application;

[0050] Figure 5 A schematic diagram of target position information calculation for a lane gap provided in an embodiment of the present application;

[0051] Figure 6 A schematic diagram of target speed information calculation for a lane gap provided in an embodiment of the present application;

[0052] Figure 7 A schematic diagram of a specific process flow of lane change gap selection provided in an embodiment of the present application;

[0053] Figure 8 A schematic diagram of gap selection results under multiple working conditions provided in an embodiment of the present application;

[0054] Fig. 9 A schematic diagram of a selected gap simulation provided in an embodiment of the present application;

[0055] Fig.10 is a structural schematic diagram of a lane-changing gap selection device provided in an embodiment of the present application;

[0056] Fig.11 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0057] This specific embodiment is merely an explanation of the present application and is not a limitation of the present application. After reading this specification, those skilled in the art may make modifications to the present embodiment without any creative contribution as needed, but such modifications are protected by the patent law as long as they are within the scope of the claims of the present application.

[0058] It should be noted that in the optional embodiments of the present application, the object information and other related data involved, when the embodiments in the present application are applied to specific products or technologies, need to obtain the permission or consent of the object, and the collection, use and processing of the relevant data need to comply with the relevant laws, regulations and standards of the relevant countries and regions. In other words, if the embodiments of the present application involve data related to the object, it needs to be obtained with the authorization and consent of the object, the authorization and consent of the relevant departments, and in compliance with the relevant laws, regulations and standards of the country and region. If personal information is involved in the embodiments, the acquisition of all personal information needs to obtain the consent of the individual. If sensitive information is involved, the separate consent of the information subject needs to be obtained. The embodiments also need to be implemented with the authorization and consent of the object.

[0059] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0060] In addition, the term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can 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, unless otherwise specified, generally means that the associated objects before and after are in an "or" relationship.

[0061] In advanced driver assistance functions, such as advanced driver assistance functions with 5R1v sensor solutions, when selecting a target gap for lane change, obstacles are mostly not considered, or a gap that can be used for lane change is generated when the obstacle is far enough away, and a uniform lane change is performed. The lane change gap is the space LaneChange Gap where the target lane exists. 5R1V is 5 millimeter-wave radars and a front-view camera 5Radar&1Video. See Figure 1 , Figure 2 , Figure 1 is a schematic diagram of uniform lane changing under open conditions in the related technology, Figure 2Schematic diagram of uniform lane change under vehicle-free conditions in the related art, ego is the ego vehicle, obs_f is the obstacle in front of the gap in the target lane, and obs_b is the obstacle behind the gap in the target lane. In the related art, the selected gaps are mostly suitable for vehicle-free conditions or sufficiently open conditions to perform lane change. Moreover, the selected gaps can only perform uniform lane change, and the target distance difference and target speed for acceleration and deceleration lane change are not given.

[0062] In one embodiment, please refer to Figure 3 , Figure 3 A flowchart of a lane change gap selection method provided in an embodiment of the present application is provided. The method provided in the embodiment of the present application can be executed by an electronic device, and the electronic device is a server. The server can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server providing cloud computing services. The terminal device can be a smart phone, a tablet computer, a laptop computer, a desktop computer, a vehicle-mounted device, etc., but is not limited thereto. The terminal device and the electronic device can be directly or indirectly connected via wired or wireless communication, which is not limited in the embodiment of the present application. The method includes:

[0063] S101, after receiving a lane change command signal, obtaining an effective gap of a target lane, wherein the effective gap is obtained by screening according to the gap lengths corresponding to each of a plurality of gaps of the target lane;

[0064] The lane change command signal is a signal that triggers the vehicle to perform a lane change operation, which may specifically include LeftChange to change lanes to the left and LaneLange to change lanes to the right. The lane change command signal may be issued by the driver through a control device inside the vehicle, or may be automatically generated by the vehicle's automatic driving system according to road conditions and traffic regulations. The target lane is the lane that the vehicle plans to change into. The gap represents the space between the front and rear obstacles on the target lane, and the gap length refers to the actual distance between each gap on the target lane. It should be noted that, in general, the obstacle on the lane is a vehicle. Of course, the type of obstacle may also be determined based on actual conditions, and this embodiment is no longer limited.

[0065] In one achievable manner, this step may include: obtaining gap information corresponding to each of the multiple gaps in the target lane, the gap information including: gap length, front obstacle speed, and rear obstacle speed; and screening out effective gaps from the multiple gaps according to the gap lengths corresponding to each of the multiple gaps.

[0066] Among them, the gaps are preliminarily screened and effective gaps are selected, wherein the effective gap refers to a gap with sufficient length to ensure the safety of lane changing, and the gap needs to meet a first reference distance determined based on the speed of the front and rear obstacles corresponding to the gap, and / or meet a preset second reference distance.

[0067] In one achievable manner, obtaining an effective gap in a target lane includes: determining a first reference distance according to a front obstacle speed, a front obstacle time distance, a rear obstacle speed, and a rear obstacle time distance of the target gap, wherein the target gap is any gap among a plurality of gaps; and selecting an effective gap from the plurality of gaps according to a second reference distance, first reference distances corresponding to each of the plurality of gaps, and gap lengths corresponding to each of the plurality of gaps.

[0068] Among them, the first reference distance = front obstacle speed * front obstacle time distance + rear obstacle speed * rear obstacle time distance. If the gap length of the gap is greater than the first reference distance, and the gap length is greater than the second reference distance, the gap is retained, otherwise the gap is abandoned. The front obstacle time distance and the rear obstacle time distance can be set by the user according to actual needs. For example, the front obstacle time distance is set to 1.6 and the rear obstacle time distance is set to 1.3. The second reference distance can be set by the user according to actual needs, and this embodiment is no longer limited. For example, the second reference distance can be 35m, 30m, 40m, etc.

[0069] S102, determining target position information and target speed information corresponding to each effective gap according to the front obstacle speed, the rear obstacle speed, the vehicle position information, and the vehicle speed corresponding to each effective gap;

[0070] In the embodiment of the present application, target position information TarDistanceOffset and target speed information TarSpeed ​​are assigned to the effective gap that meets the length requirement. The target position information is the position coordinate information in the SL coordinate system of the specific lane change, which is the target point of the lane change. The general SL coordinate system takes the vehicle as the origin; the target speed information is the speed information when changing lanes.

[0071] S103, determining a cost value corresponding to each effective gap according to target position information and target speed information corresponding to each effective gap;

[0072] When there is a car in the adjacent lane, there is usually more than one effective gap. It is necessary to calculate the cost value of each effective gap for the final lane change gap selection. The cost value is an indicator to evaluate the suitability of each effective gap for lane change. The smaller the cost value, the more suitable it is for lane change.

[0073] S104: Determine the lane change gap according to the cost value corresponding to each effective gap.

[0074] The cost value of each effective gap is compared, and the effective gap with the minimum total cost is selected as the lane change gap.

[0075] Furthermore, the attribute value of the lane change gap can also be output to facilitate comfortable acceleration and deceleration lane change under complex working conditions. The attribute values ​​include: target speed (TarSpeed) and target position (TarDistanceOffset).

[0076] It can be seen that in the embodiment of the present application, after receiving the lane change command signal, the effective gaps obtained by screening according to the gap lengths corresponding to each of the multiple gaps in the target lane are obtained, and the gaps whose lengths meet the lane change requirements can be obtained from the multiple gaps; according to the front obstacle speed, the rear obstacle speed, the vehicle position information and the vehicle speed corresponding to each effective gap, the position and speed of the vehicle at which the lane change can be performed in each effective gap are obtained; according to the target position information and the target speed information corresponding to each effective gap, the cost value corresponding to each effective gap is evaluated, and the size of the cost value is used to evaluate the pros and cons of each effective gap; according to the cost value corresponding to each effective gap, the optimal lane change gap is obtained from the effective gap, and the target position information and the target speed information corresponding to the lane change gap can be used as guidance parameters for lane changing. Compared with related technologies that can only change lanes under simple working conditions, or can only use uniform speed lane changing, this solution can combine the information of the vehicle and the information of surrounding obstacles to select the optimal lane changing gap under complex working conditions, such as when there are multiple gaps in the target lane. In addition, it can also implement acceleration and deceleration lane changing based on the target position information and target speed information corresponding to the lane changing gap as a reference, so that the vehicle can complete the lane changing operation safely and smoothly under more complex working conditions.

[0077] A possible implementation of the embodiment of the present application is to obtain gap information corresponding to each of the multiple gaps in the target lane, including:

[0078] Constructing a virtual obstacle at a first preset position relative to the front of the vehicle and a second preset position relative to the rear of the vehicle in the target lane;

[0079] According to the first obstacle information corresponding to the actual obstacle of the target lane and the second obstacle information corresponding to the virtual obstacle, gap information corresponding to each of the plurality of gaps is obtained, and the gap information includes: gap length, front obstacle speed, and rear obstacle speed.

[0080] According to the lane change instruction, the obstacle information in the target lane is traversed, and a virtual obstacle is constructed at a certain distance in front and behind the vehicle. At the same time, speed attributes are assigned according to different working conditions to prepare for the formation of an effective gap. Among them, the first preset position and the second preset position are no longer limited in the embodiment of the present application, and can be 120m in front of the vehicle and 80m behind the vehicle. The speed of the virtual obstacle in front can be the maximum value of the speed of the adjacent actual obstacle of the virtual obstacle and the speed of the vehicle; the speed of the virtual obstacle in the rear can be the minimum value of the speed of the adjacent actual obstacle of the virtual obstacle and the speed of the vehicle.

[0081] Traverse the obstacles in the target lane within the virtual obstacle range, and two adjacent obstacles form a gap. Figure 4 , where obs1 and obs4 are constructed virtual obstacles, obs2 and obs3 are actual obstacles, obs1 and obs2 form a gap gap1, obs2 and obs3 form a gap gap2, obs3 and obs4 form a gap gap3, and Lgap is the gap length of gap2.

[0082] It can be seen that in the embodiment of the present application, by constructing virtual obstacles in front of and behind the target lane, the actual situation during the lane change process can be simulated, and the availability and safety of each gap can be evaluated more accurately.

[0083] In a possible implementation of the embodiment of the application, the target position information and target speed information corresponding to each effective gap are determined according to the front obstacle speed, the rear obstacle speed, the vehicle position information, and the vehicle speed corresponding to each effective gap. The target position information corresponding to each effective gap is determined, including:

[0084] According to the speed of the front obstacle and the vehicle speed at each effective gap, the front safety position information and the rear safety position information are determined;

[0085] Determine the target position information corresponding to each valid gap according to the vehicle position information, the front safety position information and the rear safety position information corresponding to each valid gap;

[0086] Determine the speed upper limit value according to the vehicle position information, the front safety position information corresponding to each effective gap and the front obstacle speed;

[0087] Determine the lower speed limit value according to the vehicle position information, the rear safety position information corresponding to each effective gap and the rear obstacle speed;

[0088] The target speed information corresponding to each effective gap is determined according to the vehicle speed, the speed upper limit value corresponding to each effective gap, and the speed lower limit value.

[0089] Wherein, the front safety position information and the rear safety position information are determined according to the front obstacle speed and the self-vehicle speed of each effective gap, including: determining the initial front safety distance according to the speed difference between the front obstacle speed and the self-vehicle speed of each effective gap; and determining the initial rear safety distance according to the speed difference between the rear obstacle speed and the self-vehicle speed of each effective gap; determining the front safety position information and the rear safety position information according to the initial front safety distance, the initial rear safety distance and the target reference point position information corresponding to each effective gap.

[0090] In an embodiment of the present application, the speed segment to which the speed belongs is determined according to the speed of the obstacle in front of the effective gap, and the standard front safety distance corresponding to the rear of the obstacle in front is determined based on the correspondence between the preset speed segment and the preset safety distance, wherein the correspondence between the preset speed segment and the preset safety distance can be customized. For example, when the speed of the obstacle in front of the effective gap is closest to 40km / h among 0km / h, 40km / h, 50km / h, 60km / h, and 100km / h, the standard safety distance is determined to be the safety distance corresponding to 40km / h.

[0091] Then, the speed difference between the speed of the obstacle in front of the effective gap and the speed of the vehicle is calculated, and the standard front safety distance is adjusted to ensure that in an emergency, the vehicle has enough distance and time to slow down or avoid the obstacle in front, thereby avoiding the occurrence of a collision accident. In some embodiments, the adjustment of the standard front safety distance can be achieved in a variety of ways. Optionally, one way is to increase or decrease the standard front safety distance according to a certain linear law based on the size of the speed difference; another way is to determine the adjustment value corresponding to the speed difference based on the correspondence between the difference segment and the adjustment value according to the difference segment to which the speed difference belongs, and then use the adjustment value to adjust to obtain the initial front safety distance; for the obstacle in front, the speed difference is large, and the front safety distance will decrease if the speed difference is large, otherwise the front safety distance will increase.

[0092] Similarly, according to the speed of the obstacle behind the effective gap, the standard rear safety distance in front of the obstacle is set at a certain speed segment, and the speed segment includes the case where the speed is 0. And the standard rear safety distance is adjusted according to the speed difference between the obstacle behind the effective gap and the vehicle. If the speed difference is large, the rear safety distance will be larger, otherwise the rear safety distance will be reduced.

[0093] Furthermore, the initial front safety distance and the initial rear safety distance obtained are used to determine the initial front safety position information and the initial rear safety position information in the SL coordinate system; the S1 value of the initial front safety position and the S2 value of the initial rear safety position are compared with the S3 value of the target reference point position information; if the S1 value is less than the S3 value, the S1 value is set to the S3 value to obtain the front safety position information; if the S2 value is greater than the S3 value, the S2 value is set to the S3 value to obtain the rear safety position information, so as to prevent the target position from being selected too far forward or too far backward when the effective gap length is small.

[0094] According to the vehicle position information, the front safety position information and the rear safety position information corresponding to each effective gap, the target position information is obtained according to min(final S1 value, max(final S2 value, vehicle S value + preset value)); the preset value can be customized by the user, such as 0, 5m, 8m, 10m, etc., for example, see Figure 5 , Figure 5 A schematic diagram showing the target position information of the effective gap is taken to the vehicle position +10.

[0095] In a possible implementation manner of the embodiment of the present application, the process of determining the target reference point position information includes: determining the target reference point position information as the midpoint position information of the front obstacle and the rear obstacle of each effective gap.

[0096] A possible implementation method of an embodiment of the present application is a process for determining the target reference point position information, including: determining the target reference point position information of each valid gap based on the distance between the front obstacle and the front safety position information of each valid gap, the distance between the rear obstacle and the rear safety position information, and the gap length.

[0097] The S value of the target reference point = S after + L*b / (b+f); or, the S value of the target reference point = S before + L*f / (b+f); users can choose according to actual needs;

[0098] Among them, Srear is the S coordinate of the rear obstacle, Sfront is the S coordinate of the front obstacle, L is the gap length, b is the distance between the rear obstacle and the rear safety position information, and f is the distance between the front obstacle and the front safety position information.

[0099] Then, the target speed information corresponding to each effective gap is determined.

[0100] Among them, the relative distance DistanceF between the front safety position information and the ego vehicle is calculated, and then the speed upper limit Vupper is calculated according to the front obstacle speed Vobsf of the effective gap, Vupper = Vobsf + DistanceF * first value. The first value can be set according to experience, such as 0.1, 0.12, etc., to prevent the front obstacle from having a lower speed than the ego vehicle but a long distance, which may cause braking.

[0101] Calculate the relative distance DistanceB between the rear safety position information and the vehicle, and then calculate the lower speed limit Vlower according to the rear obstacle speed Vobsb of the effective gap, Vlower = Vobsb + Distanceb*second value. The second value can be set according to experience, such as 0.15, 0.17, etc., to prevent the rear obstacle from having a high speed but a long distance, resulting in a large acceleration.

[0102] Then, according to the vehicle speed Vego, the speed upper limit and the speed lower limit corresponding to each effective gap, the target speed information is obtained according to TarSpeed ​​= min (Vupper, max(Vego, Vlower)). For example, see Figure 6 , Figure 6 A schematic diagram of calculating target speed information corresponding to an effective gap provided in an embodiment of the present application.

[0103] A possible implementation method of the embodiment of the present application is to determine the cost value corresponding to each valid gap according to the target position information and target speed information corresponding to each valid gap, including: determining the distance cost value corresponding to each valid gap according to the target position information and the distance weight value corresponding to each valid gap; determining the speed cost value corresponding to each valid gap according to the target speed information and the speed weight value corresponding to each valid gap; determining the collision cost value corresponding to each valid gap according to the predicted collision time and the collision weight value corresponding to each valid gap, wherein the predicted collision time is determined based on the speed of the adjacent vehicle in the lane and the relative distance between the own vehicle and the adjacent vehicle; determining the cost value corresponding to each valid gap according to the distance cost value, the speed cost value and the collision cost value corresponding to each valid gap.

[0104] When there is a car in the target lane, there is usually more than one valid gap. It is necessary to calculate the cost of each valid gap for the final valid gap selection. The cost calculation of each valid gap is as follows:

[0105] Among them, the distance cost DisCost of each valid gap is calculated, that is, the cost of the distance of the target position information relative to the vehicle, DisCost=(the distance of the target position information relative to the vehicle)^2*disWeight, where disWeight is the distance weight value.

[0106] Calculate the speed cost SpeedCost of each effective gap, SpeedCost=(TarSpeed-Vego)^2*speedWeight, speedWeight is the speed weight value, TarSpeed ​​is the target speed information, and Vego is the vehicle speed.

[0107] The collision cost of a car in the lane is CollisionCost=(1 / TTC)*collWeight, collWeight: collision weight value. TTC represents the collision time between the front and rear vehicles, and the calculation formula is: TTC=max(0,distance / (V1-V2)), distance: the relative distance between the two vehicles, V1: represents the speed of the rear obstacle, and V2: represents the speed of the front obstacle.

[0108] Based on any of the above embodiments, the present application embodiment provides a specific method, see Figure 7 :

[0109] Step 1: Receive the upper-layer lane change command signal (left lane change LeftChange, right lane change LaneLange).

[0110] Step 2: According to the lane change command, the obstacle information in the target lane is traversed, and virtual obstacles are constructed at a certain distance in front of and behind the vehicle (120m in front of the vehicle and 70m behind the vehicle). At the same time, speed, position, and other attributes are assigned according to different working conditions to prepare for the formation of a usable gap. Among them, if there is no obstacle 120m in front of the vehicle and 70m behind the vehicle, the speed of the virtual obstacle is assigned to the speed of the vehicle. If there is an obstacle, the speed of the virtual object at 120m is assigned to the maximum value of the speed of the vehicle and the speed of the obstacle, and the speed at 70m is assigned to the minimum value of the speed of the vehicle and the speed of the obstacle;

[0111] Step 3: Traverse the obstacles within the virtual obstacle range of the target lane. Two adjacent obstacles form a gap. And conduct a preliminary screening on the gap. If the gap length Lgap > (Vobs2 * Timeheadway1 + Vobs3 * Timeheadway2) && (Lgap > 35m), then retain the gap; otherwise, discard the gap. Wherein, Vobs2: the speed of the obstacle in front of the gap, Vobs3: the speed of the obstacle behind the gap, and Timeheadway1 and Timeheadway2 are the time headways of the front and rear obstacles respectively, which are set to 1.6 and 1.3 respectively. Wherein Lgap: the length of the gap interval.

[0112] Step 4: Assign the target position information TarDistanceOffset and the target speed information TarSpeed to the valid gap that meets the length requirement.

[0113] Calculation of TarDistanceOffset:

[0114] According to the speed of the obstacle in front of the gap, set the safety distance frontBound behind the obstacle at each certain speed segment. This speed segment includes the case where the speed is 0. And adjust frontBound according to the speed difference between the obstacle in front of the gap and the host vehicle. If the speed difference is large, frontBound will decrease; otherwise, frontBound will increase.

[0115] According to the speed of the obstacle in front of the gap, set the safety distance backBound in front of the obstacle at each certain speed segment. This speed segment includes the case where the speed is 0. And adjust backBound according to the speed difference between the obstacle behind the gap and the host vehicle. If the speed difference is large, backBound will increase; otherwise, backBound will decrease.

[0116] Compare the vertical axis value S of frontBound in the SL coordinate system (the SL coordinate system takes the host vehicle as the origin) and the distance of the vertical axis value S of backBound in the SL coordinate system relative to the midpoint MidLocationOfgap of the gap. If the vertical axis value S of frontBound in the SL coordinate system < MidLocationOfgap, the vertical axis value S of frontBound in the SL coordinate system = MidLocationOfgap; similarly, if the vertical axis value S of backBound in the SL coordinate system > MidLocationOfgap, the vertical axis value S of backBound in the SL coordinate system = MidLocationOfgap. In this way, it is prevented that in the case of a small gap length, the selected target position is relatively forward or backward.

[0117] Finally, determine TarDistanceOffset = min (frontBound's vertical axis value S in the SL coordinate system, max (backBound's vertical axis value S in the SL coordinate system, vehicle position + 10)).

[0118] TarSpeed ​​calculation:

[0119] First, calculate the relative distance DistanceF between the frontBound and the vehicle, and then calculate the speed limit Vupper according to the speed of the obstacle in front of the gap, Vupper = Vobsf + DistanceF * 0.1. This can prevent the front obstacle from braking because its speed is lower than the vehicle but the distance is far.

[0120] Calculate the relative distance DistanceB between backBound and the vehicle, and then calculate the lower speed limit Vlower according to the speed of the obstacle behind the gap, Vlower=Vobsb+Distanceb*0.15. This can prevent the rear obstacle from having a high speed but a long distance, which will cause a large acceleration.

[0121] TarSpeed=min(Vupper,max(Vego,Vlower)).

[0122] Step 5: Calculate the cost of each valid gap.

[0123] When there are cars in the adjacent lanes, there is usually more than one valid gap. It is necessary to calculate the cost of each valid gap for the final gap selection. The cost calculation of each gap is as follows:

[0124] Calculate the distance cost of each gap, that is, the cost of TarDistanceOffset relative to the distance of the vehicle, DisCost=(TarDistanceOffset)^2*disWeight, disWeight: distance weight value.

[0125] Calculate the speed cost of each gap, SpeedCost=(TarSpeed-Vego)^2*speedWeight, speedWeight: speed weight value.

[0126] The collision cost of a car in the lane is CollisionCost=(1 / TTC)*collWeight, collWeight: collision weight value. TTC represents the collision time between the front and rear vehicles, and the calculation formula is: TTC=max(0,distance / (V1-V2)), distance: the relative distance between the two vehicles, V1: represents the speed of the rear obstacle, V2: represents the speed of the front obstacle

[0127] Step 6: Selection of the optimal gap.

[0128] Compare the sum of the cost values ​​of each valid gap, TotalCost=DisCost+SpeedCost+CollisionCost, select the gap with the smallest total cost, and output its attribute values ​​​​target speed (TarSpeed) and target position (TarDistanceOffset).

[0129] Based on the above embodiments, see Figure 8 , Figure 8 A schematic diagram of gap selection under various working conditions provided by the embodiment of the present application, wherein the blue frame is the vehicle, the yellow frame is the obstacle in front of the vehicle, the black frame is the obstacle in the target lane, and the red dot represents the optimal lane change gap position point selected from multiple gaps, which has position and speed attributes. Fig. 9 , Fig. 9 A schematic diagram of the optimal gap output in a simulation environment in a bird's-eye view provided in an embodiment of the present application, wherein the end point of the red frame is the lane change gap position, which is close to the vehicle and has a speed close to the vehicle's speed. Combined with the control layer, comfortable acceleration and deceleration lane changing can be achieved under multiple working conditions.

[0130] Using this selection gap solution in the lane change assist function can output a suitable and safe lane change range. At the same time, combined with the control layer, comfortable acceleration and deceleration lane changing can be achieved under multiple working conditions.

[0131] A lane-changing gap selection device provided in an embodiment of the present application is introduced below. The device described below and the method described above can be referred to each other. The device of this embodiment is set in an electronic device. Fig.10 , Fig.10 : is a structural block diagram of a lane change gap selection device according to one embodiment of the present application, comprising:

[0132] The acquisition module 210 is used to acquire the effective gap of the target lane after receiving the lane change command signal, wherein the effective gap is obtained by screening according to the gap lengths corresponding to the multiple gaps of the target lane;

[0133] The target information determination module 220 is used to determine the target position information and target speed information corresponding to each effective gap according to the front obstacle speed, the rear obstacle speed, the vehicle position information and the vehicle speed corresponding to each effective gap;

[0134] The cost value calculation module 230 is used to determine the cost value corresponding to each effective gap according to the target position information and the target speed information corresponding to each effective gap;

[0135] The lane-changing gap determining module 240 is configured to determine the lane-changing gap according to the cost value corresponding to each valid gap.

[0136] In one achievable manner, the method further includes: a gap information acquisition module, configured to:

[0137] Constructing a virtual obstacle at a first preset position relative to the front of the vehicle and a second preset position relative to the rear of the vehicle in the target lane;

[0138] According to the first obstacle information corresponding to the actual obstacle of the target lane and the second obstacle information corresponding to the virtual obstacle, gap information corresponding to each of the plurality of gaps is obtained, and the gap information includes: gap length, front obstacle speed, and rear obstacle speed.

[0139] In one achievable manner, the acquisition module 210 is used to:

[0140] Determine a first reference distance according to a front obstacle speed, a front obstacle time distance, a rear obstacle speed, and a rear obstacle time distance of a target gap, wherein the target gap is any gap among the plurality of gaps;

[0141] Valid gaps are screened out from the plurality of gaps according to the second reference distance, the first reference distances corresponding to the plurality of gaps, and the gap lengths corresponding to the plurality of gaps.

[0142] In one achievable manner, the target information determination module 220 is used to:

[0143] According to the speed of the front obstacle and the vehicle speed at each effective gap, the front safety position information and the rear safety position information are determined;

[0144] Determine the target position information corresponding to each valid gap according to the vehicle position information, the front safety position information and the rear safety position information corresponding to each valid gap;

[0145] Determine the speed upper limit value according to the vehicle position information, the front safety position information corresponding to each effective gap and the front obstacle speed;

[0146] Determine the lower speed limit value according to the vehicle position information, the rear safety position information corresponding to each effective gap and the rear obstacle speed;

[0147] The target speed information corresponding to each effective gap is determined according to the vehicle speed, the speed upper limit value corresponding to each effective gap, and the speed lower limit value.

[0148] In one achievable manner, the target information determination module 220 is used to:

[0149] The initial front safety distance is determined according to the speed difference between the front obstacle speed and the vehicle speed of each effective gap; and the initial rear safety distance is determined according to the speed difference between the rear obstacle speed and the vehicle speed of each effective gap;

[0150] According to the initial front safety distance, the initial rear safety distance and the target reference point position information corresponding to each effective gap, the front safety position information and the rear safety position information are determined.

[0151] In an achievable manner, the target reference point position information is determined as the midpoint position information of the front obstacle and the rear obstacle of each effective gap;

[0152] Alternatively, the target reference point position information of each effective gap is determined according to the distance between the front obstacle and the front safety position information of each effective gap, the distance between the rear obstacle and the rear safety position information, and the gap length.

[0153] In one practicable manner, the cost value calculation module 230 is used to:

[0154] Determine the distance cost value corresponding to each valid gap according to the target position information and distance weight value corresponding to each valid gap;

[0155] Determine the speed cost value corresponding to each effective gap according to the target speed information and speed weight value corresponding to each effective gap;

[0156] Determine the collision cost value corresponding to each effective gap according to the predicted collision time and collision weight value corresponding to each effective gap, wherein the predicted collision time is determined based on the speed of the adjacent vehicle in the own lane and the relative distance between the own vehicle and the adjacent vehicle;

[0157] The cost value corresponding to each effective gap is determined according to the distance cost value, the speed cost value and the collision cost value corresponding to each effective gap.

[0158] An electronic device is provided in an embodiment of the present application, such as Fig.11 As shown, Fig.11The electronic device 300 shown includes: a processor 301 and a memory 303. The processor 301 and the memory 303 are connected, such as through a bus 302. Optionally, the electronic device 300 may also include a transceiver 304. It should be noted that in actual applications, the transceiver 304 is not limited to one, and the structure of the electronic device 300 does not constitute a limitation on the embodiments of the present application.

[0159] The processor 301 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of this application. The processor 301 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0160] The bus 302 may include a path to transmit information between the above components. The bus 302 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The bus 302 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Fig.11 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0161] The memory 303 may be a ROM (Read Only Memory) or other types of static storage devices that can store static information and instructions, a RAM (Random Access Memory) or other types of dynamic storage devices that can store information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, optical disk storage (including compressed optical disk, laser disk, optical disk, digital versatile disk, Blu-ray disk, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.

[0162] The memory 303 is used to store the application code for executing the solution of the present application, and the execution is controlled by the processor 301. The processor 301 is used to execute the application code stored in the memory 303 to implement the contents shown in the above method embodiment.

[0163] Fig.11 The electronic device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0164] An embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer-readable storage medium is run on a computer, the computer can execute the corresponding content in the aforementioned method embodiment.

[0165] An embodiment of the present application provides a computer program product, including a computer program, which implements the corresponding contents of the aforementioned method embodiment when the computer program is executed by a processor.

[0166] It should be understood that, although the steps in the flowchart of the accompanying drawings are displayed in sequence as indicated by the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least a part of the steps in the flowchart of the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a part of the sub-steps or stages of other steps.

[0167] The above are only some implementation methods of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A lane-changing gap selection method, characterized in that: include: After receiving the lane change command signal, obtaining the effective gap of the target lane, wherein the effective gap is obtained by screening according to the gap lengths corresponding to the multiple gaps of the target lane; Determine the target position information and target speed information corresponding to each effective gap according to the front obstacle speed, the rear obstacle speed, the vehicle position information and the vehicle speed corresponding to each effective gap; Determine the cost value corresponding to each effective gap according to the target position information and the target speed information corresponding to each effective gap; A lane-changing gap is determined according to the cost value corresponding to each of the effective gaps.

2. The method according to claim 1, characterized in that Before obtaining the effective gap of the target lane, the method further includes: Constructing a virtual obstacle at a first preset position relative to the front of the vehicle and a second preset position relative to the rear of the vehicle in the target lane; According to the first obstacle information corresponding to the actual obstacle of the target lane and the second obstacle information corresponding to the virtual obstacle, the gap information corresponding to each of the plurality of gaps is obtained, and the gap information includes: gap length, front obstacle speed and rear obstacle speed.

3. The method according to claim 1, characterized in that The obtaining of the effective clearance of the target lane includes: Determining a first reference distance according to a front obstacle speed, a front obstacle time distance, a rear obstacle speed, and a rear obstacle time distance of a target gap, wherein the target gap is any gap among the plurality of gaps; Valid gaps are screened out from the plurality of gaps according to the second reference distance, the first reference distances corresponding to the plurality of gaps, and the gap lengths corresponding to the plurality of gaps.

4. The method according to claim 1, characterized in that: According to the front obstacle speed, the rear obstacle speed, the vehicle position information and the vehicle speed corresponding to each of the effective gaps, the target position information and the target speed information corresponding to each of the effective gaps are determined, including: Determining front safety position information and rear safety position information according to the front obstacle speed and the vehicle speed of each effective gap; Determine the target position information corresponding to each of the valid gaps according to the vehicle position information, the front safety position information and the rear safety position information corresponding to each of the valid gaps; Determining a speed upper limit value according to the vehicle position information, the front safety position information corresponding to each of the effective gaps, and the front obstacle speed; Determining a lower speed limit value according to the vehicle position information, the rear safety position information corresponding to each of the effective gaps, and the rear obstacle speed; The target speed information corresponding to each of the effective gaps is determined according to the vehicle speed, the speed upper limit value corresponding to each of the effective gaps, and the speed lower limit value.

5. The method according to claim 4, characterized in that According to the front obstacle speed and the vehicle speed of each effective gap, the front safety position information and the rear safety position information are determined, including: Determine the initial front safety distance according to the speed difference between the front obstacle speed of each effective gap and the vehicle speed; and determine the initial rear safety distance according to the speed difference between the rear obstacle speed of each effective gap and the vehicle speed; The front safety position information and the rear safety position information are determined according to the initial front safety distance, the initial rear safety distance and the target reference point position information corresponding to each of the effective gaps.

6. The method according to claim 5, characterized in that The process of determining the target reference point position information includes: Determine that the target reference point position information is the midpoint position information of the front obstacle and the rear obstacle of each effective gap; Or, the target reference point position information of each effective gap is determined according to the distance between the front obstacle and the front safety position information of each effective gap, the distance between the rear obstacle and the rear safety position information, and the gap length.

7. The method according to claim 1, characterized in that Determining the cost value corresponding to each effective gap according to the target position information and the target speed information corresponding to each effective gap includes: Determine the distance cost value corresponding to each of the effective gaps according to the target position information and the distance weight value corresponding to each of the effective gaps; Determine the speed cost value corresponding to each effective gap according to the target speed information and the speed weight value corresponding to each effective gap; Determine a collision cost value corresponding to each effective gap according to a predicted collision time and a collision weight value corresponding to each effective gap, wherein the predicted collision time is determined based on the speed of an adjacent vehicle in the own lane and a relative distance between the own vehicle and the adjacent vehicle; The cost value corresponding to each of the effective gaps is determined according to the distance cost value, the speed cost value and the collision cost value corresponding to each of the effective gaps.

8. A lane-changing gap selection device, characterized in that: include: an acquisition module, configured to acquire an effective gap of a target lane after receiving a lane change command signal, wherein the effective gap is obtained by screening according to gap lengths corresponding to each of a plurality of gaps of the target lane; A target information determination module, used to determine the target position information and target speed information corresponding to each of the effective gaps according to the front obstacle speed, the rear obstacle speed, the vehicle position information and the vehicle speed corresponding to each of the effective gaps; A cost value calculation module, used to determine the cost value corresponding to each of the effective gaps according to the target position information and the target speed information corresponding to each of the effective gaps; The lane-changing gap determining module is used to determine the lane-changing gap according to the cost value corresponding to each of the effective gaps.

9. An electronic device, characterized in that: include: one or more processors; Memory; One or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, and the one or more applications are configured to: perform the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The storage medium stores at least one instruction, at least one program, code set or instruction set, and the at least one instruction, at least one program, code set or instruction set is loaded by the processor and executes the steps of the method according to any one of claims 1 to 7.

Images