Vehicle driving control method and device and vehicle

Abstract

The invention discloses a vehicle driving control method and device and a vehicle. Relates to the technical field of intelligent driving. The method comprises the following steps: acquiring the lane passing efficiency of a self-vehicle under the condition that the driving distance from the self-vehicle to a target ramp is matched with a preset ramp distance; under the condition that the lane passing efficiency is greater than the lane changing passing efficiency, determining a target lane to be changed of the own vehicle and a lane changing distance corresponding to the target lane; and according to the lane changing distance, controlling the own vehicle to change the lane and drive to the target lane. According to the invention, compatibility of map navigation and intelligent vehicle driving planning can be realized, continuous following of slow vehicle driving after entering the ramp preparation area is avoided, the driving speed of the vehicle is greatly improved, and thus the control effectiveness and passing efficiency of vehicle driving are improved.

Description

Technical Field

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

[0002] With the rapid development of intelligent driving technology, driverless vehicles will follow the real-time planned path when driving on the road. Especially before entering the ramp, it is necessary to control the vehicle to enter the ramp accurately according to the map navigation route.

[0003] At present, the existing system usually controls the vehicle to drive according to a fixed map navigation route when it is a certain distance away from the ramp entrance, so that the vehicle can accurately enter the ramp according to the map navigation route to avoid the vehicle changing lanes and missing the ramp. However, when driving according to the fixed map navigation route, there are usually slow vehicles in front of the vehicle, which causes the vehicle to slow down, greatly affecting the speed of the vehicle, thereby reducing the traffic efficiency of the vehicle. Summary of the invention

[0004] In view of this, the present application provides a vehicle driving control method and device, and a vehicle, the main purpose of which is to solve the problem of low traffic efficiency of existing vehicle driving.

[0005] According to one aspect of the present application, a method for controlling vehicle travel is provided, comprising:

[0006] Under the condition that the travel distance of the ego vehicle to the target ramp matches the preset ramp distance, obtaining the lane traffic efficiency of the ego vehicle;

[0007] Under the condition that the lane traffic efficiency is greater than the lane change traffic efficiency, determining a target lane to be changed by the ego vehicle and a lane change distance corresponding to the target lane;

[0008] The vehicle is controlled to change lanes to the target lane according to the lane change distance.

[0009] The embodiment of the present application determines the lane change condition after the vehicle enters the preset ramp distance, selects the target lane for lane change when the lane change condition is met, and performs overtaking and lane change in advance according to the lane change distance, so as to achieve compatibility between map navigation and vehicle intelligent driving planning, avoid continuously following slow vehicles after entering the ramp preparation area, greatly improve the vehicle's driving speed, and thus improve the control effectiveness and traffic efficiency of vehicle driving.

[0010] Further, the determining of the target lane to be changed by the ego vehicle and the lane change distance corresponding to the target lane includes:

[0011] Determine the number of lane changes between the driving lane where the own vehicle lane is located and the target ramp;

[0012] Under the condition that the number of lane changes is zero, determining the left lane of the driving lane as the target lane, and determining a first lane change distance matching the target lane;

[0013] Under the condition that the number of lane changes is greater than zero, the target lane is selected from the left lane and the right lane of the driving lane based on the lane traffic efficiency, and a second lane change distance or a third lane change distance matching the target lane is determined.

[0014] Further, selecting the target lane from the left lane or the side lane of the driving lane based on the lane traffic efficiency, and determining the second lane change distance or the third lane change distance matching the target lane includes:

[0015] Under the condition that the left lane is selected as the target lane based on the lane traffic efficiency, the second lane change distance is determined based on the number of lane changes and a preset lane change range, where the preset lane change range is configured based on the number of lane changes;

[0016] Under the condition that the right lane is selected as the target lane based on the lane traffic efficiency, configuring the driving distance as the third lane change distance;

[0017] Under the condition that both the left lane and the right lane are selected as the target lanes based on the lane traffic efficiency, the left lane is deleted.

[0018] Furthermore, the method further comprises:

[0019] Under the condition that the number of lane changes is zero and a right lane is detected in the driving lane, the right lane is determined as the target lane.

[0020] Further, controlling the vehicle to change lanes to the target lane according to the lane change distance includes:

[0021] Obtaining a ramp distance threshold corresponding to the number of lane changes and the driving lane;

[0022] Under the condition that the driving distance is greater than the ramp distance threshold, the vehicle is controlled to change lanes at the lane changing distance.

[0023] Furthermore, after controlling the vehicle to change lanes and drive to the target lane according to the lane change distance, the method further includes:

[0024] Trajectory planning is performed based on the lane state between the target ramp and the target lane, and the ego vehicle is controlled to travel into the target ramp according to the planned path obtained by trajectory planning.

[0025] According to another aspect of the present application, a vehicle driving control device is provided, comprising:

[0026] An acquisition module, used for acquiring the lane traffic efficiency of the vehicle when the vehicle travels to a preset lane change distance from the ramp;

[0027] A determination module, configured to determine a target lane to be changed by the ego vehicle and a lane change distance corresponding to the target lane under the condition that the lane traffic efficiency is greater than a preset lane change traffic efficiency;

[0028] A control module is used to control the vehicle to change lanes to the target lane according to the lane change distance.

[0029] Furthermore, the determining module includes:

[0030] A first determining unit, used to determine the number of lane changes between the driving lane where the own vehicle lane is located and the target ramp;

[0031] a second determining unit, configured to determine, under the condition that the number of lane changes is zero, a left lane of the driving lane as the target lane, and determine a first lane change distance matching the target lane;

[0032] The third determination unit is used to select the target lane from the left lane and the right lane of the driving lane based on the lane traffic efficiency under the condition that the number of lane changes is greater than zero, and determine a second lane change distance or a third lane change distance matching the target lane.

[0033] Further, the third determination unit is specifically used to determine the second lane changing distance based on the number of lane changes and a preset lane changing range, under the condition that the left lane is selected as the target lane based on the lane traffic efficiency, and the preset lane changing range is configured based on the number of lane changes; under the condition that the right lane is selected as the target lane based on the lane traffic efficiency, configure the driving distance as the third lane changing distance; under the condition that both the left lane and the right lane are selected as the target lanes based on the lane traffic efficiency, delete the left lane.

[0034] Furthermore, the device also includes:

[0035] The deletion module is used to determine the right lane as the target lane when the number of lane changes is zero and a right lane is detected in the driving lane.

[0036] Furthermore, the control module is specifically used to obtain an on-ramp distance threshold corresponding to the number of lane changes and the driving lane; and under the condition that the driving distance is greater than the on-ramp distance threshold, control the vehicle to change lanes at the lane change distance.

[0037] Furthermore, the device also includes:

[0038] The planning module is used to perform trajectory planning based on the lane state between the target ramp and the target lane, and control the ego vehicle to enter the target ramp according to the planned path obtained by trajectory planning.

[0039] According to one aspect of the present application, a vehicle is provided, comprising the above-mentioned vehicle driving control device.

[0040] According to another aspect of the present application, a readable storage medium is provided, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the vehicle driving control method as described above are implemented.

[0041] According to another aspect of the present application, a computer device is provided, comprising: at least one processor, the processor is coupled to a memory, the memory stores a program or instruction running on the processor, and the program or instruction, when executed by the processor, implements the steps of the vehicle driving control method as described above.

[0042] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present application. Also, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0044] Figure 1 A flow chart of a vehicle driving control method provided by an embodiment of the present application is shown;

[0045] Figure 2 A schematic diagram of a ramp preparation area provided in an embodiment of the present application is shown;

[0046] Figure 3 A schematic diagram of a vehicle in a middle lane provided by an embodiment of the present application is shown;

[0047] Figure 4 A schematic diagram of a vehicle provided by an embodiment of the present application being in a ramp preparation lane is shown;

[0048] Figure 5 A schematic diagram of a lane-changing overtaking trajectory planning for a self-vehicle provided in an embodiment of the present application is shown;

[0049] Figure 6 A block diagram of a vehicle driving control device provided by an embodiment of the present application is shown;

[0050] Figure 7 A schematic diagram of the structure of a computer device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0051] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0052] The present application embodiment provides a method for controlling vehicle travel, such as Figure 1 As shown, the method includes:

[0053] 101. Under the condition that a travel distance of the ego vehicle to a target ramp matches a preset ramp distance, a lane traffic efficiency of the ego vehicle is obtained.

[0054] In the embodiment of the present application, during the trajectory planning process of the unmanned intelligent vehicle, the automatic driving processor as the current execution subject can be a processor configured on the vehicle side, or a cloud server matching the vehicle, etc. At this time, the current execution subject is the processor of the self-vehicle to judge the driving route and lane change requirements of the self-vehicle (that is, the current vehicle configured with the current execution subject), so as to control the self-vehicle to travel according to the correct planned route. Among them, the current execution subject will generate a planned path after determining the map route or navigation route based on the driving end point, which is used to control the driving of the self-vehicle. At the same time, the current execution subject recognizes the driving conditions between the self-vehicle and other vehicles during the driving process (such as collision, front vehicle obstruction, etc.) in real time through the perception system installed on the self-vehicle, so as to adjust and update the planned path in real time. In this process, the target ramp is the ramp that the self-vehicle needs to change lanes to enter when driving according to the driving path, and the preset ramp distance is the safe distance of the lane to change lanes in advance according to the planned path to enter the ramp. It can be configured according to different routes, road conditions, etc., for example, 2.4 kilometers, 3 kilometers, etc., which are not specifically limited in the embodiment of the present application. At this time, the current execution subject obtains the current driving position of the vehicle in real time, and determines the driving distance from the current driving position to the target ramp to compare with the preset ramp distance. When the driving distance from the vehicle to the target ramp matches the preset ramp distance, it means that the vehicle enters a ramp preparation area. At this time, the current execution subject obtains the lane traffic efficiency of the vehicle to determine whether to change lanes and overtake. Among them, the lane traffic efficiency is used to characterize the expected smooth traffic when the vehicle enters the lane to be changed. It can be determined based on the single traffic efficiency cost of the obstacle vehicle in the lane to be changed. The single traffic efficiency cost is used to characterize the situation in which the obstacle vehicle is expected to block the vehicle. It is negatively correlated with the lane traffic efficiency, that is, the larger the single traffic efficiency cost of the obstacle vehicle, the more serious the situation in which it is expected to block the vehicle, resulting in a lower lane traffic efficiency of the lane. The embodiment of the present application does not make specific limitations.

[0055] It should be noted that the vehicle is a vehicle with an automatic control system in the autonomous driving scenario, including passenger cars and commercial vehicles. Common models of passenger cars include but are not limited to sedans, sport utility vehicles, multi-person commercial vehicles, etc. Common models of commercial vehicles include but are not limited to pickup trucks, microvans, self-unloading vehicles, trucks, tractors, trailers and mining vehicles, etc. At this time, the vehicle can achieve autonomous driving based on the automatic control system.

[0056] 102. Under the condition that the lane traffic efficiency is greater than the lane change traffic efficiency, determine a target lane to be changed by the ego vehicle and a lane change distance corresponding to the target lane.

[0057] In the embodiment of the present application, since the lane traffic efficiency is used to characterize the expected smooth traffic conditions when the ego vehicle enters the lane to be changed, when there are multiple lanes that can be changed, there are multiple lane traffic efficiencies of the ego vehicle, for example, the lane traffic efficiency of the left lane of the ego vehicle, the lane traffic efficiency of the left lane of the ego vehicle, etc. At this time, the current execution subject compares the lane traffic efficiency with the lane change efficiency based on at least one lane traffic efficiency, that is, the lane change efficiency is used to characterize the situation in which the ego vehicle can change lanes smoothly and safely to this road. It can be configured based on the road driving requirements, or the lane minimum speed limit and overtaking requirements. The embodiment of the present application does not make specific limitations. When the lane traffic efficiency is greater than the lane change efficiency, it means that the ego vehicle can change lanes safely and smoothly, so the target lane for the ego vehicle to change lanes is determined. At this time, since the lane that meets the condition that the lane traffic efficiency is greater than the lane change efficiency can be one or more, when determining the lane to be changed by the ego vehicle, if there is only one lane that meets the above conditions, this lane is directly determined as the target lane. If there are multiple lanes that meet the above conditions, one target lane can be selected from them. The embodiment of the present application does not make specific limitations.

[0058] It should be noted that the lane change distance is used to characterize the shortest distance expected to change lanes and overtake after the ego vehicle is in the ramp preparation area. The determination of the lane change distance can be configured in advance according to whether the different target lanes are on the left or right side, or can be configured in advance according to the lane speed limits of different lanes. The embodiment of the present application does not make specific restrictions. At this time, since the target lane is usually the left lane or the right lane of the driving lane where the ego vehicle is located, and the lane change requirements for entering the ramp are different at different lane distances, the lane change distances corresponding to different target lanes may be different. For example, if the left lane is used as the target lane, the ego vehicle needs to change back to the original driving lane after changing lanes to ensure entry into the ramp, and the lane change distance needs to be configured with a longer distance. If the right lane is used as the target lane, the ego vehicle does not need to change back to the original driving lane after changing lanes, and can directly enter the ramp, and the lane change distance can be configured as zero, which is not specifically limited in the embodiment of the present application.

[0059] 103. Control the vehicle to change lanes to the target lane according to the lane change distance.

[0060] In the embodiment of the present application, in order to ensure that the ego vehicle does not miss the entrance ramp, after the current execution subject determines the lane change distance, the ego vehicle is controlled to change lanes to the target lane according to the lane change distance, that is, under the condition that the driving distance from the driving position of the ego vehicle to the ramp is greater than the lane change distance in real time, the ego vehicle is controlled to change lanes to the target lane. In a specific embodiment, if the target lane is the left lane, the ego vehicle is controlled to overtake and change lanes under the premise that the lane change distance is greater than the lane change distance, which is not specifically limited in the embodiment of the present application. In addition, in the embodiment of the present application, in the process of controlling the ego vehicle to change lanes to the target lane, the ego vehicle lane can be controlled to travel according to a generated lane change trajectory, which is not specifically limited in the embodiment of the present application.

[0061] In a specific embodiment, Figure 2 As shown, after the ego vehicle ego travels to a distance from the target ramp that is less than the preset ramp distance of 2.4 kilometers (the ramp entry preparation area shown by the dotted line), it is determined that the target lane is the left lane and the lane change distance is 800 meters, then the ego vehicle ego is controlled to change lanes to the left lane before 800 meters from the ramp, so that the ego vehicle ego can change lanes and overtake the other vehicle L and then change back to the original lane to enter the ramp.

[0062] In another embodiment of the present application, the step of determining a target lane to be changed by the ego vehicle and a lane change distance corresponding to the target lane includes:

[0063] Determine the number of lane changes between the driving lane where the own vehicle lane is located and the target ramp;

[0064] Under the condition that the number of lane changes is zero, determining the left lane of the driving lane as the target lane, and determining a first lane change distance matching the target lane;

[0065] Under the condition that the number of lane changes is greater than zero, the target lane is selected from the left lane and the right lane of the driving lane based on the lane traffic efficiency, and a second lane change distance or a third lane change distance matching the target lane is determined.

[0066] In order to determine the target lane to be changed from multiple adjacent lanes that meet the overtaking lane change conditions to meet the lane change requirements in the ramp preparation area, the current execution subject determines the target lane by first determining the number of lane changes between the driving lane where the ego vehicle is located and the target ramp, that is, the number of lane changes is the number of lane changes that the ego vehicle has to make when driving to the lane corresponding to the ramp, such as Figure 2 As shown in , if the vehicle is already in the rightmost lane and can directly enter the ramp, the number of lane changes is 0. Figure 3As shown, if the vehicle is in the middle lane of the road and needs to change to the rightmost lane before entering the ramp, the number of lane changes is 2, which can be determined based on the number of right lanes recognized by the perception system, and the embodiment of the present application does not make specific limitations.

[0067] In a specific implementation scenario, such as Figure 2 As shown in the figure, if the number of lane changes is 0, it means that the ego vehicle lane is currently in the driving lane of the ramp. At this time, due to the slow speed of the obstacle vehicle on this driving lane, the ego vehicle can determine the target lane to be changed (such as the left lane) through the lane traffic efficiency to overtake and change lanes. Therefore, the left lane of the driving lane where the ego vehicle is located can be determined as the target lane, and the first lane change distance matching the target lane at this time is determined. Among them, in order to speed up the efficiency of the ego vehicle returning to the original driving lane after overtaking and changing lanes, so as not to miss the entry ramp, the first lane change distance can be configured to be equal to the driving distance, so that in this scenario, the ego vehicle is directly controlled to overtake in the left lane.

[0068] In a specific implementation scenario, such as Figure 3 As shown, if the number of lane changes is greater than 0, that is, 2, then one lane is further selected from the left lane or the right lane as the target lane based on the lane traffic efficiency, and then the second lane change distance or the third lane change distance corresponding to the right lane or the left lane as the target lane is determined.

[0069] It should be noted that, for lane traffic efficiency, at least one front obstacle (other vehicles that affect driving smoothness after the self-vehicle changes lanes) in the adjacent lane (left lane or right lane) corresponding to the self-vehicle vehicle can be first determined, so as to determine the lane traffic efficiency based on the single traffic efficiency cost of the front obstacle. Among them, the single traffic efficiency cost is used to characterize the situation where the front obstacle is expected to block the self-vehicle, and it is negatively correlated with the lane traffic efficiency, that is, the larger the single traffic efficiency cost of the front obstacle, the more serious the situation of its expected blocking of the self-vehicle, resulting in lower lane traffic efficiency of the lane. In an optional embodiment of the present application, the single unit with the largest traffic efficiency cost in the lane is selected as a reference to determine the lane traffic efficiency of the lane. Specifically, in one embodiment, lane traffic efficiency = 1 / single unit traffic efficiency cost. The front obstacle can be a front obstacle vehicle or a front roadblock in the lane to be changed (adjacent left lane), which is not specifically limited in the embodiment of the present application. The current execution subject can scan the front obstacle through the intelligent perception system according to a specific distance range to determine the front obstacle. For example, if two front vehicles are scanned in the lane to be changed, the embodiment of the present application does not make specific restrictions, so as to determine the single-unit traffic efficiency based on the speed of the front obstacle of the front obstacle. Among them, the specific distance range is set according to the lane change requirements of the vehicle, such as 200 meters, 400 meters, etc., and the embodiment of the present application does not make specific restrictions. In addition, since there may be multiple front obstacles in a lane to be changed, when determining the lane traffic efficiency, in order to make the self-vehicle change lanes in the safest way, the single-unit traffic efficiency cost of each front obstacle is selected. Preferably, the maximum value of the multiple single-unit traffic efficiency costs (cost) is directly determined as the lane traffic efficiency cost of the lane to be changed, wherein the lane traffic efficiency cost is used to characterize the situation where the self-vehicle is expected to be blocked by obstacles in the lane. That is, the traffic efficiency cost of the slowest monomer in a lane (with the largest traffic efficiency cost) is used as the lane traffic efficiency cost of the lane. For example, there are three front obstacles in lane 1 to be changed, and the corresponding single-unit traffic efficiency costs are 2.3, 3.5, and 2.5 respectively. Then 3.5 is directly selected as the lane traffic efficiency cost of lane 1 to be changed, so that the lane traffic efficiency can be determined based on the inverse proportional relationship between the lane traffic efficiency cost and the lane traffic efficiency, which is not specifically limited in the embodiments of the present application.

[0070] Specifically, the current execution subject can determine the speed difference between the speed of the front obstacle and the preset speed, and calculate the single-unit traffic efficiency of the front obstacle based on the speed difference, the obstacle impact weight value, and the unit speed difference cost parameter. Wherein, the obstacle speed can be scanned and obtained by the perception system, and the preset speed is the speed threshold configured according to the lane change requirement, such as 5m / s, and when determining the speed difference, it can be determined based on the comparison with the static state, such as the speed difference is max(v_set-object_v,0.0), where v_set is the preset speed and object_v is the obstacle speed. Further, when calculating the single-unit traffic efficiency cost based on the speed difference, the obstacle impact weight value, and the unit speed difference cost parameter, the specific calculation method is: single-unit traffic efficiency cost = speed difference × unit speed difference cost parameter × obstacle impact weight value, where the obstacle impact weight value is configured based on the steady-state following factor, and the configuration range is preferably [0.0,0.1], and the unit speed difference cost parameter is adjustable within the unit speed, preferably 3.5, which is not specifically limited in the embodiment of the present application.

[0071] In another embodiment of the present application, the step of selecting the target lane from the left lane or the side lane of the driving lane based on the lane traffic efficiency, and determining the second lane change distance or the third lane change distance matching the target lane includes:

[0072] Under the condition that the left lane is selected as the target lane based on the lane traffic efficiency, determining the second lane change distance based on the number of lane changes and a preset lane change range;

[0073] Under the condition that the right lane is selected as the target lane based on the lane traffic efficiency, configuring the driving distance as the third lane change distance;

[0074] Under the condition that both the left lane and the right lane are selected as the target lanes based on the lane traffic efficiency, the left lane is deleted.

[0075] In order to accurately select the target lane to be changed from multiple left lanes or right lanes that meet the lane change conditions, thereby improving the effectiveness of lane change control of the ego vehicle, when the current execution subject selects the target lane, the lane corresponding to the maximum lane traffic efficiency can be selected as the target lane from multiple lane traffic efficiencies greater than the lane change traffic efficiency.

[0076] In a specific implementation scenario, the current execution subject selects the left lane of the driving lane as the target lane according to the maximum lane traffic efficiency, and then determines the second lane change distance. Among them, the second lane change distance can be determined based on the number of lane changes and the preset lane change range. At this time, the preset lane change range is configured based on the number of lane changes. For example, if the number of lane changes is 1, the preset lane change range can be 400 to 800 meters, and if the number of lane changes is 2, the preset lane change range can be 600 to 800 meters, etc., and the embodiment of the present application does not make specific limitations. For example, the second lane change distance dist_nav can be calculated by formula 1, formula 1: dist_nav = a + (N_left-1) * b, N_left is the number of lane changes, and a and b are the boundary values ​​of the preset lane change range, such as dist_nav = 800 + (2-1) * 400.

[0077] In a specific implementation scenario, the current execution subject selects the right lane of the driving lane as the target lane according to the maximum lane traffic efficiency, and configures the driving distance as the third lane change distance. At this time, since the ramp is located on the right side of the driving lane, the ego vehicle can directly enter the ramp lane by changing lanes to the right. Therefore, the third lane change distance is configured as the driving distance, thereby directly controlling the ego vehicle to change lanes immediately after determining to change lanes to the right.

[0078] In a specific implementation scenario, when the current executing entity selects the right lane and the left lane of the driving lane as the target lane according to the maximum lane traffic efficiency, the left lane is directly deleted to use the right lane directly as the target lane, and the vehicle is directly controlled to change lanes to the right lane, which is the same as the aforementioned method and will not be repeated in detail in the embodiments of the present application.

[0079] In another embodiment of the present application, the steps further include:

[0080] Under the condition that the number of lane changes is zero and a right lane is detected in the driving lane, the right lane is determined as the target lane.

[0081] In a specific implementation scenario, such as Figure 4 As shown in the figure, although the driving lane where the ego vehicle ego is located is not the rightmost lane, it can also directly enter the ramp, such as the ramp preparation lane. At this time, the number of lane changes that the perception system or map navigation can identify is still 0, that is, it can enter the ramp without changing lanes. At this time, in order to improve the lane change efficiency of the ego vehicle in the ramp preparation area, when the current execution subject detects that there is a right lane in the driving lane, it means that the ego vehicle can enter the ramp without changing lanes, and due to the obstruction of the obstacle vehicle, the driving efficiency is low. Therefore, the current execution subject directly determines the right lane as the target lane, so as to change lanes to overtake the obstacle vehicle and maintain the lane content of the ramp.

[0082] In another embodiment of the present application, the step of controlling the vehicle to change lanes to the target lane according to the lane change distance includes:

[0083] Obtaining a ramp distance threshold corresponding to the number of lane changes and the driving lane;

[0084] Under the condition that the driving distance is greater than the ramp distance threshold, the vehicle is controlled to change lanes at the lane changing distance.

[0085] In order to achieve the purpose of flexible control of the vehicle before entering the ramp, thereby improving the effectiveness of vehicle control, when the current execution subject controls the vehicle to change lanes and drive to the target lane, specifically, first obtain the ramp distance threshold corresponding to the number of lane changes and the driving lane. Among them, the ramp distance threshold is used to characterize the minimum distance for the vehicle to change lanes when it meets the ramp preparation area. At this time, the ramp distance threshold is configured based on the number of lane changes and the driving lane, so as to calculate the ramp distance threshold based on formula 2. Among them, formula 2 is distance=c+(N_left-1)*d, N_left is the number of lane changes, c and d are configured based on the driving lane, such as the driving lane is the rightmost lane, c can be a value within the range of 800-1000 meters, d can be a value within the range of 400-600 meters, if the driving lane is the second lane on the right, c can be a value within the range of 1000-1200 meters, d can be a value within the range of 600-800 meters, so as to calculate the ramp distance threshold for different driving lanes, which is not specifically limited in the embodiment of the present application.

[0086] In another embodiment of the present application, after the step of controlling the vehicle to change lanes and drive to the target lane according to the lane change distance, the method further includes:

[0087] Trajectory planning is performed based on the lane state between the target ramp and the target lane, and the ego vehicle is controlled to travel into the target ramp according to the planned path obtained by trajectory planning.

[0088] Since the ego vehicle can be controlled to drive in the target lane according to a generated lane change trajectory, in order to ensure that the ego vehicle does not miss the ramp after changing lanes in the ramp preparation area, the current execution subject replans the trajectory based on the lane state between the target ramp and the target lane after controlling the ego vehicle to drive into the target lane, and drives into the target ramp according to the obtained planned path h, such as Figure 5As shown, a planned path for the ego vehicle to travel from the target lane to the target ramp is obtained. Among them, the lane state includes the obstacle vehicle between the target ramp and the target lane, the number of lanes, the lane speed limit and other states, so that under the constraint of avoiding collision with the obstacle vehicle, a planned path is generated according to the lane data, lane speed limit and other states, so as to control the ego vehicle to enter the target ramp from the target lane based on the planned path. The method for generating the planned path is not specifically limited in the embodiment of the present application.

[0089] The embodiment of the present application provides a vehicle driving control method, which determines the lane change condition after the vehicle enters a preset ramp distance, selects the changeable target lane when the lane change condition is met, and performs overtaking and lane change in advance according to the lane change distance, so as to achieve compatibility between map navigation and vehicle intelligent driving planning, avoid continuously following slow vehicles after entering the ramp preparation area, greatly improve the vehicle's driving speed, and thus improve the control effectiveness and traffic efficiency of the vehicle's driving.

[0090] Furthermore, as a response to the above Figure 1 The implementation of the method shown in the figure, the embodiment of the present application provides a vehicle driving control device, such as Figure 6 As shown, the device comprises:

[0091] An acquisition module 21 is used to acquire the lane traffic efficiency of the vehicle when the vehicle travels to a preset lane change distance from the ramp;

[0092] A determination module 22, configured to determine a target lane to be changed by the ego vehicle and a lane change distance corresponding to the target lane under the condition that the lane traffic efficiency is greater than a preset lane change traffic efficiency;

[0093] The control module 23 is used to control the vehicle to change lanes to the target lane according to the lane change distance.

[0094] Furthermore, the determining module includes:

[0095] A first determining unit, used to determine the number of lane changes between the driving lane where the own vehicle lane is located and the target ramp;

[0096] a second determining unit, configured to determine, under the condition that the number of lane changes is zero, a left lane of the driving lane as the target lane, and determine a first lane change distance matching the target lane;

[0097] The third determination unit is used to select the target lane from the left lane and the right lane of the driving lane based on the lane traffic efficiency under the condition that the number of lane changes is greater than zero, and determine a second lane change distance or a third lane change distance matching the target lane.

[0098] Further, the third determination unit is specifically used to determine the second lane changing distance based on the number of lane changes and a preset lane changing range, under the condition that the left lane is selected as the target lane based on the lane traffic efficiency, and the preset lane changing range is configured based on the number of lane changes; under the condition that the right lane is selected as the target lane based on the lane traffic efficiency, configure the driving distance as the third lane changing distance; under the condition that both the left lane and the right lane are selected as the target lanes based on the lane traffic efficiency, delete the left lane.

[0099] Furthermore, the device also includes:

[0100] The deletion module is used to determine the right lane as the target lane when the number of lane changes is zero and a right lane is detected in the driving lane.

[0101] Furthermore, the control module is specifically used to obtain an on-ramp distance threshold corresponding to the number of lane changes and the driving lane; and under the condition that the driving distance is greater than the on-ramp distance threshold, control the vehicle to change lanes at the lane change distance.

[0102] Furthermore, the device also includes:

[0103] The planning module is used to perform trajectory planning based on the lane state between the target ramp and the target lane, and control the ego vehicle to enter the target ramp according to the planned path obtained by trajectory planning.

[0104] The embodiment of the present application provides a vehicle driving control device, which determines the lane change condition after the vehicle enters a preset ramp distance, selects the changeable target lane when the lane change condition is met, and performs overtaking and lane change in advance according to the lane change distance, so as to achieve compatibility between map navigation and vehicle intelligent driving planning, avoid continuously following slow vehicles after entering the ramp preparation area, greatly improve the vehicle's driving speed, and thus improve the control effectiveness and traffic efficiency of vehicle driving.

[0105] According to one embodiment of the present application, a vehicle is provided, comprising the above-mentioned vehicle driving control device.

[0106] According to an embodiment of the present application, a readable storage medium is provided, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the vehicle driving control method as described above are implemented.

[0107] Figure 7A schematic diagram of the structure of a computer device provided according to an embodiment of the present application is shown, comprising at least one processor, the processor and a memory are coupled, the memory stores a program or instruction running on the processor, and the program or instruction is executed by the processor to implement the steps of the vehicle driving control method as described above. The specific embodiments of the present application do not limit the specific implementation of the computer device.

[0108] like Figure 7 As shown, the computer device may include: a processor (processor) 302 , a communication interface (Communications Interface) 304 , a memory (memory) 306 , and a communication bus 308 .

[0109] The processor 302 , the communication interface 304 , and the memory 306 communicate with each other via the communication bus 308 .

[0110] The communication interface 304 is used to communicate with other devices such as clients or other servers.

[0111] The processor 302 is used to execute the program 310, and specifically can execute the relevant steps in the above-mentioned vehicle driving control method embodiment.

[0112] Specifically, the program 310 may include program codes, which include computer operation instructions.

[0113] The processor 302 may be a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application. The one or more processors included in the computer device may be processors of the same type, such as one or more CPUs; or processors of different types, such as one or more CPUs and one or more ASICs.

[0114] The memory 306 is used to store the program 310. The memory 306 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0115] The program 310 may be specifically configured to enable the processor 302 to perform the following operations:

[0116] Under the condition that the travel distance of the ego vehicle to the target ramp matches the preset ramp distance, obtaining the lane traffic efficiency of the ego vehicle;

[0117] Under the condition that the lane traffic efficiency is greater than the lane change traffic efficiency, determining a target lane to be changed by the ego vehicle and a lane change distance corresponding to the target lane;

[0118] The vehicle is controlled to change lanes to the target lane according to the lane change distance.

[0119] Obviously, those skilled in the art should understand that the above modules or steps of the present application can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, and optionally, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order from that herein, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present application is not limited to any specific combination of hardware and software.

[0120] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for controlling vehicle travel, characterized in that: include: Under the condition that the travel distance of the ego vehicle to the target ramp matches the preset ramp distance, obtaining the lane traffic efficiency of the ego vehicle; Under the condition that the lane traffic efficiency is greater than the lane change traffic efficiency, determining a target lane to be changed by the ego vehicle and a lane change distance corresponding to the target lane; The vehicle is controlled to change lanes to the target lane according to the lane change distance.

2. The method according to claim 1, characterized in that The determining of the target lane to be changed by the ego vehicle and the lane change distance corresponding to the target lane includes: Determine the number of lane changes between the driving lane where the own vehicle lane is located and the target ramp; Under the condition that the number of lane changes is zero, determining the left lane of the driving lane as the target lane, and determining a first lane change distance matching the target lane; Under the condition that the number of lane changes is greater than zero, the target lane is selected from the left lane and the right lane of the driving lane based on the lane traffic efficiency, and a second lane change distance or a third lane change distance matching the target lane is determined.

3. The method according to claim 2, characterized in that The selecting the target lane from the left lane or the side lane of the driving lane based on the lane traffic efficiency, and determining the second lane change distance or the third lane change distance matching the target lane comprises: Under the condition that the left lane is selected as the target lane based on the lane traffic efficiency, the second lane change distance is determined based on the number of lane changes and a preset lane change range, where the preset lane change range is configured based on the number of lane changes; Under the condition that the right lane is selected as the target lane based on the lane traffic efficiency, configuring the driving distance as the third lane change distance; Under the condition that both the left lane and the right lane are selected as the target lanes based on the lane traffic efficiency, the left lane is deleted.

4. The method according to claim 2, characterized in that: The method further comprises: Under the condition that the number of lane changes is zero and a right lane is detected in the driving lane, the right lane is determined as the target lane.

5. The method according to claim 2, characterized in that: The controlling the vehicle to change lanes to the target lane according to the lane change distance includes: Obtaining a ramp distance threshold corresponding to the number of lane changes and the driving lane; Under the condition that the driving distance is greater than the ramp distance threshold, the vehicle is controlled to change lanes at the lane changing distance.

6. The method according to claim 1, characterized in that After controlling the vehicle to change lanes and drive to the target lane according to the lane change distance, the method further includes: Trajectory planning is performed based on the lane state between the target ramp and the target lane, and the ego vehicle is controlled to travel into the target ramp according to the planned path obtained by trajectory planning.

7. A vehicle driving control device, characterized in that: include: An acquisition module, used for acquiring the lane traffic efficiency of the vehicle when the vehicle travels to a preset lane change distance from the ramp; A determination module, configured to determine a target lane to be changed by the ego vehicle and a lane change distance corresponding to the target lane under the condition that the lane traffic efficiency is greater than a preset lane change traffic efficiency; A control module is used to control the vehicle to change lanes to the target lane according to the lane change distance.

8. A vehicle, characterized in that: A vehicle travel control device comprising the vehicle travel control device according to claim 7.

9. A computer device, characterized in that: The method comprises at least one processor, wherein the processor is coupled to a memory, wherein the memory stores a program or instruction running on the processor, and when the program or instruction is executed by the processor, the steps of the vehicle driving control method as described in any one of claims 1 to 6 are implemented.

10. A readable storage medium having a program or instruction stored thereon, characterized in that: When the program or instruction is executed by a processor, the steps of the vehicle driving control method according to any one of claims 1 to 6 are implemented.

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