A lane change assist method and system

Abstract

The application relates to a lane changing assisting method and system, and belongs to the technical field of driving. The method comprises the following steps: determining the driving intention of a current vehicle; determining whether the condition of analyzing lane changing is met based on the current vehicle, a first preceding vehicle of the current vehicle, a second preceding vehicle of the current vehicle and a first following vehicle of the current vehicle, wherein the first preceding vehicle is a preceding vehicle of the current vehicle in a current lane, the second preceding vehicle is a preceding vehicle of the current vehicle in a lane changing direction, and the first following vehicle is a following vehicle of the current vehicle in the lane changing direction; determining whether the current vehicle meets the lane changing condition according to a first distance of safe lane changing and a second distance between the current vehicle and the second preceding vehicle when it is determined that the condition of analyzing lane changing is met; and executing lane changing by the current vehicle when it is determined that the current vehicle meets the lane changing condition and the current vehicle receives a lane changing permission response. The method ensures the safety during lane changing, avoids collision with preceding and following vehicles, and improves the driving experience.

Description

Technical Field

[0001] This invention belongs to the field of driving technology, and in particular relates to a lane change assistance method and system. Background Technology

[0002] In current technologies, drivers often encounter difficulties changing lanes quickly and accurately due to subjective and objective reasons, increasing traffic congestion and safety risks. These factors include difficulty judging distances, lack of confidence, and difficulty seeing adjacent lanes in rainy or snowy weather. Current methods, which use distance detection to set thresholds for lane changes, are too mechanical and cannot guarantee both safety and convenience. Summary of the Invention

[0003] In view of the shortcomings of the prior art, the purpose of this invention is to provide a lane change assistance method and system. This method ensures safety during lane changes, avoids collisions with vehicles in front and behind, and improves the driving experience.

[0004] In a first aspect, the present invention provides a lane change assistance method, comprising: S1, determining the driving intention of a current vehicle; S2, determining whether the conditions for analyzing a lane change are met based on the current vehicle, a first preceding vehicle of the current vehicle, a second preceding vehicle of the current vehicle, and a first following vehicle of the current vehicle, wherein the first preceding vehicle is the vehicle preceding the current vehicle in the current lane, the second preceding vehicle is the vehicle preceding the current vehicle in the lane change direction, and the first following vehicle is the vehicle following the current vehicle in the lane change direction; S3, if the conditions for analyzing a lane change are met, determining whether the current vehicle meets the lane change conditions based on a first safe lane change distance and a second distance between the current vehicle and the second preceding vehicle; S4, if the current vehicle meets the lane change conditions and receives a lane change permission response, the current vehicle performs a lane change.

[0005] Further, based on the current vehicle, the first vehicle preceding the current vehicle, the second vehicle preceding the current vehicle, and the first vehicle following the current vehicle, determining whether the conditions for lane change analysis are met includes: determining whether the conditions for lane change analysis are met based on the first speed of the first vehicle preceding the current vehicle, the second speed of the second vehicle preceding the current vehicle, the third speed of the first vehicle following the current vehicle, the first distance between the current vehicle and the first vehicle preceding the current vehicle, the second distance between the current vehicle and the second vehicle preceding the current vehicle, and the third distance between the current vehicle and the first vehicle following the current vehicle.

[0006] Further, determining whether the conditions for lane change analysis are met includes: when the first vehicle speed is not less than the second vehicle speed, the first distance is greater than the second distance, the third vehicle speed is not greater than the current vehicle speed, and the third distance is greater than zero, the conditions for lane change analysis are met.

[0007] Further, determining the first distance for the safe lane change includes: determining the current time point of the current vehicle and a preset time for completing the overtaking maneuver; using the sum of the current time point and the preset time as the first time point at which the current vehicle completes the overtaking maneuver; according to Determine the distance required for a safe lane change, where S 正 Let S represent the distance required for a safe lane change, Tf represent the first time point, Tn represent the current time point, V(t) represent the vehicle speed, and dt represent the time interval; according to S = S 正 (1+K v +K w +K sm ), determine the first distance of the safe lane change, where K v K represents the value coefficient. w K represents the current weather coefficient. sm This represents the vehicle speed stability coefficient.

[0008] Furthermore, according to K sm =max(K) s前 K s变前 K s变后 ), determine the vehicle speed stability coefficient, where K s前 K represents the stability coefficient of the first leading vehicle. s变前 K represents the stability coefficient of the second leading vehicle. s变后 This represents the stability coefficient of the first rear vehicle.

[0009] Further, the second distance between the current vehicle and the second preceding vehicle is taken as the second distance between the current vehicle and the second preceding vehicle. Determining whether the current vehicle meets the lane-changing conditions based on the first distance for a safe lane change and the second distance between the current vehicle and the second preceding vehicle includes: determining whether the first distance is less than the second distance. Determining that the current vehicle meets the lane-changing conditions includes: determining that the current vehicle meets the lane-changing conditions if the first distance is less than the second distance.

[0010] Further, when it is determined that the current vehicle meets the lane-changing conditions and the current vehicle receives a lane-changing permission response, the current vehicle performs a lane change, including: when it is determined that the current vehicle meets the lane-changing conditions, sending lane-changing requests to the first preceding vehicle, the second preceding vehicle, and the first following vehicle; determining within a preset time whether lane-changing permission responses are received from the first preceding vehicle, the second preceding vehicle, and the first following vehicle; and when lane-changing permission responses are received from the first preceding vehicle, the second preceding vehicle, and the first following vehicle within the preset time, the current vehicle performs a lane change.

[0011] A second aspect of the present invention provides a lane change assist system, comprising: a determining module for determining the driving intention of a current vehicle; a first judging module for judging whether the conditions for analyzing a lane change are met based on the current vehicle, a first preceding vehicle of the current vehicle, a second preceding vehicle of the current vehicle, and a first following vehicle of the current vehicle, wherein the first preceding vehicle is the vehicle preceding the current vehicle in the current lane, the second preceding vehicle is the vehicle preceding the current vehicle in the lane change direction, and the first following vehicle is the vehicle following the current vehicle in the lane change direction; a second judging module for judging whether the current vehicle meets the lane change conditions based on a first safe lane change distance and a second distance between the current vehicle and the second preceding vehicle, if the conditions for analyzing a lane change are met; and an execution module for executing a lane change if the current vehicle meets the lane change conditions and receives a lane change permission response.

[0012] A third aspect of the present invention provides an electronic device comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method described in any one aspect of the present invention.

[0013] A fourth aspect of the present invention provides a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to cause the computer to perform the method described in any one of the first aspects of the present invention.

[0014] The beneficial effects of this invention are as follows:

[0015] The lane change assistance method and system of this invention determine the driving intention of the current vehicle; based on the current vehicle, the first preceding vehicle, the second preceding vehicle, and the first following vehicle, it determines whether the conditions for lane change analysis are met, wherein the first preceding vehicle is the vehicle in front of the current vehicle in the current lane, the second preceding vehicle is the vehicle in front of the current vehicle in the direction of lane change, and the first following vehicle is the vehicle behind the current vehicle in the direction of lane change; if the conditions for lane change analysis are met, based on the first safe lane change distance and the second distance between the current vehicle and the second preceding vehicle, it determines whether the current vehicle meets the lane change conditions; if the current vehicle meets the lane change conditions and receives a lane change permission response, the current vehicle executes the lane change. This method, based on first determining whether further analysis of the feasibility of lane change is necessary, avoids unnecessary lane change attempts, ensures safety during the lane change process, avoids collisions with vehicles in front and behind, improves the driving experience, and enhances the safety, speed, and convenience of lane changes in special weather conditions and for novice drivers. Attached Figure Description

[0016] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Throughout the drawings, the same reference numerals denote the same parts. It is obvious that the drawings described below are merely some embodiments of the present invention, and those skilled in the art can obtain other drawings based on these drawings.

[0017] Figure 1 This is a flowchart of a lane change assist method according to an embodiment of the present invention;

[0018] Figure 2 This is a flowchart of a lane change assist method according to a specific embodiment of the present invention;

[0019] Figure 3 This is a schematic diagram of a lane change assist system according to an embodiment of the present invention;

[0020] Figure 4 This is a structural block diagram of an electronic device according to an embodiment of the present invention. Detailed Implementation

[0021] To enable those skilled in the art to better understand the technical solutions in the embodiments of the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. It should be understood that these descriptions are merely exemplary and are not intended to limit the scope of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0022] Furthermore, descriptions of well-known structures and techniques are omitted in the following description to avoid unnecessarily obscuring the concepts disclosed in this invention.

[0023] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The terms "installed," "connected," and "linked" should be interpreted broadly; for example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0024] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of methods and systems consistent with some aspects of the invention as detailed in the appended claims.

[0025] This invention proposes a lane change assist method, system, and related equipment. Specifically, the lane change assist method, system, and related equipment of this invention are described below with reference to the accompanying drawings.

[0026] Figure 1 This is a flowchart of a lane change assist method according to an embodiment of the present invention. It should be noted that the lane change assist method of this embodiment can be applied to the lane change assist system of this embodiment. This lane change assist system can be configured on an electronic device or in a server. This application does not limit the scope of the application.

[0027] like Figure 1 As shown, the lane change assist method includes:

[0028] S110, determine the current vehicle's driving intention.

[0029] In an embodiment of the present invention, the driving intention of the current vehicle can be obtained by acquiring the current vehicle's driving data and analyzing the driving data.

[0030] The driving data includes vehicle status data, environmental perception data, and map and navigation data. Vehicle status data includes, but is not limited to, vehicle speed, acceleration, steering angle, and brake and accelerator pedal positions. Environmental perception data is real-time information about the surrounding environment collected by sensors such as radar, cameras, and LiDAR, such as road conditions, traffic signs, other vehicles, and pedestrians. Map and navigation data includes, but is not limited to, the vehicle's current location, road type (such as highways, urban roads, rural roads, etc.), and road structure ahead (such as intersections, curves, and slopes).

[0031] Among these, analyzing driving data can be understood as identifying typical driver behavior patterns in different situations by analyzing historical driving data, such as acceleration, deceleration, turning, and lane changing; assessing the vehicle's adaptability to the surrounding environment based on current environmental perception data, such as avoiding pedestrians, following the vehicle in front, and maintaining the lane; and predicting the vehicle's possible driving path and destination, as well as the traffic conditions that may be encountered along the way, by combining map and navigation data.

[0032] Then, based on preset rules and logic, and combined with vehicle status, environmental perception, and path planning data, the system infers the vehicle's driving intention. For example, if the vehicle is approaching an intersection and its turn signal is on, it may intend to turn.

[0033] In an embodiment of the present invention, it is detected whether the turn signal of the current vehicle is turned on. If it is determined that the turn signal is turned on, it can be determined that the driving intention of the current vehicle is to change lanes.

[0034] S120, based on the current vehicle, the first preceding vehicle of the current vehicle, the second preceding vehicle of the current vehicle, and the first following vehicle of the current vehicle, determine whether the conditions for analyzing lane change are met, where the first preceding vehicle is the vehicle in front of the current vehicle in the current lane, the second preceding vehicle is the vehicle in front of the current vehicle in the direction of lane change, and the first following vehicle is the vehicle behind the current vehicle in the direction of lane change.

[0035] In an embodiment of the present invention, the conditions for lane change analysis are determined based on the first speed of the first preceding vehicle, the second speed of the second preceding vehicle, the third speed of the first following vehicle, the first distance between the current vehicle and the first preceding vehicle, the second distance between the current vehicle and the second preceding vehicle, and the third distance between the current vehicle and the first following vehicle.

[0036] S130: If the conditions for lane change are met, the system determines whether the current vehicle meets the lane change conditions based on the first distance of the safe lane change and the second distance between the current vehicle and the second preceding vehicle.

[0037] In an embodiment of the present invention, if it is determined that the conditions for lane change analysis are met, the analysis of whether the current vehicle has changed lanes can begin. That is, based on the first distance of safe lane change and the second distance between the current vehicle and the second preceding vehicle, it is determined whether the current vehicle meets the lane change conditions.

[0038] Specifically, it can be determined whether the current vehicle meets the lane-changing conditions by judging whether the first distance is less than the second distance. For details on the implementation, please refer to subsequent embodiments.

[0039] S140: If it is determined that the current vehicle meets the lane change conditions and the current vehicle receives a lane change permission response, the current vehicle performs a lane change.

[0040] In an embodiment of the present invention, if it is determined that the current vehicle meets the lane-changing conditions, the current vehicle may send a lane-changing request to the target vehicle. If the current vehicle receives a lane-changing permission response from the target vehicle within a preset time, the current vehicle executes the lane change. The target vehicle includes a first preceding vehicle, a second preceding vehicle, and a first following vehicle. Specific implementation details can be found in subsequent embodiments.

[0041] According to the lane change assistance method of the present invention, the driving intention of the current vehicle is determined; based on the current vehicle, the first preceding vehicle of the current vehicle, the second preceding vehicle of the current vehicle, and the first following vehicle of the current vehicle, it is determined whether the conditions for lane change analysis are met, wherein the first preceding vehicle is the vehicle in front of the current vehicle in the current lane, the second preceding vehicle is the vehicle in front of the current vehicle in the direction of lane change, and the first following vehicle is the vehicle behind the current vehicle in the direction of lane change; if it is determined that the conditions for lane change analysis are met, based on the first safe lane change distance and the second distance between the current vehicle and the second preceding vehicle, it is determined whether the current vehicle meets the lane change conditions; if it is determined that the current vehicle meets the lane change conditions and the current vehicle receives a lane change permission response, the current vehicle executes the lane change. This method, based on first determining whether it is necessary to further analyze the feasibility of lane change, avoids unnecessary lane change attempts, ensures safety during the lane change process, avoids collisions with vehicles in front and behind, improves the driving experience, and enhances the safety, speed, and convenience of lane changes in special weather conditions and for novice drivers.

[0042] To enable those skilled in the art to more readily understand the present invention, Figure 2 This is a lane change assist method according to a specific embodiment of the present invention, such as... Figure 2 As shown, the lane change assist method includes:

[0043] S210, determine the current vehicle's driving intention.

[0044] S220, based on the current vehicle, the first preceding vehicle of the current vehicle, the second preceding vehicle of the current vehicle, and the first following vehicle of the current vehicle, determine whether the conditions for lane change analysis are met, where the first preceding vehicle is the vehicle in front of the current vehicle in the current lane, the second preceding vehicle is the vehicle in front of the current vehicle in the direction of lane change, and the first following vehicle is the vehicle behind the current vehicle in the direction of lane change.

[0045] In the embodiments of the present invention, the implementation of steps S210-S220 can refer to the implementation of steps S110-S120 described above, and the present invention will not repeat the details.

[0046] S230, determine that the conditions for lane change analysis are met.

[0047] In an embodiment of the present invention, if the first vehicle speed is not less than the second vehicle speed, the first distance is greater than the second distance, and the third vehicle speed is not greater than the current vehicle speed, and the third distance is greater than zero, then the conditions for analyzing lane change are determined to be met.

[0048] S240, if the conditions for lane change analysis are met, determine the first safe lane change route.

[0049] In an embodiment of the present invention, the current time point of the current vehicle and the preset time for completing the overtaking maneuver are determined; the sum of the current time point and the preset time is taken as the first time point at which the current vehicle completes the overtaking maneuver; according to Determine the distance required for a safe lane change, where S 正 Let S represent the distance required for a safe lane change, Tf represent the first time point, Tn represent the current time point, V(t) represent the vehicle speed, and dt represent the time interval; according to S = S 正 (1+K v +K w +K sm ), determine the first distance for a safe lane change, where K v K represents the value coefficient. w K represents the current weather coefficient. sm This represents the vehicle speed stability coefficient.

[0050] In an embodiment of the present invention, according to K sm =max(K) s前 K s变前 K s变后 Determine the vehicle speed stability coefficient, where K s前 K represents the stability coefficient of the first leading vehicle. s变前 K represents the stability coefficient of the second leading vehicle. s变后 This represents the stability coefficient of the first rear vehicle.

[0051] By measuring the acceleration and deceleration of the first, second, or first vehicle in front or behind over a specific time period, the stability of the vehicle speed can be calculated, i.e., the stability coefficient of the first, second, or first vehicle in front or behind. For example, the mean or standard deviation of the acceleration and deceleration of the first, second, or first vehicle in front or behind over a certain time period can be calculated to assess the fluctuation of the vehicle speed.

[0052] In embodiments of the present invention, the corresponding value coefficient can be determined based on the total number of violations or accidents of the first preceding vehicle, the second preceding vehicle, and the first following vehicle. For example, when the total number of violations or accidents is 0, the value coefficient is 0; when the total number of violations or accidents is N∈[1,2], the value coefficient is 0.1; when the total number of violations or accidents is N∈[3,4], the value coefficient is 0.3; and when the total number of violations or accidents is N∈[5,+∞], the value coefficient is 1.

[0053] In embodiments of the present invention, the current weather coefficient can be determined based on the current weather data. For example, when the weather is special weather such as frost, rain, or snow, the current weather coefficient is 0.1-1. The worse the weather, the larger the current weather coefficient.

[0054] S250 determines whether the current vehicle meets the lane change conditions based on the first distance of the safe lane change and the second distance between the current vehicle and the second preceding vehicle.

[0055] In an embodiment of the present invention, the second distance between the current vehicle and the second preceding vehicle is taken as the second distance between the current vehicle and the second preceding vehicle.

[0056] In an embodiment of the present invention, it is determined whether the current vehicle meets the lane-changing conditions by judging whether the first distance is less than the second distance.

[0057] S260, determine that the current vehicle meets the lane change conditions.

[0058] In an embodiment of the present invention, if the first distance is less than the second distance, it is determined that the current vehicle meets the lane-changing conditions.

[0059] In an embodiment of the present invention, if the first distance is not less than the second distance, the driver is warned of the current danger and is not allowed to change lanes.

[0060] S270: If it is determined that the current vehicle meets the lane change conditions and the current vehicle receives a lane change permission response, the current vehicle performs a lane change.

[0061] In an embodiment of the present invention, when it is determined that the current vehicle meets the lane change conditions, a lane change request is sent to the first preceding vehicle, the second preceding vehicle, and the first following vehicle; within a preset time, it is determined whether a lane change permission response is received from the first preceding vehicle, the second preceding vehicle, and the first following vehicle; if a lane change permission response is received from the first preceding vehicle, the second preceding vehicle, and the first following vehicle within the preset time, the current vehicle performs the lane change.

[0062] S280: If it is determined that the current vehicle does not meet the lane change conditions, wait until the lane change conditions are met.

[0063] The lane change assistance method according to embodiments of the present invention, by comprehensively analyzing vehicle status data, environmental perception data, and map navigation data, can more accurately determine the vehicle's driving intention, thereby making early warnings or decisions and reducing traffic accidents caused by driver misjudgment or negligence. During the lane change process, by analyzing factors such as the speed, distance, and stability of vehicles in front and behind in detail, the safety of the lane change process is ensured, avoiding collisions caused by lane changes. Through intelligent analysis, it can quickly determine whether the vehicle meets the lane change conditions, reducing the driver's hesitation and waiting time during the lane change process, thereby improving driving efficiency. When the lane change conditions are met, by sending lane change requests to vehicles in front and behind and obtaining responses, a more efficient lane change process is achieved, avoiding traffic congestion caused by lane changes. This solution combines multiple sensors and intelligent algorithms to achieve real-time monitoring and analysis of vehicle driving status, demonstrating a high level of intelligence. By introducing parameters such as value coefficient, weather coefficient, and vehicle speed stability coefficient, the lane change decision is made more scientific and reasonable, improving the intelligence and automation of the entire system. Through intelligent analysis and decision-making, the system reduces the driver's burden during driving and improves driving comfort and convenience. When lane-changing conditions are not met or there are safety hazards, the system can provide timely prompts to prevent drivers from taking dangerous actions due to misjudgment, thereby improving the driver's driving experience and enhancing the safety, speed, and convenience of lane-changing in special weather conditions and for novice drivers.

[0064] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods of the various embodiments of this application.

[0065] According to one aspect of the present invention, a lane change assist system is also provided. Figure 3 This is a schematic diagram of a lane change assist system according to an embodiment of the present invention; as shown Figure 3 As shown, it includes:

[0066] The determination module 310 is used to determine the current driving intention of the vehicle;

[0067] The first judgment module 320 is used to determine whether the conditions for analyzing lane change are met based on the current vehicle, the first preceding vehicle of the current vehicle, the second preceding vehicle of the current vehicle, and the first following vehicle of the current vehicle. The first preceding vehicle is the vehicle in front of the current vehicle in the current lane, the second preceding vehicle is the vehicle in front of the current vehicle in the direction of lane change, and the first following vehicle is the vehicle behind the current vehicle in the direction of lane change.

[0068] The second judgment module 330 is used to determine whether the current vehicle meets the lane change conditions based on the first distance of the safe lane change and the second distance between the current vehicle and the second preceding vehicle, when it is determined that the conditions for lane change are met.

[0069] The execution module 340 is configured to perform a lane change when it is determined that the current vehicle meets the lane change conditions and the current vehicle receives a lane change permission response.

[0070] According to an embodiment of the present invention, the lane change assist system determines the driving intention of the current vehicle; based on the current vehicle, the first preceding vehicle, the second preceding vehicle, and the first following vehicle, it determines whether the conditions for lane change analysis are met, wherein the first preceding vehicle is the vehicle preceding the current vehicle in the current lane, the second preceding vehicle is the vehicle preceding the current vehicle in the direction of lane change, and the first following vehicle is the vehicle following the current vehicle in the direction of lane change; if the conditions for lane change analysis are met, based on the first safe lane change distance and the second distance between the current vehicle and the second preceding vehicle, it determines whether the current vehicle meets the lane change conditions; if the current vehicle meets the lane change conditions and receives a lane change permission response, the current vehicle executes the lane change. Therefore, by first determining whether further analysis of the feasibility of lane change is necessary, unnecessary lane change attempts are avoided, ensuring safety during the lane change process, avoiding collisions with vehicles in front and behind, improving the driving experience, and enhancing the safety, speed, and convenience of lane changes in special weather conditions and for novice drivers.

[0071] Optionally, the first judgment module 320 is specifically used to determine whether the conditions for lane change analysis are met based on the first speed of the first preceding vehicle, the second speed of the second preceding vehicle, the third speed of the first following vehicle, the first distance between the current vehicle and the first preceding vehicle, the second distance between the current vehicle and the second preceding vehicle, and the third distance between the current vehicle and the first following vehicle.

[0072] Optionally, the second judgment module 330 is specifically used to determine that the conditions for analyzing lane change are met when the first vehicle speed is not less than the second vehicle speed, the first distance is greater than the second distance, the third vehicle speed is not greater than the current vehicle speed, and the third distance is greater than zero.

[0073] Optionally, the second judgment module 330 is specifically used to determine the current time point of the current vehicle and the preset time for completing the overtaking action; to take the sum of the current time point and the preset time as the first time point at which the current vehicle completes the overtaking action; and according to... Determine the distance required for a safe lane change, where S 正 Let S represent the distance required for a safe lane change, Tf represent the first time point, Tn represent the current time point, V(t) represent the vehicle speed, and dt represent the time interval; according to S = S 正 (1+K v +K w +K sm ), determine the first distance of the safe lane change, where K v K represents the value coefficient. w K represents the current weather coefficient. sm This represents the vehicle speed stability coefficient.

[0074] Optionally, according to K sm =max(K) s前 K s变前 K s变后 ), determine the vehicle speed stability coefficient, where K s前 K represents the stability coefficient of the first leading vehicle. s变前 K represents the stability coefficient of the second leading vehicle. s变后 This represents the stability coefficient of the first rear vehicle.

[0075] Optionally, the second judgment module 330 is specifically used to take the second distance between the current vehicle and the second preceding vehicle as the second distance between the current vehicle and the second preceding vehicle, wherein determining whether the first distance is less than the second distance; wherein determining that the current vehicle meets the lane change condition includes: determining that the current vehicle meets the lane change condition if the first distance is less than the second distance.

[0076] Optionally, the execution module 340 is specifically configured to, when determining that the current vehicle meets the lane-changing conditions, send lane-changing requests to the first preceding vehicle, the second preceding vehicle, and the first following vehicle; determine within a preset time whether a lane-changing permission response is received from the first preceding vehicle, the second preceding vehicle, and the first following vehicle; and if a lane-changing permission response is received from the first preceding vehicle, the second preceding vehicle, and the first following vehicle within the preset time, the current vehicle performs a lane change.

[0077] According to one aspect of the present invention, an electronic device is provided.

[0078] Figure 4 This is a schematic diagram of the structure of an electronic device according to an embodiment of the present invention. Figure 4 As shown, an electronic device may include one or more ( Figure 4 Only one is shown in the image. A processor 102 (which may include, but is not limited to, a microprocessor unit (MPU) or a programmable logic device (PLD)) and a memory 104 for storing data are also shown. In one exemplary embodiment, the electronic device may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 4 The structure shown is for illustrative purposes only and does not limit the structure of the terminal device described above. For example, the terminal device may also include components that are more... Figure 4 The more or fewer components shown, or having the same Figure 4 Equivalent functions or ratios shown Figure 4 The functions shown have more different configurations.

[0079] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the lane change assist method in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the computer programs stored in the memory 104, thereby implementing the aforementioned method. The memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to terminal devices via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0080] The transmission device 106 is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the communication provider of the switching device. In one example, the transmission device 106 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission device 106 may be a Radio Frequency (RF) module used for wireless communication with the Internet.

[0081] The present invention proposes a non-transitory computer-readable storage medium storing computer instructions for causing the computer to execute a lane change assist method.

[0082] The applicant of this invention has provided a detailed description of the embodiments of the invention in conjunction with the accompanying drawings. However, those skilled in the art should understand that the above embodiments are merely preferred embodiments of the invention. The detailed description is only intended to help readers better understand the spirit of the invention and is not intended to limit the scope of protection of the invention. On the contrary, any improvements or modifications made based on the inventive spirit of the invention should fall within the scope of protection of the invention.

[0083] Furthermore, the functional units in the various embodiments of the present invention can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0084] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

[0085] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the embodiments of the present invention, and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the protection scope of the present invention.

Claims

1. A lane change assist method, characterized in that, include: S1, determine the current vehicle's driving intention; S2, based on the current vehicle, the first preceding vehicle of the current vehicle, the second preceding vehicle of the current vehicle, and the first following vehicle of the current vehicle, determine whether the conditions for analyzing lane change are met, wherein the first preceding vehicle is the vehicle in front of the current vehicle in the current lane, the second preceding vehicle is the vehicle in front of the current vehicle in the direction of lane change, and the first following vehicle is the vehicle behind the current vehicle in the direction of lane change. S3, if it is determined that the conditions for lane change are met, based on the first distance of safe lane change and the second distance between the current vehicle and the second preceding vehicle, it is determined whether the current vehicle meets the lane change conditions; S4, if it is determined that the current vehicle meets the lane change conditions and the current vehicle receives a lane change permission response, the current vehicle performs a lane change; The process of determining whether the conditions for lane change analysis are met, based on the current vehicle, the first vehicle preceding the current vehicle, the second vehicle preceding the current vehicle, and the first vehicle following the current vehicle, includes: Based on the first speed of the first preceding vehicle, the second speed of the second preceding vehicle, the third speed of the first following vehicle, the first distance between the current vehicle and the first preceding vehicle, the second distance between the current vehicle and the second preceding vehicle, and the third distance between the current vehicle and the first following vehicle, determine whether the conditions for lane change analysis are met. Determining the first distance for the safe lane change includes: Determine the current time point of the vehicle and the preset time to complete the overtaking maneuver; The sum of the current time and the preset time shall be taken as the first time point at which the current vehicle completes overtaking; according to Determine the distance required for a safe lane change, where S 正 Let V(t) represent the distance required for a safe lane change, Tf represent the first time point, Tn represent the current time point, V(t) represent the vehicle speed, and dt represent the time period. According to S = S 正 (1+K v +K w +K sm ), determine the first distance of the safe lane change, where K v K represents the value coefficient. w K represents the current weather coefficient. sm Indicates the vehicle speed stability coefficient; Among them, according to K sm =max(K) s前 K s变前 K s变后 ), determine the vehicle speed stability coefficient, where K s前 K represents the stability coefficient of the first leading vehicle. s变前 K represents the stability coefficient of the second leading vehicle. s变后 This represents the stability coefficient of the first rear vehicle.

2. The lane change assist method according to claim 1, characterized in that, Determine the conditions that satisfy the lane change analysis, including: If the first vehicle speed is not less than the second vehicle speed, the first distance is greater than the second distance, the third vehicle speed is not greater than the current vehicle speed, and the third distance is greater than zero, then the conditions for lane change analysis are met.

3. The lane change assist method according to claim 1, characterized in that, The second distance between the current vehicle and the second preceding vehicle is taken as the second distance between the current vehicle and the second preceding vehicle. The determination of whether the current vehicle meets the lane-changing conditions based on the first distance for a safe lane change and the second distance between the current vehicle and the second preceding vehicle includes: Determine whether the first distance is less than the second distance; Determining that the current vehicle meets the lane-changing conditions includes: If the first distance is less than the second distance, it is determined that the current vehicle meets the lane-changing condition.

4. The lane change assist method according to claim 1, characterized in that, If it is determined that the current vehicle meets the lane-changing conditions and the current vehicle receives a lane-changing permission response, the current vehicle performs a lane change, including: If it is determined that the current vehicle meets the lane change conditions, a lane change request is sent to the first preceding vehicle, the second preceding vehicle, and the first following vehicle. Within a preset time, determine whether lane change permission responses have been received from the first preceding vehicle, the second preceding vehicle, and the first following vehicle; If the vehicle receives lane change permission responses from the first preceding vehicle, the second preceding vehicle, and the first following vehicle within the preset time, the current vehicle performs a lane change.

5. A lane change assist system, characterized in that, include: The determination module is used to determine the current driving intention of the vehicle; The first judgment module is used to determine whether the conditions for analyzing lane change are met based on the current vehicle, the first preceding vehicle of the current vehicle, the second preceding vehicle of the current vehicle, and the first following vehicle of the current vehicle. The first preceding vehicle is the vehicle in front of the current vehicle in the current lane, the second preceding vehicle is the vehicle in front of the current vehicle in the direction of lane change, and the first following vehicle is the vehicle behind the current vehicle in the direction of lane change. The second judgment module is used to determine whether the current vehicle meets the lane change conditions based on the first safe lane change distance and the second distance between the current vehicle and the second preceding vehicle, when it is determined that the lane change conditions are met. An execution module is configured to, when it is determined that the current vehicle meets the lane-changing conditions and the current vehicle receives a lane-changing permission response, have the current vehicle perform a lane-changing operation. Specifically, the first judgment module 320 is used to determine whether the conditions for lane change analysis are met based on the first speed of the first preceding vehicle, the second speed of the second preceding vehicle, the third speed of the first following vehicle, the first distance between the current vehicle and the first preceding vehicle, the second distance between the current vehicle and the second preceding vehicle, and the third distance between the current vehicle and the first following vehicle. Specifically, the second judgment module 330 is used to determine the current time point of the current vehicle and the preset time for completing the overtaking action; the sum of the current time point and the preset time is used as the first time point at which the current vehicle completes the overtaking action; according to Determine the distance required for a safe lane change, where S 正 Let S represent the distance required for a safe lane change, Tf represent the first time point, Tn represent the current time point, V(t) represent the vehicle speed, and dt represent the time interval; according to S = S 正 (1+K v +K w +K sm ), determine the first distance of the safe lane change, where K v K represents the value coefficient. w K represents the current weather coefficient. sm Indicates the vehicle speed stability coefficient; Among them, according to K sm =max(K) s前 K s变前 K s变后 ), determine the vehicle speed stability coefficient, where K s前 K represents the stability coefficient of the first leading vehicle. s变前 K represents the stability coefficient of the second leading vehicle. s变后 This represents the stability coefficient of the first rear vehicle.

6. An electronic device, characterized in that, include: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1 to 4.

7. A non-transitory computer-readable storage medium storing computer instructions, characterized in that, The computer instructions are used to cause the computer to perform the method according to any one of claims 1 to 4.

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