Method, device, equipment, readable storage medium and program product for overtaking by using a lane

Abstract

The present application relates to a method, device, equipment, readable storage medium and program product for overtaking by borrowing lane. The method comprises: when the host vehicle recognizes that there is an obstacle vehicle that meets the overtaking conditions on the first lane where it is currently located, an overtaking safety check is performed on the second lane used for overtaking by borrowing lane; when the overtaking safety check is passed, a three-stage overtaking lane change guide line is generated based on the position information of the obstacle vehicle and the host vehicle, as well as the lane widths of the first lane and the second lane and the lane centerline of the second lane, wherein the third stage of the three-stage overtaking lane change guide line is the lane centerline of the second lane, and the three-stage overtaking lane change guide line is smoothed to obtain an overtaking lane change path; and an overtaking lane change operation is performed on the host vehicle according to the overtaking lane change path. The use of this method can improve the safety of overtaking by borrowing lane.

Description

Technical Field

[0001] The present application relates to the field of computer technology, and in particular to a method, device, computer equipment, computer-readable storage medium and computer program product for overtaking by using a different lane. Background Art

[0002] When there are obstacles such as slow or stationary vehicles in front of the autonomous vehicle, the autonomous vehicle usually takes the overtaking method to bypass the obstacle and continue to drive forward in order to improve traffic efficiency. The overtaking path planned in the overtaking process provided in the related art is close to the obstacle vehicle. Since the real road conditions are often complex and random, the overtaking process is too close to the obstacle vehicle in the lateral direction, and there is a situation where the overtaking fails and triggers emergency braking, resulting in unsatisfactory overtaking effect and difficult to ensure the safety of overtaking. Summary of the invention

[0003] Based on this, it is necessary to provide a method, device, computer equipment, computer-readable storage medium and computer program product for overtaking in another lane, which can improve the safety of overtaking in another lane, in order to address the above technical problems.

[0004] In a first aspect, the present application provides a method for overtaking by using a lane, comprising:

[0005] When the host vehicle recognizes that there is an obstacle vehicle that meets the overtaking conditions in the first lane where it is currently located, an overtaking safety check is performed on the second lane used for overtaking;

[0006] If the overtaking safety check is passed, a three-stage overtaking lane change guide line is generated according to the position information of the obstacle vehicle and the host vehicle, the lane widths of the first lane and the second lane, and the lane center line of the second lane, wherein the third stage of the three-stage overtaking lane change guide line is the lane center line of the second lane, and the three-stage overtaking lane change guide line is smoothed to obtain an overtaking lane change path;

[0007] Perform an overtaking lane change operation on the host vehicle according to the overtaking lane change path.

[0008] In one embodiment, generating a three-stage overtaking lane change guide line according to the position information of the obstacle vehicle and the host vehicle, as well as the lane widths of the first lane and the second lane and the lane centerline of the second lane includes:

[0009] Determine the safety boundary of the obstacle vehicle according to the position information of the obstacle vehicle;

[0010] Determine the lateral offset and longitudinal offset of the host vehicle in the first lane according to the position information of the obstacle vehicle, the position information of the host vehicle and the safety boundary of the obstacle vehicle, and determine the first guide line according to the position information, the lateral offset and the longitudinal offset of the host vehicle;

[0011] Determine, according to the lane width of the second lane and the lane centerline of the second lane, a lateral offset and a longitudinal offset of the host vehicle when crossing the first lane and the second lane, and generate a second guide line according to the lane centerline of the second lane, the lateral offset and the longitudinal offset when crossing the first lane and the second lane;

[0012] A three-section overtaking and lane changing guide line is obtained by sequentially connecting the first section guide line, the second section guide line and the lane center line of the second lane.

[0013] In one embodiment, determining the safety boundary of the obstacle vehicle according to the position information of the obstacle vehicle includes:

[0014] Determine the occupied area of ​​the obstacle vehicle according to the position information of the obstacle vehicle;

[0015] Obtaining a preset lateral obstacle avoidance buffer distance and a longitudinal obstacle avoidance buffer distance, wherein the longitudinal obstacle avoidance buffer distance is smaller than the lateral obstacle avoidance buffer distance;

[0016] The boundary of the occupied area is expanded according to the lateral obstacle avoidance buffer distance and the longitudinal obstacle avoidance buffer distance to obtain the safety boundary of the obstacle vehicle.

[0017] In one embodiment, the method further comprises:

[0018] Determine whether the boundary area of ​​the host vehicle located in the second lane after the lane change operation satisfies the lane change return condition, and if the boundary area includes at least a trapezoidal boundary area, perform the lane change return operation on the host vehicle; wherein,

[0019] The boundary area is an area formed by the front boundary, rear boundary, left boundary of the second lane and right boundary of the first lane of the host vehicle, the front boundary includes the front boundary of the second lane and the front boundary of the first lane, and the rear boundary includes the rear boundary of the second lane and the rear boundary of the first lane;

[0020] The front boundary of the second lane is determined according to a first distance between the host vehicle and an obstacle located in front of the second lane, and the front boundary of the first lane is determined according to a second distance between an adjacent corresponding position of the host vehicle in the first lane and the obstacle located in front of the first lane;

[0021] The rear boundary of the second lane is determined according to a third distance between the host vehicle and an obstacle located behind the second lane, and the rear boundary of the first lane is determined according to a fourth distance between an adjacent corresponding position of the host vehicle in the first lane and the obstacle located behind the first lane;

[0022] When the first distance is at least greater than a first threshold, the second distance is at least greater than a second threshold, and the third distance and the fourth distance are at least greater than a fourth threshold, it is determined that the boundary area includes at least the trapezoidal boundary area, and the second threshold is greater than the first threshold.

[0023] In one embodiment, the method further comprises:

[0024] detecting in real time the alternating virtual and real positions of a lane dividing line between the second lane and the first lane;

[0025] When the distance from the host vehicle located in the second lane to the virtual-real alternating position in front is less than a preset distance, the front boundary of the second lane is the virtual-real alternating position.

[0026] In one embodiment, performing a lane change return operation on the host vehicle includes:

[0027] Generating a three-segment lane-changing return guide line according to the boundary area, wherein the third segment guide line of the three-segment lane-changing return guide line is the lane center line of the first lane;

[0028] Smoothing the three-stage lane change return guide line to obtain a lane change return path;

[0029] A lane-changing return operation is performed on the host vehicle according to the lane-changing return path.

[0030] In a second aspect, the present application further provides a device for overtaking by using a lane, comprising:

[0031] A check module, for performing an overtaking safety check on a second lane used for overtaking in case the host vehicle recognizes that there is an obstacle vehicle that meets the overtaking condition in the first lane where the host vehicle is currently located;

[0032] A generation module, for generating a three-stage overtaking lane change guide line according to the position information of the obstacle vehicle and the host vehicle, the lane widths of the first lane and the second lane, and the lane center line of the second lane when the overtaking safety check is passed, wherein the third stage of the three-stage overtaking lane change guide line is the lane center line of the second lane, and the three-stage overtaking lane change guide line is smoothed to obtain an overtaking lane change path;

[0033] An execution module is used to perform an overtaking lane-changing operation on the host vehicle according to the overtaking lane-changing path.

[0034] In a third aspect, the present application further provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0035] When the host vehicle recognizes that there is an obstacle vehicle that meets the overtaking conditions in the first lane where it is currently located, an overtaking safety check is performed on the second lane used for overtaking;

[0036] If the overtaking safety check is passed, a three-stage overtaking lane change guide line is generated according to the position information of the obstacle vehicle and the host vehicle, the lane widths of the first lane and the second lane, and the lane center line of the second lane, wherein the third stage of the three-stage overtaking lane change guide line is the lane center line of the second lane, and the three-stage overtaking lane change guide line is smoothed to obtain an overtaking lane change path;

[0037] Perform an overtaking lane change operation on the host vehicle according to the overtaking lane change path.

[0038] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the following steps are implemented:

[0039] When the host vehicle recognizes that there is an obstacle vehicle that meets the overtaking conditions in the first lane where it is currently located, an overtaking safety check is performed on the second lane used for overtaking;

[0040] If the overtaking safety check is passed, a three-stage overtaking lane change guide line is generated according to the position information of the obstacle vehicle and the host vehicle, the lane widths of the first lane and the second lane, and the lane center line of the second lane, wherein the third stage of the three-stage overtaking lane change guide line is the lane center line of the second lane, and the three-stage overtaking lane change guide line is smoothed to obtain an overtaking lane change path;

[0041] Perform an overtaking lane change operation on the host vehicle according to the overtaking lane change path.

[0042] In a fifth aspect, the present application further provides a computer program product, including a computer program, which implements the following steps when executed by a processor:

[0043] When the host vehicle recognizes that there is an obstacle vehicle that meets the overtaking conditions in the first lane where it is currently located, an overtaking safety check is performed on the second lane used for overtaking;

[0044] If the overtaking safety check is passed, a three-stage overtaking lane change guide line is generated according to the position information of the obstacle vehicle and the host vehicle, the lane widths of the first lane and the second lane, and the lane center line of the second lane, wherein the third stage of the three-stage overtaking lane change guide line is the lane center line of the second lane, and the three-stage overtaking lane change guide line is smoothed to obtain an overtaking lane change path;

[0045] Perform an overtaking lane change operation on the host vehicle according to the overtaking lane change path.

[0046] The above-mentioned method, device, computer equipment, computer-readable storage medium and computer program product for overtaking by using another lane, when the main vehicle recognizes that there is an obstacle vehicle that meets the overtaking conditions in the first lane where it is currently located, performs an overtaking safety check on the second lane used for overtaking by using another lane; when the overtaking safety check is passed, a three-stage overtaking lane change guide line is generated based on the position information of the obstacle vehicle and the main vehicle, as well as the lane widths of the first lane and the second lane and the lane centerline of the second lane, wherein the third stage of the three-stage overtaking lane change guide line is the lane centerline of the second lane, and the three-stage overtaking lane change guide line is smoothed to obtain an overtaking lane change path; and an overtaking lane change operation is performed on the main vehicle according to the overtaking lane change path. Since the overtaking lane changing path is obtained by smoothing the three-stage overtaking lane changing guide lines, the three-stage overtaking lane changing guide lines are generated according to the position information of the obstacle vehicle and the host vehicle, as well as the lane widths of the first lane and the second lane and the lane centerline of the second lane, and the third section of the three-stage overtaking lane changing guide lines is the lane centerline of the second lane, thus, the overtaking lane changing path obtained by smoothing the three-stage overtaking lane changing guide lines is close to the lane centerline of the second lane, so that the overtaking lane changing operation is performed on the host vehicle according to the overtaking lane changing path, so that the host vehicle can be as close to the lane centerline of the second lane as possible and away from the obstacle vehicle during the overtaking lane changing process, thereby improving the safety of overtaking by borrowing lane. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0048] Figure 1 A schematic diagram of a path for overtaking by using a different lane in one embodiment;

[0049] Figure 2 A diagram of an application environment of a method for overtaking by using a lane in one embodiment;

[0050] Figure 3 A schematic diagram of a flow chart of a method for overtaking by using a different lane in one embodiment;

[0051] Figure 4 A schematic diagram of a three-stage overtaking lane change guide line in one embodiment;

[0052] Figure 5 A schematic diagram of a process for generating a three-stage overtaking lane change guide line in one embodiment;

[0053] Figure 6 A schematic diagram of a safety boundary of an obstructing vehicle in one embodiment;

[0054] Figure 7 is a schematic diagram of a boundary area of ​​a host vehicle located in a second lane in one embodiment;

[0055] Figure 8 A schematic diagram of a three-stage lane change return guide line in one embodiment;

[0056] Fig. 9 is a structural block diagram of a device for overtaking by using a lane in one embodiment;

[0057] Fig.10 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0058] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0059] When there are obstacles such as slow or stationary vehicles in front of the autonomous vehicle, in order to improve traffic efficiency, the autonomous vehicle usually adopts the method of overtaking to bypass the obstacle and continue to drive forward. In some embodiments, the safety boundary of the obstacle vehicle in front and the lane boundary on the current road are used as the planning boundary, and the lane centerline of the lane where the host vehicle is currently located is used as the reference line to plan the overtaking path. The planned overtaking path is close to the obstacle vehicle in front, resulting in an unsatisfactory overtaking effect and the safety of overtaking is difficult to guarantee. Figure 1 As shown, the host vehicle is currently in the first lane, and the obstacle vehicle is in front of the host vehicle. Figure 1 The middle dotted line is the planning boundary determined based on the safety boundary of the obstacle vehicle and the lane boundary on the current road. The planned overtaking path cannot exceed this planning boundary. Figure 1 The center line of the first lane is the guide line for planning the overtaking path. Figure 1The curve in the figure is a schematic diagram of the overtaking path planned within the planning boundary with the center line of the first lane as the guide line. It can be seen that the overtaking path will cause the main vehicle to be too close to the obstacle vehicle in the lateral distance during the overtaking process, which may easily lead to planning failure and trigger emergency braking, resulting in an unsatisfactory overtaking effect and difficulty in ensuring the safety of overtaking.

[0060] The overtaking method provided by the embodiment of the present application has an overtaking lane changing path obtained by smoothing a three-stage overtaking lane changing guide line, and the three-stage overtaking lane changing guide line is generated according to the position information of the obstacle vehicle and the main vehicle, as well as the lane widths of the first lane and the second lane and the lane centerline of the second lane, and the third section of the three-stage overtaking lane changing guide line is the lane centerline of the second lane. In this way, the overtaking lane changing path obtained by smoothing the three-stage overtaking lane changing guide line is close to the lane centerline of the second lane, so that the overtaking lane changing operation is performed on the main vehicle according to the overtaking lane changing path, so that the main vehicle can be as close to the lane centerline of the second lane as possible and away from the obstacle vehicle during the overtaking lane changing process, thereby improving the safety of overtaking by using lane.

[0061] The overtaking method provided in the embodiment of the present application can be executed by a computer device. The computer device can be, but is not limited to, various personal computers, laptops, smart phones, tablet computers, Internet of Things devices and portable wearable devices. The Internet of Things devices can be smart speakers, smart TVs, smart air conditioners, smart car devices, projection devices, vehicle driving control devices, etc. The portable wearable device can be a smart watch, a smart bracelet, a head-mounted device, etc. The head-mounted device can be a virtual reality (VR) device, an augmented reality (AR) device, smart glasses, etc.

[0062] The overtaking method provided in the embodiment of the present application can be performed by a vehicle. In some embodiments, the vehicle can be an autonomous vehicle. In some embodiments, the vehicle can include the above-mentioned computer device, which can implement the driving decision of the vehicle. The overtaking method provided in the embodiment of the present application can be applied to an advanced driver assistance system. The overtaking method provided in the embodiment of the present application can be applied to Figure 2In the application environment shown. Among them, the main vehicle 101 can communicate with the roadside equipment 103 through the network to obtain environmental data about the current road. The roadside equipment 103 may include other vehicles on the road (such as the obstacle vehicle 102), traffic lights, road infrastructure, and traffic management systems. A large amount of perception data generated by vehicle equipment such as sensors, cameras, and radars on the main vehicle 101 can be transmitted to the central processing unit of the main vehicle 101 through the network. Based on the environmental data and these perception data, the central processing unit of the main vehicle 101 can make real-time decisions and controls. In one embodiment, the host vehicle 101 can perform an overtaking safety check on the second lane used for overtaking when it recognizes that there is an obstacle vehicle that meets the overtaking conditions in the first lane where it is currently located; when the overtaking safety check is passed, a three-stage overtaking lane change guide line is generated based on the position information of the obstacle vehicle and the host vehicle, as well as the lane widths of the first lane and the second lane and the lane centerline of the second lane, wherein the third stage of the three-stage overtaking lane change guide line is the lane centerline of the second lane, and the three-stage overtaking lane change guide line is smoothed to obtain an overtaking lane change path; and an overtaking lane change operation is performed on the host vehicle according to the overtaking lane change path.

[0063] In an exemplary embodiment, Figure 3 As shown, a method for overtaking by using a lane is provided, and the method is applied to Figure 2 Taking the host vehicle in the example as an example, the method includes the following steps 302 to 306. Among them:

[0064] Step 302: When the host vehicle recognizes that there is an obstacle vehicle that meets the overtaking condition in the first lane where the host vehicle is currently located, a second lane used for overtaking is checked for overtaking safety.

[0065] The first lane is the lane where the main vehicle is traveling. When an obstacle vehicle appears in front of the main vehicle, the main vehicle can identify whether the obstacle vehicle can be used as a vehicle for overtaking. If the main vehicle identifies that the obstacle vehicle can be used as a vehicle for overtaking, the main vehicle can perform an overtaking safety check on the second lane located on the left side of the first lane. The second lane can be a lane in the same direction as the first lane, or a lane in the opposite direction of the first lane.

[0066] In some embodiments, the host vehicle can obtain the perception data generated by the sensors, cameras, radars and other equipment on the host vehicle, and can also obtain environmental data about the current road from the roadside equipment, which may include other vehicles on the road, traffic lights, road infrastructure and traffic management systems. The host vehicle can identify whether the obstacle vehicle can be used as a vehicle for overtaking based on these perception data and environmental data. For example, if it is determined based on these perception data and environmental data that the obstacle vehicle in front has occupied the road for a long time and the occupation is not due to traffic congestion, the obstacle vehicle can be identified as an obstacle vehicle that meets the overtaking conditions.

[0067] In some embodiments, the above-mentioned overtaking conditions may include at least one of the following conditions: the current road belongs to a section where overtaking is allowed, the distance from the current road to the section ahead where overtaking is not allowed is greater than a set threshold, the speed of the obstacle vehicle is less than the upper speed limit of the current road, the obstacle vehicle is driving normally along the first lane, the distance between the main vehicle and the obstacle vehicle is greater than the minimum distance required for overtaking, there is no obstacle such as a separation strip between the first lane and the second lane, the lane dividing line between the first lane and the second vehicle is a dotted line that allows lane change, and the weather environment on the current road is suitable for overtaking. When these basic overtaking conditions are met, the possible risks of the overtaking process can be reduced, so the main vehicle can identify the obstacle vehicle ahead as a vehicle that meets the overtaking conditions.

[0068] The second lane used for overtaking by borrowing lanes is checked for overtaking safety, and the driving conditions of other vehicles around the host vehicle except the obstacle vehicle can be checked to determine whether it is safe to change lanes and overtake the obstacle vehicle. In some embodiments, when the second lane is in the same direction as the first lane, the host vehicle can check the situation of the vehicle behind the host vehicle. For example, the host vehicle can check the distance between the rear vehicle and the host vehicle in the same first lane as the host vehicle. When the distance is less than the set threshold, overtaking may cause a collision risk. When the distance is greater than the set threshold, overtaking safety can be guaranteed. For example, the host vehicle can check the driving speed of the rear vehicle in the same first lane as the host vehicle. When the driving speed is greater than the set threshold, overtaking may cause a collision risk. When the driving speed is less than the set threshold, overtaking safety can be guaranteed. For example, the host vehicle can check the situation of the rear vehicle in the second lane adjacent to the first lane. When the driving speed of the rear vehicle in the second lane is greater than the set threshold, overtaking may cause a collision risk. When the driving speed is less than the set threshold, overtaking safety can be guaranteed. For example, the host vehicle can check the longitudinal distance between the rear vehicle and the host vehicle in the second lane. When the longitudinal distance is less than the set threshold, overtaking may cause a collision risk. When the longitudinal distance is greater than the set threshold, overtaking safety can be guaranteed.

[0069] In some embodiments, when the second lane is in the opposite direction of the first lane, the host vehicle can check the situation of the vehicle ahead of the host vehicle. The host vehicle can check the situation of the vehicle ahead in the second lane adjacent to the first lane. When the driving speed of the vehicle ahead in the second lane is greater than a set threshold, or when the longitudinal distance between the vehicle ahead in the second lane and the host vehicle is less than a set threshold, overtaking may cause a collision risk. When the driving speed is less than the set threshold, or the longitudinal distance is greater than the set threshold, overtaking safety can be guaranteed.

[0070] Of course, in addition to using the distance between the two vehicles or the relative speed as the judgment index, the host vehicle can also calculate the collision time between the two vehicles based on the distance between the two vehicles and the relative speed between the two vehicles, and detect whether the host vehicle and the surrounding vehicles may collide based on the collision time. Through the above-mentioned overtaking safety check, whether overtaking is safe can be evaluated before overtaking, thereby improving overtaking safety.

[0071] Step 304, when the overtaking safety check is passed, a three-stage overtaking lane change guide line is generated according to the position information of the obstacle vehicle and the host vehicle, as well as the lane widths of the first lane and the second lane and the lane centerline of the second lane. The third stage of the three-stage overtaking lane change guide line is the lane centerline of the second lane, and the three-stage overtaking lane change guide line is smoothed to obtain an overtaking lane change path.

[0072] Among them, the three-stage overtaking and lane changing guide line includes a first guide line, a second guide line and a third guide line, and the first guide line, the second guide line and the third guide line are connected in sequence, wherein the first guide line is a broken line segment for turning, the second guide line is a broken line segment for crossing two lanes, and the third guide line is the center line of the second lane.

[0073] Specifically, if the overtaking safety check is passed, the host vehicle can obtain the lane information of the current first lane and the second lane, including the lane width, from the roadside equipment. The host vehicle can also obtain the relative position information of the current host vehicle and the obstacle vehicle. With this information, the host vehicle can determine the current planning boundary, generate a three-stage overtaking lane change guide line within the planning boundary, and then smooth the three-stage overtaking lane change guide line to obtain the overtaking lane change path.

[0074] like Figure 4 FIG. 1 is a schematic diagram of a three-stage overtaking lane change guide line in one embodiment. Figure 4 , the host vehicle 101 is currently located in the first lane, and the obstacle vehicle 102 is located in front of the host vehicle 101, Figure 4The middle dotted line is the planning boundary determined based on the safety boundary of the obstacle vehicle and the lane boundary on the current road. The overtaking path cannot exceed this planning boundary. Figure 4 The three-stage overtaking lane change guide line includes a first stage guide line 401, a second stage guide line 402 and a third stage guide line 403, wherein the third stage guide line 403 is the center line of the second lane. The host vehicle can plan a borrowed lane overtaking path 404 within the planning boundary with the generated three-stage overtaking lane change guide line, such as Figure 4 As shown in the curve in , the planned overtaking path will be as close to the center line of the second lane as possible, so that the lateral distance between the host vehicle 101 and the obstacle vehicle 102 during the overtaking process will not be too close, thereby reducing the risk of collision and improving the safety of overtaking.

[0075] Step 306: Perform an overtaking lane change operation on the host vehicle according to the overtaking lane change path.

[0076] Specifically, the host vehicle performs an overtaking lane change operation according to the overtaking lane change path, changing lanes from the first lane to the second lane.

[0077] In the above-mentioned overtaking method using another lane, since the overtaking lane changing path is obtained by smoothing the three-stage overtaking lane changing guide line, the three-stage overtaking lane changing guide line is generated according to the position information of the obstacle vehicle and the main vehicle, as well as the lane widths of the first lane and the second lane and the lane centerline of the second lane, and the third section of the three-stage overtaking lane changing guide line is the lane centerline of the second lane, thus, the overtaking lane changing path obtained by smoothing the three-stage overtaking lane changing guide line is close to the lane centerline of the second lane, so that the overtaking lane changing operation is performed on the main vehicle according to the overtaking lane changing path, so that the main vehicle can be as close to the lane centerline of the second lane as possible and away from the obstacle vehicle during the overtaking lane changing process, thereby improving the safety of overtaking using another lane.

[0078] In an exemplary embodiment, Figure 5 As shown, according to the position information of the obstacle vehicle and the host vehicle, as well as the lane widths of the first lane and the second lane and the lane centerline of the second lane, a three-stage overtaking lane change guide line is generated, including:

[0079] Step 502: Determine the safety boundary of the obstacle vehicle according to the position information of the obstacle vehicle.

[0080] The host vehicle can determine the location information of the obstacle vehicle based on the sensing data sent back by the vehicle-equipped equipment on the vehicle. The safety boundary of the obstacle vehicle is the boundary of an area centered on the location center of the obstacle vehicle and determined based on the lateral width and longitudinal length of the vehicle.

[0081] In some embodiments, the occupied area of ​​the obstacle vehicle can be determined based on the position information of the obstacle vehicle; a preset lateral obstacle avoidance buffer distance and a longitudinal obstacle avoidance buffer distance are obtained, and the longitudinal obstacle avoidance buffer distance is smaller than the lateral obstacle avoidance buffer distance; based on the lateral obstacle avoidance buffer distance and the longitudinal obstacle avoidance buffer distance, the boundary of the occupied area is expanded to obtain a safe boundary of the obstacle vehicle.

[0082] The lateral obstacle avoidance buffer distance is the distance expanded laterally on the boundary of the obstacle vehicle's occupied area, and the longitudinal obstacle avoidance buffer distance is the distance expanded longitudinally on the boundary of the obstacle vehicle's occupied area. The buffer distance is the obstacle avoidance space reserved for the obstacle vehicle, which can keep the main vehicle away from the obstacle vehicle. Setting the longitudinal obstacle avoidance buffer distance to be smaller than the lateral obstacle avoidance buffer distance allows longitudinal planning to be performed when lateral planning fails, and longitudinal planning may succeed, thereby improving the planning success rate.

[0083] like Figure 6 FIG. 1 is a schematic diagram of a safety boundary of an obstacle vehicle in an embodiment, referring to FIG. Figure 6 , the host vehicle 101 is currently located in the first lane, and the obstacle vehicle 102 is located in front of the host vehicle 101, Figure 6 The occupied area of ​​the obstacle vehicle is the area surrounded by the solid line, and the safety boundary of the obstacle vehicle is the area formed by expanding the occupied area horizontally and vertically by a certain distance, that is, Figure 6 In the dashed line surrounding the obstacle vehicle 102, the longitudinal obstacle avoidance buffer distance buffer1 is smaller than the lateral obstacle avoidance buffer distance buffer2.

[0084] Step 504, determining the lateral offset and longitudinal offset of the host vehicle in the first lane based on the position information of the obstacle vehicle, the position information of the host vehicle and the safety boundary of the obstacle vehicle, and determining the first guide line based on the position information, lateral offset and longitudinal offset of the host vehicle.

[0085] Specifically, according to the position information of the obstacle vehicle, the position information of the host vehicle and the safety boundary of the obstacle vehicle, the longitudinal offset of the host vehicle in the first lane during the lane change overtaking operation can be determined, and the lateral offset can be determined according to the preset steering slope and the longitudinal offset. According to the position information of the host vehicle, the longitudinal offset, the lateral offset and the preset steering slope, the first guide line can be determined. Figure 6 During the lane change operation, the longitudinal offset of the host vehicle in the first lane, the maximum value of which can be the distance between the front side of the host vehicle and the lower side of the safety boundary of the obstacle vehicle, the preset steering slope can be configured according to actual needs, and the first section of the guide line can be determined when the longitudinal offset and the preset steering slope are known.

[0086] Step 506, based on the lane width of the second lane and the lane centerline of the second lane, determine the lateral offset and the longitudinal offset of the host vehicle when crossing the first lane and the second lane, and generate a second section of guide lines based on the lane centerline of the second lane and the lateral offset and the longitudinal offset when crossing the first lane and the second lane.

[0087] Among them, according to the lane width of the second lane and the lane centerline of the second lane, the lateral offset of the main vehicle when crossing the first lane and the second lane is determined, according to the preset lane change slope and the lateral offset, the longitudinal offset when crossing the first lane and the second lane can be determined, and according to the longitudinal offset, the lateral offset and the preset lane change slope, the second section guide line can be determined. The preset lane change slope can be configured according to actual needs, and the second section guide line can be determined when the lateral offset and the preset lane change slope are known. The intersection of the second section guide line and the first section guide line is the first turning point.

[0088] Step 508 , sequentially connect the first section guide line, the second section guide line, and the lane center line of the second lane to obtain a three-section overtaking lane change guide line.

[0089] The intersection of the second guide line and the center line of the second lane is the second turning point, and the turning point extends forward along the center line of the second lane to form the third guide line. The first guide line, the second guide line and the center line of the second lane are sequentially connected to obtain a three-stage overtaking lane change guide line.

[0090] In this embodiment, by configuring a preset steering slope and a preset lane change slope, based on the current distance between the main vehicle and the obstacle vehicle, and the safety boundary of the obstacle vehicle, a three-segment overtaking lane change guide line can be determined, which can be used as a reference for generating a lane change and overtaking path, so that the subsequently smoothed lane change and overtaking path can make the main vehicle as close to the center line of the second lane as possible and away from the obstacle vehicle during the overtaking and lane change process, thereby improving the safety of overtaking by borrowing another lane.

[0091] In some embodiments, the method further includes: determining whether a boundary area of ​​the host vehicle located in the second lane satisfies a lane change return condition after executing the lane change operation, and performing a lane change return operation on the host vehicle when the boundary area includes at least a trapezoidal boundary area.

[0092] In this embodiment, when the boundary area includes at least a trapezoidal boundary area, a lane change return operation is performed on the host vehicle. The trapezoidal boundary area can ensure a better opportunity for overtaking by using the opposite lane and ensure that the lane change return operation is safe, thereby avoiding the situation where the vehicle suddenly gives up and returns to the first lane after starting to cross the lane.

[0093] Optionally, the boundary area is an area formed by the front boundary, rear boundary, left boundary of the second lane and right boundary of the first lane of the main vehicle, the front boundary includes the front boundary of the second lane and the front boundary of the first lane, and the rear boundary includes the rear boundary of the second lane and the rear boundary of the first lane; the front boundary of the second lane is determined according to a first distance between the main vehicle and an obstacle located in front of the second lane, and the front boundary of the first lane is determined according to a second distance between the main vehicle at an adjacent corresponding position of the first lane and the obstacle located in front of the first lane; the rear boundary of the second lane is determined according to a third distance between the main vehicle and the obstacle located behind the second lane, and the rear boundary of the first lane is determined according to a fourth distance between the main vehicle at an adjacent corresponding position of the first lane and the obstacle located behind the first lane.

[0094] like Figure 7 FIG. 1 is a schematic diagram of a boundary area of ​​a host vehicle located in the second lane in an embodiment, referring to FIG. Figure 7 , after the main vehicle changes lanes to the second lane, the boundary area of ​​the main vehicle is as follows Figure 7 The area framed by the solid line can be formed based on the front boundary, rear boundary, left boundary of the second lane and right boundary of the first lane of the host vehicle. The front boundary of the host vehicle includes the front boundary of the second lane and the front boundary of the first lane, and the rear boundary includes the rear boundary of the second lane and the rear boundary of the first lane. These boundaries are determined based on the obstacle vehicle in front of the host vehicle, the obstacle vehicle behind the host vehicle, the obstacle vehicle on the adjacent first lane, and the distance from the lane boundary line to the host vehicle.

[0095] Optionally, when the host vehicle determines that the first distance is at least greater than a first threshold, the second distance is at least greater than a second threshold, and the third distance and the fourth distance are at least greater than a fourth threshold, it is determined that the boundary area at least includes the trapezoidal boundary area, and the second threshold is greater than the first threshold. Figure 7 As shown, the area surrounded by the dotted line is a trapezoidal boundary area. When the boundary area of ​​the host vehicle includes the trapezoidal boundary area, the host vehicle can perform a lane change return operation to return to the first lane.

[0096] In some embodiments, the method further includes: detecting in real time the virtual and real alternating positions of the lane dividing line between the second lane and the first lane; when the distance from the host vehicle located in the second lane to the virtual and real alternating position in front is less than a preset distance, the front boundary of the second lane is the virtual and real alternating position.

[0097] Specifically, when planning the lane change return, the front boundary of the host vehicle needs to take into account the alternating real and virtual positions of the lane dividing lines that may appear in front. The front boundary is determined based on this position as a mandatory constraint for the lane change return planning. This can avoid the situation where the host vehicle cannot execute the lane change return, resulting in the need to re-plan the global navigation route.

[0098] In some embodiments, the lane change return operation is performed on the host vehicle, including: generating a three-stage lane change return guide line based on the boundary area, the third stage of the three-stage lane change return guide line being the lane center line of the first lane; smoothing the three-stage lane change return guide line to obtain a lane change return path; and performing the lane change return operation on the host vehicle according to the lane change return path.

[0099] Specifically, when the boundary area of ​​the host vehicle includes at least a trapezoidal boundary area, the host vehicle can use the boundary of the boundary area as a planning boundary, generate a three-stage lane change return guide line, and then smooth the three-stage lane change return guide line to obtain a lane change return path. Since the lane change return path is obtained by smoothing the three-stage lane change return guide line, the third stage guide line in the three-stage lane change return guide line is the lane center line of the first lane. In this way, the lane change return path obtained by smoothing the three-stage lane change return guide line is close to the lane center line of the first lane, so that the lane change return operation is performed on the host vehicle according to the lane change return path, so that the host vehicle can be as close to the lane center line of the first lane as possible during the lane change return process and away from the obstacle vehicle in the second lane, thereby improving the safety of the lane change return.

[0100] like Figure 8 FIG. 1 is a schematic diagram of a three-stage lane change return guide line in one embodiment. Figure 8 , the host vehicle 101 is currently in the second lane, Figure 8 The three-stage lane change return guide line includes a first section guide line 801, a second section guide line 802 and a third section guide line 803, wherein the third section guide line 803 is the lane center line of the first lane. In this way, the lateral distance between the main vehicle 101 and the obstacle vehicle in front of the second lane during the lane change return process will not be too close, thereby reducing the risk of collision and improving the safety of lane change return.

[0101] In some embodiments, a three-stage lane change return guide line is generated based on the boundary area, including: determining the safety boundary of the obstacle vehicle based on the position information of the obstacle vehicle; determining the lateral offset and longitudinal offset of the main vehicle in the second lane based on the position information of the obstacle vehicle, the position information of the main vehicle and the safety boundary of the obstacle vehicle, and determining the first section of the guide line based on the position information, the lateral offset and the longitudinal offset of the main vehicle; determining the lateral offset and longitudinal offset of the main vehicle when crossing the first lane and the second lane based on the lane width of the first lane and the lane centerline of the first lane, and generating the second section of the guide line based on the lane centerline of the first lane and the lateral offset and the longitudinal offset when crossing the first lane and the second lane; and obtaining the three-stage lane change return guide line by sequentially connecting the first section of the guide line, the second section of the guide line and the lane centerline of the second lane.

[0102] Specifically, according to the position information of the obstacle vehicle, the position information of the host vehicle and the safety boundary of the obstacle vehicle, the longitudinal offset of the host vehicle in the second lane during the lane change return operation can be determined, the lateral offset can be determined according to the preset steering slope and the longitudinal offset, and the first section of the guide line can be determined according to the position information of the host vehicle, the longitudinal offset, the lateral offset and the preset steering slope. According to the lane width of the first lane and the lane centerline of the first lane, the lateral offset of the host vehicle when crossing the first lane and the second lane is determined, according to the preset lane change slope and the lateral offset, the longitudinal offset when crossing the first lane and the second lane can be determined, and according to the longitudinal offset, the lateral offset and the preset lane change slope, the second section of the guide line can be determined. The preset lane change slope can be configured according to actual needs, and the second section of the guide line can be determined when the lateral offset and the preset lane change slope are known. The intersection of the second section of the guide line and the first section of the guide line is the first turning point. The intersection of the second guide line and the center line of the first lane is the second turning point, and the turning point extends forward along the center line of the first lane to form the third guide line. The first guide line, the second guide line and the center line of the second lane are sequentially connected to obtain a three-stage lane change return guide line.

[0103] In a specific embodiment, a method for overtaking by using a different lane is provided. The method for overtaking by using a different lane can be performed by a host vehicle, and includes the following steps:

[0104] 1. When the host vehicle recognizes that there is an obstacle vehicle that meets the overtaking conditions in the first lane where it is currently located, the second lane used for overtaking is checked for overtaking safety;

[0105] 2. If the overtaking safety check is passed, determine the safety boundary of the obstacle vehicle based on the position information of the obstacle vehicle;

[0106] 3. Determine the occupied area of ​​the obstacle vehicle according to the position information of the obstacle vehicle, obtain a preset lateral obstacle avoidance buffer distance and a longitudinal obstacle avoidance buffer distance, and the longitudinal obstacle avoidance buffer distance is smaller than the lateral obstacle avoidance buffer distance; according to the lateral obstacle avoidance buffer distance and the longitudinal obstacle avoidance buffer distance, expand the boundary of the occupied area to obtain the safety boundary of the obstacle vehicle;

[0107] 4. Determine the lateral offset and longitudinal offset of the host vehicle in the first lane, and determine the first guide line according to the position information, lateral offset and longitudinal offset of the host vehicle;

[0108] 5. Determine the lateral offset and longitudinal offset of the host vehicle when crossing the first lane and the second lane according to the lane width of the second lane and the lane centerline of the second lane, and generate a second guide line according to the lane centerline of the second lane, the lateral offset and longitudinal offset when crossing the first lane and the second lane;

[0109] 6. A three-stage overtaking lane change guide line is obtained by sequentially connecting the first guide line, the second guide line and the lane center line of the second lane;

[0110] 7. Smoothing the three-stage overtaking lane change guide line to obtain an overtaking lane change path;

[0111] 8. Performing an overtaking lane change operation on the host vehicle according to the overtaking lane change path;

[0112] 9. Determine whether a boundary area of ​​the host vehicle located in the second lane after the lane change operation satisfies the lane change return condition, the boundary area being an area formed by the front boundary, rear boundary, left boundary of the second lane and right boundary of the first lane of the host vehicle, the front boundary including the front boundary of the second lane and the front boundary of the first lane, and the rear boundary including the rear boundary of the second lane and the rear boundary of the first lane; the front boundary of the second lane is determined according to a first distance between the host vehicle and an obstacle located in front of the second lane, and when the distance from the host vehicle located in the second lane to the virtual-real alternating position in front is less than a preset distance, the front boundary of the second lane is the virtual-real alternating position, the front boundary of the first lane is determined according to a second distance between the host vehicle at an adjacent corresponding position in the first lane and the obstacle located in front of the first lane; the rear boundary of the second lane is determined according to a third distance between the host vehicle and the obstacle located behind the second lane, and the rear boundary of the first lane is determined according to a fourth distance between the host vehicle at an adjacent corresponding position in the first lane and the obstacle located behind the first lane;

[0113] 10. When the first distance is at least greater than a first threshold, the second distance is at least greater than a second threshold, and the third distance and the fourth distance are at least greater than a fourth threshold, it is determined that the boundary area at least includes the trapezoidal boundary area, and a three-segment lane change return guide line is generated according to the boundary area, and the third segment guide line of the three-segment lane change return guide line is the lane center line of the first lane;

[0114] 11. Smoothing the three-stage lane change return guide line to obtain a lane change return path;

[0115] 12. Perform a lane change return operation on the host vehicle according to the lane change return path.

[0116] Since the overtaking lane changing path is obtained by smoothing the three-stage overtaking lane changing guide lines, the three-stage overtaking lane changing guide lines are generated according to the position information of the obstacle vehicle and the host vehicle, as well as the lane widths of the first lane and the second lane and the lane centerline of the second lane, and the third section of the three-stage overtaking lane changing guide lines is the lane centerline of the second lane, thus, the overtaking lane changing path obtained by smoothing the three-stage overtaking lane changing guide lines is close to the lane centerline of the second lane, so that the overtaking lane changing operation is performed on the host vehicle according to the overtaking lane changing path, so that the host vehicle can be as close to the lane centerline of the second lane as possible and away from the obstacle vehicle during the overtaking lane changing process, thereby improving the safety of overtaking by borrowing lane. Since the lane change return path is obtained by smoothing the three-stage lane change return guide line, the third section of the three-stage lane change return guide line is the lane center line of the first lane. In this way, the lane change return path obtained by smoothing the three-stage lane change return guide line is close to the lane center line of the first lane. Therefore, the lane change return operation is performed on the host vehicle according to the lane change return path, so that the host vehicle can be as close to the lane center line of the first lane as possible during the lane change return process and away from obstacle vehicles in the second lane, thereby improving the safety of the lane change return.

[0117] It should be understood that, although the steps in the flowcharts of the embodiments described above are shown in sequence according to the instructions of the arrows, these steps are not necessarily performed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be performed in other orders. Moreover, at least a portion of the steps in the flowcharts of the embodiments described above can include multiple steps or multiple stages, and these steps or stages are not necessarily performed at the same time, but can be performed at different times, and the execution order of these steps or stages is not necessarily performed in sequence, but can be performed in turn or alternately with other steps or at least a portion of the steps or stages in other steps.

[0118] Based on the same inventive concept, the embodiment of the present application also provides a lane-passing device for implementing the lane-passing method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more lane-passing device embodiments provided below can refer to the limitations of the lane-passing method above, and will not be repeated here.

[0119] In an exemplary embodiment, Fig. 9 As shown, a device for overtaking by using a lane is provided 900, comprising: a checking module 902, a generating module 904 and an executing module 906, wherein:

[0120] The checking module 902 is used to perform an overtaking safety check on the second lane used for overtaking when the host vehicle recognizes that there is an obstacle vehicle that meets the overtaking condition in the first lane where the host vehicle is currently located;

[0121] The generating module 904 is used to generate a three-stage overtaking lane change guide line according to the position information of the obstacle vehicle and the host vehicle, the lane widths of the first lane and the second lane, and the lane center line of the second lane when the overtaking safety check is passed, wherein the third stage of the three-stage overtaking lane change guide line is the lane center line of the second lane, and the three-stage overtaking lane change guide line is smoothed to obtain an overtaking lane change path;

[0122] The execution module 906 is used to perform an overtaking lane change operation on the host vehicle according to the overtaking lane change path.

[0123] In some embodiments, the generation module 904 is used to determine the safety boundary of the obstacle vehicle according to the position information of the obstacle vehicle; determine the lateral offset and longitudinal offset of the main vehicle in the first lane according to the position information of the obstacle vehicle, the position information of the main vehicle and the safety boundary of the obstacle vehicle, and determine the first section of the guide line according to the position information, the lateral offset and the longitudinal offset of the main vehicle; determine the lateral offset and the longitudinal offset of the main vehicle when crossing the first lane and the second lane according to the lane width of the second lane and the lane centerline of the second lane, and generate the second section of the guide line according to the lane centerline of the second lane, the lateral offset and the longitudinal offset when crossing the first lane and the second lane; and obtain a three-section overtaking lane change guide line by connecting the first section of the guide line, the second section of the guide line and the lane centerline of the second lane in sequence.

[0124] In some embodiments, the generation module 904 is used to determine the occupied area of ​​the obstacle vehicle based on the position information of the obstacle vehicle; obtain a preset lateral obstacle avoidance buffer distance and a longitudinal obstacle avoidance buffer distance, and the longitudinal obstacle avoidance buffer distance is smaller than the lateral obstacle avoidance buffer distance; according to the lateral obstacle avoidance buffer distance and the longitudinal obstacle avoidance buffer distance, the boundary of the occupied area is expanded to obtain the safety boundary of the obstacle vehicle.

[0125] In some embodiments, the execution module 906 is further used to determine whether the boundary area of ​​the host vehicle located in the second lane after the lane change operation satisfies the lane change return condition, and when the boundary area at least includes a trapezoidal boundary area, the lane change return operation is performed on the host vehicle; wherein the boundary area is an area formed by the front boundary, rear boundary, left boundary of the second lane and right boundary of the first lane of the host vehicle, the front boundary includes the front boundary of the second lane and the front boundary of the first lane, and the rear boundary includes the rear boundary of the second lane and the rear boundary of the first lane; the front boundary of the second lane is determined according to the first distance between the host vehicle and the obstacle located in front of the second lane. , the front boundary of the first lane is determined according to the second distance between the host vehicle at the adjacent corresponding position of the first lane and the obstacle located in front of the first lane; the rear boundary of the second lane is determined according to the third distance between the host vehicle and the obstacle located behind the second lane, and the rear boundary of the first lane is determined according to the fourth distance between the host vehicle at the adjacent corresponding position of the first lane and the obstacle located behind the first lane; when the first distance is at least greater than the first threshold, the second distance is at least greater than the second threshold, and the third distance and the fourth distance are at least greater than the fourth threshold, it is determined that the boundary area at least includes the trapezoidal boundary area, and the second threshold is greater than the first threshold.

[0126] In some embodiments, the generation module 904 is also used to detect in real time the virtual and real alternating positions of the lane dividing line between the second lane and the first lane; when the distance from the main vehicle located in the second lane to the virtual and real alternating position in front is less than a preset distance, the front boundary of the second lane is the virtual and real alternating position.

[0127] In some embodiments, the generation module 904 is also used to generate a three-stage lane change return guide line based on the boundary area, the third stage of the three-stage lane change return guide line is the lane center line of the first lane; the three-stage lane change return guide line is smoothed to obtain a lane change return path; the execution module 906 is also used to perform a lane change return operation on the host vehicle according to the lane change return path.

[0128] The above-mentioned overtaking device 900 performs an overtaking safety check on the second lane used for overtaking when the host vehicle recognizes that there is an obstacle vehicle that meets the overtaking conditions on the first lane where the host vehicle is currently located; when the overtaking safety check is passed, a three-stage overtaking lane change guide line is generated based on the position information of the obstacle vehicle and the host vehicle, as well as the lane widths of the first lane and the second lane and the lane centerline of the second lane, wherein the third stage of the three-stage overtaking lane change guide line is the lane centerline of the second lane, and the three-stage overtaking lane change guide line is smoothed to obtain an overtaking lane change path; and an overtaking lane change operation is performed on the host vehicle according to the overtaking lane change path. Since the overtaking lane changing path is obtained by smoothing the three-stage overtaking lane changing guide lines, the three-stage overtaking lane changing guide lines are generated according to the position information of the obstacle vehicle and the host vehicle, as well as the lane widths of the first lane and the second lane and the lane centerline of the second lane, and the third section of the three-stage overtaking lane changing guide lines is the lane centerline of the second lane, thus, the overtaking lane changing path obtained by smoothing the three-stage overtaking lane changing guide lines is close to the lane centerline of the second lane, so that the overtaking lane changing operation is performed on the host vehicle according to the overtaking lane changing path, so that the host vehicle can be as close to the lane centerline of the second lane as possible and away from the obstacle vehicle during the overtaking lane changing process, thereby improving the safety of overtaking by borrowing lane.

[0129] Each module in the above-mentioned lane-overtaking device 900 can be implemented in whole or in part by software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module.

[0130] In an exemplary embodiment, a computer device is provided. The computer device may be a computer device, and its internal structure diagram may be as shown in FIG. Fig.10 As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a method of overtaking by borrowing a lane is implemented.

[0131] Those skilled in the art will understand that Fig.10 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0132] In an exemplary embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the following steps when executing the computer program: when a host vehicle recognizes that there is an obstacle vehicle that meets the overtaking condition in the first lane where it is currently located, an overtaking safety check is performed on a second lane used for overtaking; when the overtaking safety check is passed, a three-stage overtaking lane change guide line is generated based on the position information of the obstacle vehicle and the host vehicle, as well as the lane widths of the first lane and the second lane and the lane centerline of the second lane, wherein the third stage of the three-stage overtaking lane change guide line is the lane centerline of the second lane, and the three-stage overtaking lane change guide line is smoothed to obtain an overtaking lane change path; and an overtaking lane change operation is performed on the host vehicle based on the overtaking lane change path.

[0133] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented: when a host vehicle recognizes that there is an obstacle vehicle that meets the overtaking condition in the first lane where it is currently located, an overtaking safety check is performed on the second lane used for overtaking; when the overtaking safety check is passed, a three-stage overtaking lane change guide line is generated based on the position information of the obstacle vehicle and the host vehicle, and the lane widths of the first lane and the second lane and the lane centerline of the second lane, wherein the third stage of the three-stage overtaking lane change guide line is the lane centerline of the second lane, and the three-stage overtaking lane change guide line is smoothed to obtain an overtaking lane change path; and an overtaking lane change operation is performed on the host vehicle according to the overtaking lane change path.

[0134] In one embodiment, a computer program product is provided, including a computer program, which implements the following steps when executed by a processor: when a host vehicle recognizes that there is an obstacle vehicle that meets the overtaking condition in the first lane where it is currently located, an overtaking safety check is performed on the second lane used for overtaking; when the overtaking safety check is passed, a three-stage overtaking lane change guide line is generated based on the position information of the obstacle vehicle and the host vehicle, and the lane widths of the first lane and the second lane and the lane centerline of the second lane, wherein the third stage of the three-stage overtaking lane change guide line is the lane centerline of the second lane, and the three-stage overtaking lane change guide line is smoothed to obtain an overtaking lane change path; and an overtaking lane change operation is performed on the host vehicle according to the overtaking lane change path.

[0135] In one embodiment, a vehicle is provided, the vehicle comprising the above-mentioned computer device. The vehicle may be an autonomous driving vehicle or a vehicle equipped with an assisted driving system.

[0136] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0137] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0138] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0139] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A method for overtaking by using a different lane, characterized in that: The method comprises: When the host vehicle recognizes that there is an obstacle vehicle that meets the overtaking conditions in the first lane where it is currently located, an overtaking safety check is performed on the second lane used for overtaking; In the case where the overtaking safety check is passed, the safety boundary of the obstacle vehicle is determined according to the position information of the obstacle vehicle, the lateral offset and the longitudinal offset of the host vehicle in the first lane are determined according to the position information of the obstacle vehicle, the position information of the host vehicle and the safety boundary of the obstacle vehicle, and the first guide line is determined according to the position information, the lateral offset and the longitudinal offset of the host vehicle; According to the lane width of the second lane and the lane centerline of the second lane, determine the lateral offset and the longitudinal offset of the host vehicle when crossing the first lane and the second lane, generate a second section guide line according to the lane centerline of the second lane, the lateral offset and the longitudinal offset when crossing the first lane and the second lane, sequentially connect the first section guide line, the second section guide line and the lane centerline of the second lane to obtain a three-section overtaking lane change guide line, the third section guide line of the three-section overtaking lane change guide line is the lane centerline of the second lane, and smooth the three-section overtaking lane change guide line to obtain an overtaking lane change path; Perform an overtaking lane change operation on the host vehicle according to the overtaking lane change path.

2. The method according to claim 1, characterized in that The step of determining the safety boundary of the obstacle vehicle according to the position information of the obstacle vehicle comprises: Determine the occupied area of ​​the obstacle vehicle according to the position information of the obstacle vehicle; Obtaining a preset lateral obstacle avoidance buffer distance and a longitudinal obstacle avoidance buffer distance, wherein the longitudinal obstacle avoidance buffer distance is smaller than the lateral obstacle avoidance buffer distance; The boundary of the occupied area is expanded according to the lateral obstacle avoidance buffer distance and the longitudinal obstacle avoidance buffer distance to obtain the safety boundary of the obstacle vehicle.

3. The method according to claim 1, characterized in that The method further comprises: Determine whether the boundary area of ​​the host vehicle located in the second lane after the lane change operation satisfies the lane change return condition, and if the boundary area includes at least a trapezoidal boundary area, perform the lane change return operation on the host vehicle; wherein, The boundary area is an area formed by the front boundary, rear boundary, left boundary of the second lane and right boundary of the first lane of the host vehicle, the front boundary includes the front boundary of the second lane and the front boundary of the first lane, and the rear boundary includes the rear boundary of the second lane and the rear boundary of the first lane; The front boundary of the second lane is determined according to a first distance between the host vehicle and an obstacle located in front of the second lane, and the front boundary of the first lane is determined according to a second distance between an adjacent corresponding position of the host vehicle in the first lane and the obstacle located in front of the first lane; The rear boundary of the second lane is determined according to a third distance between the host vehicle and an obstacle located behind the second lane, and the rear boundary of the first lane is determined according to a fourth distance between an adjacent corresponding position of the host vehicle in the first lane and the obstacle located behind the first lane; When the first distance is at least greater than a first threshold, the second distance is at least greater than a second threshold, and the third distance and the fourth distance are at least greater than a fourth threshold, it is determined that the boundary area includes at least the trapezoidal boundary area, and the second threshold is greater than the first threshold.

4. The method according to claim 3, characterized in that The method further comprises: detecting in real time the alternating virtual and real positions of a lane dividing line between the second lane and the first lane; When the distance from the host vehicle located in the second lane to the virtual-real alternating position in front is less than a preset distance, the front boundary of the second lane is the virtual-real alternating position.

5. The method according to claim 3, characterized in that: The performing a lane change return operation on the host vehicle includes: Generating a three-segment lane-changing return guide line according to the boundary area, wherein the third segment guide line of the three-segment lane-changing return guide line is the lane center line of the first lane; Smoothing the three-stage lane change return guide line to obtain a lane change return path; A lane-changing return operation is performed on the host vehicle according to the lane-changing return path.

6. A device for overtaking by using a lane, characterized in that: The device comprises: A check module, for performing an overtaking safety check on a second lane used for overtaking in case the host vehicle recognizes that there is an obstacle vehicle that meets the overtaking condition in the first lane where the host vehicle is currently located; a generating module, for determining the safety boundary of the obstacle vehicle according to the position information of the obstacle vehicle when the overtaking safety check is passed, determining the lateral offset and longitudinal offset of the host vehicle in the first lane according to the position information of the obstacle vehicle, the position information of the host vehicle and the safety boundary of the obstacle vehicle, determining a first section of guide lines according to the position information of the host vehicle, the lateral offset and the longitudinal offset; determining the lateral offset and longitudinal offset of the host vehicle when crossing the first lane and the second lane according to the lane width of the second lane and the lane centerline of the second lane, generating a second section of guide lines according to the lane centerline of the second lane, the lateral offset and the longitudinal offset when crossing the first lane and the second lane, sequentially connecting the first section of guide lines, the second section of guide lines and the lane centerline of the second lane to obtain a three-section overtaking lane change guide line, the third section of the three-section overtaking lane change guide lines being the lane centerline of the second lane, and smoothing the three-section overtaking lane change guide lines to obtain an overtaking lane change path; An execution module is used to perform an overtaking lane-changing operation on the host vehicle according to the overtaking lane-changing path.

7. The device according to claim 6, characterized in that The generation module is further used to determine the occupied area of ​​the obstacle vehicle according to the position information of the obstacle vehicle; obtain a preset lateral obstacle avoidance buffer distance and a longitudinal obstacle avoidance buffer distance, wherein the longitudinal obstacle avoidance buffer distance is smaller than the lateral obstacle avoidance buffer distance; and expand the boundary of the occupied area according to the lateral obstacle avoidance buffer distance and the longitudinal obstacle avoidance buffer distance to obtain a safe boundary of the obstacle vehicle.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 5 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

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