Method and device for determining lane changing space for auxiliary driving

Abstract

The invention provides an auxiliary driving lane changing space determining method and device, belongs to the field of auxiliary driving control, fully considers the positions of a front vehicle and a current vehicle, and can determine the lane changing space according to the relative position relation among a side front vehicle, a side vehicle, a side rear first vehicle, a side rear second vehicle and the front vehicle. The division of the lane changing space is accurately classified, so that the lane changing space is finally determined, unlimited exhaustion of the lane changing space is not carried out according to the number of vehicles, and the calculation amount is reduced.

Description

Technical Field

[0001] The present application relates to the field of assisted driving control, and in particular to a method and device for determining lane change space for assisted driving. Background Art

[0002] The automatic lane changing function in vehicle assisted driving can be activated by the driver by controlling the turn signal, or it can be actively activated by the vehicle's intelligent driving system based on the navigation route, lane divisions and speeds of different lanes. Regardless of whether the lane change is initiated by the driver or by the intelligent driving system, the intelligent driving system is required to judge the lane change risk. If it is determined that there is a collision risk during the lane change process, the intelligent driving system is required to control the vehicle to maintain the original lane, or actively accelerate or decelerate to adjust the vehicle's position so as to safely change lanes to the appropriate position in the target lane.

[0003] To complete the acceleration and deceleration lane change action, the lane change space must first be reasonably divided. If only the target lane vehicle is considered, and the vehicle in front of the current lane is not considered, then there will be two lane change spaces if there is one vehicle in the target lane, three lane change spaces if there are two vehicles in the target lane, and four lane change spaces if there are three vehicles in the target lane. If the vehicle in front of the current lane is considered at the same time, the lane change space division will become more complicated.

[0004] Dividing the lane changing space according to the number of vehicles requires exhausting multiple possibilities, which requires a lot of calculations. In addition, the number of divided lane changing spaces is too large and there is no clear classification, which is not conducive to the design of the acceleration and deceleration lane changing decision algorithm. Summary of the invention

[0005] In view of this, the present application provides a method and device for determining lane change space for assisted driving, which can reduce the amount of calculation.

[0006] On the one hand, the present application provides a method for determining lane change space for assisted driving, the method comprising:

[0007] It is determined whether there is at least one of a vehicle in front of the side, a vehicle on the side, a first vehicle behind the side, and a second vehicle behind the side, and whether there is a vehicle directly in front of the side.

[0008] When it is determined that there is at least one of the vehicle in front, the vehicle on the side, the first vehicle behind, and the second vehicle behind, and there is a vehicle directly in front, the lane change space is determined based on the positions of the vehicle in front and at least one of the existing vehicle in front, the vehicle on the side, the first vehicle behind, and the second vehicle behind, and the relative positions between the vehicle in front and at least one of the existing vehicle in front, the vehicle on the side, the first vehicle behind, and the second vehicle behind.

[0009] When it is determined that there is at least one of the vehicle in front, the vehicle on the side, the first vehicle on the rear side and the second vehicle on the rear side, and there is no vehicle in front, the lane change space is determined according to the position of at least one of the existing vehicle in front, the vehicle on the side, the first vehicle on the rear side and the second vehicle on the rear side, wherein the vehicle in front and the current vehicle are located in the same first lane, the vehicle in front, the vehicle on the side, the first vehicle on the rear side and the second vehicle on the rear side are located in the second lane in order from front to back, the second lane is an adjacent lane to the first lane, and the first virtual vehicle after the current vehicle moves to the second lane overlaps with the vehicle on the side.

[0010] Optionally, the method further comprises:

[0011] When it is determined that there is a side front vehicle and a front vehicle, and a second virtual vehicle after the front vehicle is translated to the second lane is located in front of the side front vehicle, the space between the second virtual vehicle and the side front vehicle is determined as the lane change space.

[0012] When it is determined that there is a vehicle in front of the side and there is no vehicle directly in front, the space in front of the vehicle in front of the side is determined as the lane change space.

[0013] Optionally, the method further comprises:

[0014] When it is determined that there is a side vehicle and a front vehicle, but no side front vehicle, and a second virtual vehicle after the front vehicle moves to the second lane is located in front of the side vehicle, the space between the second virtual vehicle and the side vehicle is determined as the lane change space.

[0015] When it is determined that there are a side vehicle and a side-front vehicle, and no front vehicle, the space between the side vehicle and the side-front vehicle is determined as the lane change space.

[0016] When it is determined that there is a side vehicle, and there is no side front vehicle or front vehicle, the space in front of the side vehicle is determined as the lane change space.

[0017] Optionally, the method further comprises:

[0018] When it is determined that there are the side vehicle and the first vehicle to the rear, the space between the side vehicle and the first vehicle to the rear is determined as the lane change space.

[0019] When it is determined that there is a side vehicle and there is no first side and rear vehicle, the space behind the side vehicle is determined as the lane change space.

[0020] Optionally, the method further comprises:

[0021] When it is determined that the first vehicle and the second vehicle are located laterally behind the vehicle, a space between the first vehicle and the second vehicle is determined as a lane change space.

[0022] When it is determined that the first vehicle is located at the rear side and the second vehicle is not located at the rear side, the space behind the first vehicle is determined as the lane change space.

[0023] Optionally, the method further comprises:

[0024] When it is determined that the side front vehicle and the first side rear vehicle exist, and the side vehicle does not exist, the space between the side front vehicle and the first side rear vehicle is determined as the lane change space.

[0025] When it is determined that there is a side front vehicle and there are no side vehicle, a first side rear vehicle, and a second side rear vehicle, the space behind the side front vehicle is determined as the lane change space.

[0026] When it is determined that there is a first vehicle behind the side, and there are no side vehicles and side front vehicles, the space in front of the first vehicle behind the side is determined as the lane change space.

[0027] On the other hand, the present application also provides a device for determining lane change space for assisted driving, the device comprising:

[0028] The judgment module is configured to judge whether there is at least one of a vehicle in front of the side, a vehicle on the side, a first vehicle behind the side, and a second vehicle behind the side, and whether there is a vehicle directly in front.

[0029] The determination module is configured to determine the lane change space based on the positions of the vehicle directly in front and at least one of the existing vehicle directly in front, the vehicle on the side, the first vehicle on the side behind, and the second vehicle on the side behind, and the relative positions between the vehicle directly in front and at least one of the existing vehicle directly in front, the vehicle on the side, the first vehicle on the side behind, and the second vehicle on the side behind, when it is determined that there is at least one of the vehicle in front, the vehicle on the side, the first vehicle on the side behind, and the second vehicle on the side behind.

[0030] The determination module is also configured to:

[0031] When it is determined that there is at least one of the vehicle in front, the vehicle on the side, the first vehicle on the rear side and the second vehicle on the rear side, and there is no vehicle in front, the lane change space is determined according to the position of at least one of the existing vehicle in front, the vehicle on the side, the first vehicle on the rear side and the second vehicle on the rear side, wherein the vehicle in front and the current vehicle are located in the same first lane, the vehicle in front, the vehicle on the side, the first vehicle on the rear side and the second vehicle on the rear side are located in the second lane in order from front to back, the second lane is an adjacent lane to the first lane, and the first virtual vehicle after the current vehicle moves to the second lane overlaps with the vehicle on the side.

[0032] Optionally, the determination module is further configured to:

[0033] When it is determined that there is a side front vehicle and a front vehicle, and a second virtual vehicle after the front vehicle is translated to the second lane is located in front of the side front vehicle, the space between the second virtual vehicle and the side front vehicle is determined as the lane change space.

[0034] When it is determined that there is a vehicle in front of the side and there is no vehicle directly in front, the space in front of the vehicle in front of the side is determined as the lane change space.

[0035] The determination module is also configured to: when it is determined that there is a side vehicle and a front vehicle, there is no side front vehicle, and the second virtual vehicle after the front vehicle moves to the second lane is located in front of the side vehicle, determine the space between the second virtual vehicle and the side vehicle as the lane change space.

[0036] When it is determined that there are a side vehicle and a side-front vehicle, and no front vehicle, the space between the side vehicle and the side-front vehicle is determined as the lane change space.

[0037] When it is determined that there is a side vehicle, and there is no side front vehicle or front vehicle, the space in front of the side vehicle is determined as the lane change space.

[0038] Optionally, the determination module is further configured to:

[0039] When it is determined that there are the side vehicle and the first vehicle to the rear, the space between the side vehicle and the first vehicle to the rear is determined as the lane change space.

[0040] When it is determined that there is a side vehicle and there is no first side and rear vehicle, the space behind the side vehicle is determined as the lane change space.

[0041] The determination module is further configured to: when it is determined that there are a first vehicle and a second vehicle at the rear side, determine a space between the first vehicle and the second vehicle at the rear side as a lane change space.

[0042] When it is determined that the first vehicle is located at the rear side and the second vehicle is not located at the rear side, the space behind the first vehicle is determined as the lane change space.

[0043] Optionally, the determination module is further configured to:

[0044] When it is determined that the side front vehicle and the first side rear vehicle exist, and the side vehicle does not exist, the space between the side front vehicle and the first side rear vehicle is determined as the lane change space.

[0045] When it is determined that there is a side front vehicle and there are no side vehicle, a first side rear vehicle, and a second side rear vehicle, the space behind the side front vehicle is determined as the lane change space.

[0046] When it is determined that there is a first vehicle behind the side, and there are no side vehicles and side front vehicles, the space in front of the first vehicle behind the side is determined as the lane change space.

[0047] The assisted driving lane change space determination method and device provided in the present application fully considers the positions of the vehicle directly in front and the current vehicle, and can accurately classify the lane change space according to the relative position relationship between the vehicle in front, the vehicle on the side, the first vehicle behind, the second vehicle behind, and the vehicle in front, thereby ultimately determining the lane change space. The lane change space will not be enumerated indefinitely according to the number of vehicles, thereby reducing the amount of calculation. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0049] Figure 1 A flowchart of a method for determining lane change space for assisted driving provided in an embodiment of the present application;

[0050] Figure 2 A schematic diagram of a lane for the method for determining lane change space for assisted driving provided in an embodiment of the present application;

[0051] Figure 3 A schematic diagram of another lane of the method for determining lane change space for assisted driving provided in an embodiment of the present application;

[0052] Figure 4 A schematic diagram of another lane of the method for determining lane change space for assisted driving provided in an embodiment of the present application;

[0053] Figure 5A schematic diagram of another lane of the method for determining lane change space for assisted driving provided in an embodiment of the present application;

[0054] Figure 6 A schematic diagram of another lane of the method for determining lane change space for assisted driving provided in an embodiment of the present application;

[0055] Figure 7 This is an architectural diagram of the device for determining lane change space for assisted driving provided in an embodiment of the present application. DETAILED DESCRIPTION

[0056] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0057] The embodiment of the present application provides a method for determining lane change space for assisted driving, which can be executed by a vehicle controller, such as Figure 1 As shown, the method includes steps S101, S102 and S103, wherein:

[0058] In step S101 , it is determined whether there is at least one of a vehicle in front of the side, a vehicle on the side, a first vehicle behind the side, and a second vehicle behind the side, and whether there is a vehicle directly in front of the side.

[0059] In step S102, when it is determined that there is at least one of the vehicle in front, the vehicle on the side, the first vehicle on the side behind, and the second vehicle on the side behind, and there is a vehicle directly in front, the lane change space is determined based on the positions of the vehicle directly in front and at least one of the existing vehicle in front, the vehicle on the side, the first vehicle on the side behind, and the second vehicle on the side behind, and the relative positions between the vehicle in front and at least one of the existing vehicle in front, the vehicle on the side, the first vehicle on the side behind, and the second vehicle on the side behind.

[0060] In step S103, when it is determined that there is at least one of the vehicle in front, the vehicle on the side, the first vehicle on the side behind, and the second vehicle on the side behind, and there is no vehicle in front, the lane change space is determined based on the position of at least one of the vehicle in front, the vehicle on the side, the first vehicle on the side behind, and the second vehicle on the side behind.

[0061] The vehicle directly in front and the current vehicle are located in the same first lane, the vehicle in front, the side vehicle, the first vehicle behind and the second vehicle behind are located in the second lane in order from front to back, the second lane is an adjacent lane to the first lane, and the first virtual vehicle after the current vehicle moves to the second lane overlaps with the side vehicle.

[0062] In some optional embodiments, such as Figure 2 As shown, Figure 2 The current vehicle 1, the front vehicle 2, the side vehicle 3, the side front vehicle 4, the side rear first vehicle 5 and the second virtual vehicle are included. Figure 2 In the corresponding lane changing space determination method, the lane changing space corresponds to the situation where the current vehicle 1 needs to overtake the vehicle 4 in front of the side to complete the lane change. This lane changing space can be called lane changing space A, and the lane changing space A is based on the vehicle 4 in front of the side as a judgment basis.

[0063] Specifically, when there is no vehicle 4 in front of the side, Figure 2 (a) shows that there is no corresponding lane change space A at this time. It can be understood that the assisted driving lane change space determination method provided in the embodiment of the present application is used to avoid unlimited enumeration of lane change space according to the number of vehicles, and accurately classify the division of lane change space on the basis of reducing the amount of calculation, rather than to finally determine whether the vehicle can change lanes. The lane change space given in the embodiment of the present application refers to a specific space in the target lane (in the embodiment of the present application, it refers to the second lane), which is the space where the current vehicle 1 is located in the target lane after completing the lane change. The lane change space can ensure that the current vehicle 1 will not collide with the front vehicle 4 in the lane (in the embodiment of the present application, it refers to the first lane) before entering the lane change space, and will not collide with the front and rear vehicles in the target lane after completing the lane change. After determining that there is a corresponding lane change space using the assisted driving lane change space determination method provided in the embodiment of the present application, the vehicle controller needs to further determine whether the vehicle can finally complete the lane change operation based on the size of the lane change space, the vehicle speed, etc. If it is determined that the lane change operation can be completed, the vehicle controller controls the steering wheel to rotate and controls the accelerator pedal and brake pedal openings, so that the vehicle completes the lane change operation. Even if the assisted driving lane change space determination method provided in the embodiment of the present application determines that there is no corresponding lane change space A belonging to a certain specific type, it does not mean that the vehicle cannot complete the lane change. It may indicate that the vehicle has other types of lane change space, such as lane change space B, C, D or E.

[0064] like Figure 2 As shown in (b), when it is determined that there are a side front vehicle 4 and a front vehicle 2, and the second virtual vehicle after the front vehicle 2 is translated to the second lane is located behind the side front vehicle 4, it means that the front vehicle 2 exists in the front space required for the current vehicle 1 to accelerate and overtake the side front vehicle 4 to change lanes. If the current vehicle 1 accelerates and changes lanes forcibly, it will rear-end the front vehicle 2. At this time, the front vehicle 2 acts as an obstacle, making it impossible for the current vehicle 1 to accelerate and overtake the side front vehicle 4 to change lanes. In other words, it means that there is no corresponding lane change space A at this time.

[0065] like Figure 2 As shown in (c), when it is determined that there is a side front vehicle 4 and a front vehicle 2, and the second virtual vehicle after the front vehicle 2 is translated to the second lane is located in front of the side front vehicle 4, it means that the front vehicle 2 does not exist in the front space required for accelerating to overtake the side front vehicle 4 and changing lanes. On the basis of avoiding a rear-end collision between the current vehicle 1 and the front vehicle 2, the current vehicle 1 can accelerate to overtake the side front vehicle 4 and complete the lane change to the front of the side front vehicle 4. At this time, the space between the second virtual vehicle and the side front vehicle 4 is determined as the lane change space A. Due to the existence of the front vehicle 2, this lane change space is a closed space, that is, a limited space.

[0066] like Figure 2 As shown in (d), when it is determined that there is a vehicle in front of the side but not in front of the vehicle, it indicates that the current vehicle 1 does not have the risk of rear-ending the vehicle 2 in front of it during the process of accelerating to overtake the vehicle in front of the side and changing lanes to the front of the vehicle 4. At this time, the space in front of the vehicle in front of the side is determined as the lane changing space A. Since there is no vehicle 2 in front of it, this lane changing space is an open space, that is, an infinite space.

[0067] In some optional embodiments, such as Figure 3 As shown, Figure 3 The current vehicle 1, the front vehicle 2, the side vehicle 3, the side front vehicle 4, the side rear first vehicle 5 and the second virtual vehicle are included. Figure 3 In the corresponding lane changing space determination method, the lane changing space corresponds to the situation where the current vehicle 1 needs to overtake the side vehicle 3 and complete the lane change to the front of the side vehicle 3. This lane changing space can be called lane changing space B, and the lane changing space B is based on the side vehicle 3 as the judgment basis.

[0068] Specifically, Figure 3 As shown in (a), when it is determined that there is no side vehicle 3, it means that there is no lane change space B.

[0069] like Figure 3 As shown in (b), when it is determined that there are the side vehicle 3 and the front vehicle 2, but there is no side front vehicle 4, and the second virtual vehicle after the front vehicle 2 is translated to the second lane is located in front of the side vehicle 3, the space between the second virtual vehicle and the side vehicle 3 is determined as the lane change space B. It can be understood that at this time, the current vehicle has the opportunity to accelerate and overtake the side vehicle 3 without rear-ending the front vehicle 2, and change lanes to the front of the side vehicle 3. The space between the second virtual vehicle and the side vehicle 3 is the lane change space B, which is a closed space, that is, a limited space.

[0070] like Figure 3As shown in (c), when it is determined that there are side vehicles 3 and side front vehicles 4, and there is no front vehicle 2, the space between the side vehicles 3 and the side front vehicles 4 is determined as the lane change space B. It can be understood that since there is no front vehicle 2, the current vehicle does not have the risk of rear-end collision with the front vehicle 2 at this time, and can safely accelerate to overtake the side vehicle 3 and change lanes to the front of the side vehicle 3, but it is necessary to ensure that there is no rear-end collision with the side front vehicle 4 after the lane change is completed. Therefore, the space between the side vehicles 3 and the side front vehicle 4 is determined as the lane change space B, and the lane change space B is a closed space, that is, a limited space.

[0071] like Figure 3 As shown in (d), when it is determined that there is a side vehicle 3, and there is no side front vehicle 4 and front vehicle 2, the space in front of the side vehicle 3 is determined as the lane change space B. It can be understood that since there is no front vehicle 2, the current vehicle does not have the risk of rear-end collision with the front vehicle 2 at this time, and can safely accelerate to overtake the side vehicle 3 and change lanes to the front of the side vehicle 3. And since there is no side front vehicle 4, there is no risk of rear-end collision with the side front vehicle 4 after the lane change is completed, so the space in front of the side vehicle 3 is determined as the lane change space, and the lane change space B is an open space, that is, an infinite space.

[0072] In some optional embodiments, such as Figure 4 As shown, Figure 4 The current vehicle 1, the vehicle directly in front 2, the vehicle on the side 3, the vehicle in front of the side 4 and the first vehicle behind the side 5 are included. Figure 4 In the corresponding lane changing space determination method, the lane changing space corresponds to the situation where the current vehicle 1 needs to decelerate to the side vehicle 3 and then complete the lane change to the rear of the side vehicle 3. This lane changing space can be called lane changing space C. The lane changing space C also takes the side vehicle 3 as the judgment basis, but compared with the lane changing space B, the lane changing space B corresponds to the acceleration situation, and the lane changing space C corresponds to the deceleration situation.

[0073] like Figure 4 As shown in (a), there is no side vehicle 3 at this time, so there is no lane change space C.

[0074] like Figure 4 As shown in (b), when it is determined that there are the side vehicle 3 and the first side rear vehicle 5, the space between the side vehicle 3 and the first side rear vehicle 5 is determined as the lane change space C. It can be understood that when there are the side vehicle 3 and the first side rear vehicle 5, the lane change can be completed to the rear of the side vehicle 3 by slowing down to the side vehicle 3, but it is necessary to ensure that there is no collision with the first side rear vehicle 5. At this time, the space between the side vehicle 3 and the first side rear vehicle 5 is determined as the lane change space C, and the lane change space C is a closed space, that is, a limited space.

[0075] like Figure 4 As shown in (c), when it is determined that there is a side vehicle 3 and there is no first side rear vehicle 5, the space behind the side vehicle 3 is determined as the lane change space. It can be understood that when there is a side vehicle 3, the lane change can be completed to the rear of the side vehicle 3 by slowing down to the side vehicle 3, and there is no risk of collision with the first side rear vehicle 5. At this time, the space behind the side vehicle 3 is determined as the lane change space C, which is an open space, that is, an infinite space.

[0076] In some optional embodiments, such as Figure 5 As shown, Figure 5 The vehicle 1 includes the current vehicle 1, the vehicle 2 directly in front, the vehicle 3 on the side, the vehicle 4 in front of the side, the first vehicle 5 behind the side, and the second vehicle 6 behind the side. Figure 5 In the corresponding lane changing space determination method, the lane changing space corresponds to the situation where the current vehicle 1 needs to slow down to the first vehicle 5 behind it and then complete the lane change to the rear of the first vehicle 5 behind it. This lane changing space can be called the lane changing space D.

[0077] like Figure 5 As shown in (a), when it is determined that there is no first vehicle 5 behind the side, it means that there is no lane change space D.

[0078] like Figure 5 As shown in (b), when it is determined that there are the first vehicle 5 and the second vehicle 6 at the rear side, the space between the first vehicle 5 and the second vehicle 6 at the rear side is determined as the lane change space D. It can be understood that when there are the first vehicle 5 and the second vehicle 6 at the rear side, the lane change can be completed to the rear of the first vehicle 5 at the rear side by slowing down behind the first vehicle 5 at the rear side, but it is necessary to ensure that there is no collision with the second vehicle 6 at the rear side. At this time, the space between the first vehicle 5 and the second vehicle 6 at the rear side is determined as the lane change space D, and the lane change space D is a closed space, that is, a limited space.

[0079] like Figure 5 As shown in (c), when it is determined that there is a first vehicle 5 at the rear side and there is no second vehicle 6 at the rear side, the space behind the first vehicle 5 at the rear side is determined as the lane change space D. It can be understood that when there is a first vehicle 5 at the rear side and there is no second vehicle 6 at the rear side, the lane change can be completed to the rear of the first vehicle 5 at the rear side by decelerating to the rear of the first vehicle 5 at the rear side, and there is no risk of collision with the second vehicle 6 at the rear side. At this time, the space behind the first vehicle 5 at the rear side is determined as the lane change space D, and the lane change space D is an open space, that is, an infinite space.

[0080] In some optional embodiments, such as Figure 6 As shown, Figure 6The vehicle 1 includes the current vehicle 1, the vehicle 2 directly in front, the vehicle 3 on the side, the vehicle 4 in front of the side, the first vehicle 5 behind the side, and the second vehicle 6 behind the side. Figure 6 In the corresponding lane change space determination method, the lane change space corresponds to the situation where the current vehicle 1 can change lanes directly from the first lane to the adjacent second lane without accelerating or decelerating. This lane change space can be called the lane change space E.

[0081] like Figure 6 As shown in (a), when it is determined that there is a side vehicle 3, the current vehicle 1 cannot change lanes directly from the first lane to the adjacent second lane without accelerating or decelerating, and at this time there is no lane change space E.

[0082] like Figure 6 As shown in (b), when it is determined that there is a side front vehicle 4 and a side rear first vehicle 5, and there is no side vehicle 3, the space between the side front vehicle 4 and the side rear first vehicle 5 is determined as the lane change space E. It can be understood that when there is a side front vehicle 4 and a side rear first vehicle 5, and there is no side vehicle 3, the current vehicle 1 can change lanes directly from the first lane to the side second lane without accelerating or decelerating, but it is necessary to ensure that there is no collision with the side front vehicle 4 or the side rear first vehicle 5. At this time, the space between the side front vehicle 4 and the side rear first vehicle 5 is determined as the lane change space E, and the lane change space E is a closed space, that is, a limited space.

[0083] like Figure 6 As shown in (c), when it is determined that there is a side front vehicle 4 and there is no side vehicle 3, the first side rear vehicle 5 and the second side rear vehicle 6, the space behind the side front vehicle 4 is determined as the lane change space E. It can be understood that when there is a side front vehicle 4 and there is no side vehicle 3, the first side rear vehicle 5 and the second side rear vehicle 6, the current vehicle 1 can change lanes directly from the first lane to the second lane next to it without accelerating or decelerating, and it only needs to ensure that there is no collision with the side front vehicle 4. At this time, the space behind the side front vehicle 4 is determined as the lane change space E, and the lane change space E is an open space, that is, an infinite space.

[0084] like Figure 6 As shown in (d), when it is determined that there is a first vehicle 5 at the rear side, and there is no vehicle 3 at the side and vehicle 4 at the front side, the space in front of the first vehicle 5 at the rear side is determined as the lane change space E. It can be understood that when there is a first vehicle 5 at the rear side, and there is no vehicle 3 at the side and vehicle 4 at the front side, the current vehicle 1 can change lanes directly from the first lane to the second lane next to it without accelerating or decelerating, and it only needs to ensure that there is no collision with the first vehicle 5 at the rear side. At this time, the space in front of the first vehicle 5 at the rear side is determined as the lane change space E, and the lane change space E is an open space, that is, an infinite space.

[0085] The assisted driving lane change space determination method provided in the present application fully takes into account the positions of the vehicle directly in front and the current vehicle. The lane change space can be accurately classified according to the relative position relationship between the vehicle in front, the vehicle on the side, the first vehicle behind, the second vehicle behind, and the vehicle in front, thereby ultimately determining the lane change space. The lane change space will not be enumerated indefinitely according to the number of vehicles, thereby reducing the amount of calculation.

[0086] The embodiment of the present application further provides a driving-assisted lane change space determination device 70, which can be arranged in a vehicle controller, such as Figure 7 As shown, the device comprises:

[0087] The judgment module 701 is configured to judge whether there is at least one of a vehicle in front, a vehicle on the side, a first vehicle behind, and a second vehicle behind, and whether there is a vehicle directly in front.

[0088] The determination module 702 is configured to determine the lane change space based on the positions of the vehicle directly in front and at least one of the existing vehicle directly in front, the vehicle on the side, the first vehicle on the side behind and the second vehicle on the side behind, and the relative positions between the vehicle directly in front and at least one of the existing vehicle directly in front, the vehicle on the side, the first vehicle on the side behind and the second vehicle on the side behind, when it is determined that there is at least one of the vehicle in front, the vehicle on the side, the first vehicle on the side behind and the second vehicle on the side behind.

[0089] The determination module 702 is further configured to:

[0090] When it is determined that there is at least one of the vehicle in front, the vehicle on the side, the first vehicle on the rear side and the second vehicle on the rear side, and there is no vehicle in front, the lane change space is determined according to the position of at least one of the existing vehicle in front, the vehicle on the side, the first vehicle on the rear side and the second vehicle on the rear side, wherein the vehicle in front and the current vehicle are located in the same first lane, the vehicle in front, the vehicle on the side, the first vehicle on the rear side and the second vehicle on the rear side are located in the second lane in order from front to back, the second lane is an adjacent lane to the first lane, and the first virtual vehicle after the current vehicle moves to the second lane overlaps with the vehicle on the side.

[0091] In some optional embodiments, the determination module 702 is further configured to:

[0092] When it is determined that there is a side front vehicle and a front vehicle, and a second virtual vehicle after the front vehicle is translated to the second lane is located in front of the side front vehicle, the space between the second virtual vehicle and the side front vehicle is determined as the lane change space.

[0093] When it is determined that there is a vehicle in front of the side and there is no vehicle directly in front, the space in front of the vehicle in front of the side is determined as the lane change space.

[0094] In some optional embodiments, the determination module 702 is further configured to: when it is determined that there is a side vehicle and a front vehicle, there is no side front vehicle, and a second virtual vehicle after the front vehicle moves to the second lane is located in front of the side vehicle, determine the space between the second virtual vehicle and the side vehicle as the lane change space.

[0095] When it is determined that there are a side vehicle and a side-front vehicle, and no front vehicle, the space between the side vehicle and the side-front vehicle is determined as the lane change space.

[0096] When it is determined that there is a side vehicle, and there is no side front vehicle or front vehicle, the space in front of the side vehicle is determined as the lane change space.

[0097] In some optional embodiments, the determination module 702 is further configured to:

[0098] When it is determined that there are the side vehicle and the first vehicle to the rear, the space between the side vehicle and the first vehicle to the rear is determined as the lane change space.

[0099] When it is determined that there is a side vehicle and there is no first side and rear vehicle, the space behind the side vehicle is determined as the lane change space.

[0100] In some optional embodiments, the determination module 702 is further configured to: when it is determined that there are a first vehicle and a second vehicle at the rear side, determine the space between the first vehicle and the second vehicle at the rear side as the lane change space.

[0101] When it is determined that the first vehicle is located at the rear side and the second vehicle is not located at the rear side, the space behind the first vehicle is determined as the lane change space.

[0102] In some optional embodiments, the determination module 702 is further configured to:

[0103] When it is determined that the side front vehicle and the first side rear vehicle exist, and the side vehicle does not exist, the space between the side front vehicle and the first side rear vehicle is determined as the lane change space.

[0104] When it is determined that there is a side front vehicle and there are no side vehicle, a first side rear vehicle, and a second side rear vehicle, the space behind the side front vehicle is determined as the lane change space.

[0105] When it is determined that there is a first vehicle behind the side, and there are no side vehicles and side front vehicles, the space in front of the first vehicle behind the side is determined as the lane change space.

[0106] The assisted driving lane change space determination device provided by the present application fully takes into account the positions of the vehicle directly in front and the current vehicle. The lane change space can be accurately classified according to the relative position relationship between the vehicle in front, the vehicle on the side, the first vehicle behind, the second vehicle behind and the vehicle in front, thereby ultimately determining the lane change space. The lane change space will not be enumerated indefinitely according to the number of vehicles, thereby reducing the amount of calculation.

[0107] In the present application, it should be understood that the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features.

[0108] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only.

[0109] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

[0110] The above description is only for the purpose of facilitating those skilled in the art to understand the technical solution of the present application and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for determining lane change space for assisted driving, characterized in that: The method comprises: Determining whether there is at least one of a vehicle in front of the side, a vehicle on the side, a first vehicle behind the side, and a second vehicle behind the side, and whether there is a vehicle directly in front; When it is determined that at least one of the side front vehicle, the side vehicle, the first side rear vehicle, and the second side rear vehicle exists, and the vehicle directly in front exists, the lane change space is determined according to the position of the vehicle directly in front and at least one of the existing side front vehicle, the side vehicle, the first side rear vehicle, and the second side rear vehicle, and the relative position between the vehicle directly in front and at least one of the existing side front vehicle, the side vehicle, the first side rear vehicle, and the second side rear vehicle; When it is determined that at least one of the vehicle in front, the vehicle on the side, the first vehicle on the rear side and the second vehicle on the rear side exists, and the vehicle in front does not exist, the lane change space is determined according to the position of at least one of the vehicle in front, the vehicle on the side, the first vehicle on the rear side and the second vehicle on the rear side, wherein the vehicle in front and the current vehicle are located in the same first lane, the vehicle in front, the vehicle on the side, the first vehicle on the rear side and the second vehicle on the rear side are located in the second lane in order from front to back, the second lane is an adjacent lane to the first lane, and the first virtual vehicle after the current vehicle is translated to the second lane overlaps with the vehicle on the side.

2. The method for determining lane change space for assisted driving according to claim 1, characterized in that: The method further comprises: When it is determined that the side front vehicle and the front vehicle exist, and a second virtual vehicle after the front vehicle is translated to the second lane is located in front of the side front vehicle, a space between the second virtual vehicle and the side front vehicle is determined as the lane change space; When it is determined that the vehicle in front of the side exists and the vehicle directly in front does not exist, the space in front of the vehicle in front of the side is determined as the lane change space.

3. The method for determining lane change space for assisted driving according to claim 1, characterized in that: The method further comprises: When it is determined that the side vehicle and the front vehicle exist, but the side front vehicle does not exist, and a second virtual vehicle after the front vehicle is translated to the second lane is located in front of the side vehicle, the space between the second virtual vehicle and the side vehicle is determined as the lane change space; When it is determined that the side vehicle and the side-front vehicle exist, and the front vehicle does not exist, determining the space between the side vehicle and the side-front vehicle as the lane change space; When it is determined that the side vehicle exists, and the side front vehicle and the front vehicle do not exist, the space in front of the side vehicle is determined as the lane change space.

4. The method for determining lane change space for assisted driving according to claim 1, characterized in that: The method further comprises: When it is determined that the side vehicle and the first vehicle behind the side exist, determining the space between the side vehicle and the first vehicle behind the side as the lane change space; When it is determined that the side vehicle exists and the first side and rear vehicle does not exist, the space behind the side vehicle is determined as the lane change space.

5. The method for determining lane change space for assisted driving according to claim 1, characterized in that: The method further comprises: When it is determined that the first vehicle and the second vehicle are located at the rear side, a space between the first vehicle and the second vehicle is determined as the lane change space; When it is determined that the first vehicle at the rear side exists and the second vehicle at the rear side does not exist, the space behind the first vehicle at the rear side is determined as the lane change space.

6. The method for determining lane change space for assisted driving according to claim 1, characterized in that: The method further comprises: When it is determined that the side front vehicle and the side rear first vehicle exist, and the side vehicle does not exist, determining the space between the side front vehicle and the side rear first vehicle as the lane change space; When it is determined that the side front vehicle exists and the side vehicle, the first side rear vehicle, and the second side rear vehicle do not exist, determining the space behind the side front vehicle as the lane change space; When it is determined that the first vehicle behind the side exists, and the side vehicle and the side front vehicle do not exist, the space in front of the first vehicle behind the side is determined as the lane change space.

7. A device for determining lane change space for auxiliary driving, characterized in that: The device comprises: a determination module configured to determine whether there is at least one of a vehicle in front of the side, a vehicle on the side, a first vehicle behind the side, and a second vehicle behind the side, and whether there is a vehicle directly in front; a determination module configured to determine the lane change space according to the position of the vehicle directly in front and at least one of the vehicle directly in front, the vehicle on the side, the first vehicle on the side rear and the second vehicle on the side rear, and the relative position between the vehicle directly in front and at least one of the vehicle directly in front, the vehicle on the side, the first vehicle on the side rear and the second vehicle on the side rear, when it is determined that at least one of the vehicle in front, the vehicle on the side, the first vehicle on the side rear and the second vehicle on the side rear exists, and the vehicle directly in front exists; The determination module is further configured to: When it is determined that at least one of the vehicle in front, the vehicle on the side, the first vehicle on the rear side and the second vehicle on the rear side exists, and the vehicle in front does not exist, the lane change space is determined according to the position of at least one of the vehicle in front, the vehicle on the side, the first vehicle on the rear side and the second vehicle on the rear side, wherein the vehicle in front and the current vehicle are located in the same first lane, the vehicle in front, the vehicle on the side, the first vehicle on the rear side and the second vehicle on the rear side are located in the second lane in order from front to back, the second lane is an adjacent lane to the first lane, and the first virtual vehicle after the current vehicle is translated to the second lane overlaps with the vehicle on the side.

8. The device for determining lane change space for assisted driving according to claim 7, characterized in that: The determination module is further configured to: When it is determined that the side front vehicle and the front vehicle exist, and a second virtual vehicle after the front vehicle is translated to the second lane is located in front of the side front vehicle, a space between the second virtual vehicle and the side front vehicle is determined as the lane change space; When it is determined that the side front vehicle exists and the front vehicle does not exist, the space in front of the side front vehicle is determined as the lane change space, The determination module is further configured to: when it is determined that the side vehicle and the front vehicle exist, the side front vehicle does not exist, and a second virtual vehicle after the front vehicle is translated to the second lane is located in front of the side vehicle, determine the space between the second virtual vehicle and the side vehicle as the lane change space; When it is determined that the side vehicle and the side-front vehicle exist, and the front vehicle does not exist, determining the space between the side vehicle and the side-front vehicle as the lane change space; When it is determined that the side vehicle exists, and the side front vehicle and the front vehicle do not exist, the space in front of the side vehicle is determined as the lane change space.

9. The device for determining lane change space for assisted driving according to claim 7, characterized in that: The determination module is further configured to: When it is determined that the side vehicle and the first vehicle behind the side exist, determining the space between the side vehicle and the first vehicle behind the side as the lane change space; When it is determined that the side vehicle exists and the first side and rear vehicle does not exist, the space behind the side vehicle is determined as the lane change space, The determination module is further configured to: when it is determined that the first vehicle and the second vehicle are located at the rear side, determine the space between the first vehicle and the second vehicle as the lane change space; When it is determined that the first vehicle at the rear side exists and the second vehicle at the rear side does not exist, the space behind the first vehicle at the rear side is determined as the lane change space.

10. The device for determining lane change space for assisted driving according to claim 7, characterized in that: The determination module is further configured to: When it is determined that the side front vehicle and the side rear first vehicle exist, and the side vehicle does not exist, determining the space between the side front vehicle and the side rear first vehicle as the lane change space; When it is determined that the side front vehicle exists and the side vehicle, the first side rear vehicle, and the second side rear vehicle do not exist, determining the space behind the side front vehicle as the lane change space; When it is determined that the first vehicle behind the side exists, and the side vehicle and the side front vehicle do not exist, the space in front of the first vehicle behind the side is determined as the lane change space.

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