Vehicle driving control method and device based on lane switching of preceding vehicle

Abstract

The invention relates to a vehicle driving control method and device based on lane switching of a front vehicle, and the method comprises the steps: obtaining the current driving lane information of a current vehicle and the state information of a front target vehicle; sampling each front target vehicle to obtain state sampling data corresponding to each front target vehicle, and performing importance descending sorting on the front target vehicles according to the state sampling data and the tracking importance requirements to obtain a tracking target importance sorting result; and determining a lane switching behavior of each important target vehicle in the tracking target importance sorting result according to a preset lane switching-in and switching-out requirement so as to control the current vehicle to execute corresponding driving operation. In the cruise control process, when the front vehicle cuts in or cuts out of the current lane, the vehicle can be controlled to adjust the vehicle following target in time, the vehicle speed is adjusted according to the new vehicle following target, and therefore the reliability degree and the safety performance of the vehicle are greatly improved.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving technology, and in particular to a vehicle driving control method and device based on lane switching of a preceding vehicle. Background Art

[0002] At present, in the cruise control process of an autonomous vehicle, the existing technology can determine the current following vehicle target in the current detection cycle in combination with the previous following vehicle target in the previous detection cycle; in addition, the existing technology can also model the ego vehicle, predict the driving trajectory of the ego vehicle through the yaw angle, and screen the following vehicle target according to the predicted trajectory of the ego vehicle.

[0003] However, the existing technology only refers to the perception results of the previous detection cycle and cannot accurately determine whether the following target is going to cut in or out of the lane; in addition, the existing technology only screens the following target based on whether the target vehicle is on the future trajectory of the vehicle, and it is easy to mistrack targets with unclear intentions of cutting in or out.

[0004] In summary, the existing vehicle-following cruise technology cannot switch and adjust the following target in time when the front vehicle cuts in or out, which greatly affects the driving safety of the vehicle and needs to be solved urgently. Summary of the invention

[0005] The present application provides a vehicle driving control method and device based on lane switching of a leading vehicle, so as to solve the problem that the existing vehicle following cruise technology cannot switch and adjust the following vehicle target in time when the leading vehicle cuts in or out, which greatly affects the driving safety of the vehicle.

[0006] The first aspect of the present application provides a vehicle driving control method based on lane switching of a leading vehicle, comprising the following steps: obtaining current driving lane information of a current vehicle and multiple status information of at least one leading target vehicle; sampling each of the at least one leading target vehicle to obtain state sampling data corresponding to the multiple status information of each leading target vehicle, and sorting the at least one leading target vehicle in descending order of importance according to the state sampling data and preset tracking importance requirements to obtain a tracking target importance sorting result; judging whether each important target vehicle in the tracking target importance sorting result meets the preset lane entry or exit requirements to obtain a judgment result corresponding to each important target vehicle, and controlling the current vehicle to perform corresponding driving operations according to the judgment result.

[0007] Optionally, in one embodiment of the present application, the judgment of whether each important target vehicle in the tracking target importance ranking result meets the preset lane entry or exit requirement to obtain the judgment result corresponding to each important target vehicle, and the current vehicle is controlled to perform corresponding driving operations according to the judgment result, including: judging whether each important target vehicle in the tracking target importance ranking result meets the preset lane entry or exit requirement; if there is at least one important target vehicle that meets the lane entry requirement, switching the tracking target vehicle of the current vehicle, and controlling the current vehicle to perform a preset comfortable deceleration operation.

[0008] Optionally, in one embodiment of the present application, the judging whether each important target vehicle in the tracking target importance ranking result meets the preset lane cutting-in or cutting-out requirement to obtain the judgment result corresponding to each important target vehicle, and controlling the current vehicle to perform the corresponding driving operation according to the judgment result also includes: judging whether each important target vehicle in the tracking target importance ranking result meets the preset lane cutting-out requirement; if there is at least one important target vehicle that meets the lane cutting-out requirement, judging in turn whether there are other important target vehicles in the preset driving state in front of the important target vehicle that meets the lane cutting-out requirement; when there are other important target vehicles in the preset driving state in front of the important target vehicle that meets the lane cutting-out requirement, switching the important target vehicle to the preset lane cutting-out requirement. the tracking target vehicle of the current vehicle, and controlling the current vehicle to perform a preset comfortable deceleration operation; when the other important target vehicles do not exist in front of the important target vehicle that meets the lane cutting requirement, controlling the current vehicle to continuously follow the important target vehicle that meets the lane cutting requirement within a preset following time period, and re-performing the importance descending sorting operation after the preset following time period to obtain a new tracking target importance sorting result, and judging whether there is a new important target vehicle according to the new tracking target importance sorting result; if the new important target vehicle exists, controlling the current vehicle to perform the following operation of the important target vehicle that meets the lane cutting requirement; if the new important target vehicle does not exist, controlling the current vehicle to perform a preset cruising operation.

[0009] Optionally, in one embodiment of the present application, the determining whether each important target vehicle in the tracking target importance ranking result meets the preset lane entry or exit requirements includes: obtaining the state sampling data of the important target vehicle at time t and in the kth sampling period; When the state sampling data When j = 0, 1, 2, ..., p, In the case of j = p + 1, 2, ..., k, , it is determined that the important target vehicle cuts into the current driving lane of the current vehicle from the right, wherein f right (x) represents the right lateral displacement perpendicular to the current vehicle forward direction, ε represents the preset lateral deviation value; when the state sampling data When j = 0, 1, 2, ..., p, In the case of j = p + 1, 2, ..., k, When the important target vehicle cuts into the current driving lane from the left, f left (x) represents the left lateral displacement perpendicular to the current vehicle forward direction.

[0010] Optionally, in one embodiment of the present application, the step of determining whether each important target vehicle in the tracking target importance ranking result meets a preset lane entry or exit requirement comprises: when the state sampling data When j = 0, 1, 2, ..., p, In the case of j = p + 1, 2, ..., k, When the important target vehicle cuts out of the current driving lane of the current vehicle from the right, f right (x) represents the right lateral displacement perpendicular to the current vehicle forward direction, ε represents the preset lateral deviation value; when the state sampling data When j = 0, 1, 2, ..., p, In the case of j = p + 1, 2, ..., k, When the important target vehicle cuts out of the current driving lane from the left, f left (x) represents the left lateral displacement perpendicular to the current vehicle forward direction.

[0011] A second aspect of the present application provides a vehicle driving control device based on lane switching of a leading vehicle, comprising: an acquisition module, used to acquire current driving lane information of a current vehicle and multiple status information of at least one leading target vehicle; a sampling module, used to sample each of the at least one leading target vehicle to obtain state sampling data corresponding to the multiple status information of each leading target vehicle, and sort the at least one leading target vehicle in descending order of importance according to the state sampling data and preset tracking importance requirements to obtain a tracking target importance sorting result; a control module, used to determine whether each important target vehicle in the tracking target importance sorting result meets the preset lane entry or exit requirements to obtain a judgment result corresponding to each important target vehicle, and control the current vehicle to perform corresponding driving operations according to the judgment result.

[0012] Optionally, in one embodiment of the present application, the control module includes: a first judgment unit, used to judge whether each important target vehicle in the tracking target importance ranking result meets the preset lane entry or exit requirements; an execution unit, if there is at least one important target vehicle that meets the lane entry requirements, then switches the tracking target vehicle of the current vehicle, and controls the current vehicle to perform a preset comfortable deceleration operation.

[0013] Optionally, in one embodiment of the present application, the control module further includes: a second judgment unit, used to judge whether each important target vehicle in the tracking target importance ranking result meets the preset lane cut-out requirement; a third judgment unit, used to judge in turn whether there are other important target vehicles in a preset driving state in front of the important target vehicle that meets the lane cut-out requirement if there is at least one important target vehicle that meets the lane cut-out requirement; a comfortable deceleration unit, used to switch the tracking target vehicle of the current vehicle when there are other important target vehicles in the preset driving state in front of the important target vehicle that meets the lane cut-out requirement, and control the current vehicle to perform a preset comfortable deceleration operation; a fourth judgment unit , which is used to control the current vehicle to continuously follow the important target vehicle that meets the lane cutting requirement within a preset following time period when there is no other important target vehicle in front of the important target vehicle that meets the lane cutting requirement, and re-execute the descending importance sorting operation after the preset following time period to obtain a new tracking target importance sorting result, and judge whether there is a new important target vehicle according to the new tracking target importance sorting result; a following unit, which is used to control the current vehicle to perform the following operation on the important target vehicle that meets the lane cutting requirement if there is the new important target vehicle; and a cruising unit, which is used to control the current vehicle to perform a preset cruising operation if there is no new important target vehicle.

[0014] Optionally, in one embodiment of the present application, the control module further includes: a data preparation unit for obtaining the state sampling data of the important target vehicle at time t and in the kth sampling period The right-side cut-in unit is used to sample data when the state When j = 0, 1, 2, ..., p, In the case of j = p + 1, 2, ..., k, , it is determined that the important target vehicle cuts into the current driving lane of the current vehicle from the right, wherein f right (x) represents the right lateral displacement perpendicular to the current vehicle forward direction, ε represents the preset lateral deviation value; the left cut-in unit is used when the state sampling data When j = 0, 1, 2, ..., p, In the case of j = p + 1, 2, ..., k, When the important target vehicle cuts into the current driving lane from the left, f left (x) represents the left lateral displacement perpendicular to the current vehicle forward direction.

[0015] Optionally, in one embodiment of the present application, the control module further comprises: a right-side cut-out unit, configured to: When j = 0, 1, 2, ..., p, In the case of j = p + 1, 2, ..., k, When the important target vehicle cuts out of the current driving lane of the current vehicle from the right, f right (x) represents the right lateral displacement perpendicular to the current vehicle forward direction, ε represents the preset lateral deviation value; the left cut-out unit is used when the state sampling data When j = 0, 1, 2, ..., p, In the case of j = p + 1, 2, ..., k, When the important target vehicle cuts out of the current driving lane from the left, f left (x) represents the left lateral displacement perpendicular to the current vehicle forward direction.

[0016] The third aspect of the present application provides a vehicle, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle driving control method based on lane switching by a preceding vehicle as described in the above embodiment.

[0017] The fourth aspect of the present application provides a computer-readable storage medium, which stores a computer program. When the program is executed by a processor, it implements the above-mentioned vehicle driving control method based on the preceding vehicle switching lanes.

[0018] The fifth aspect of the present application provides a computer program product, including a computer program, which is executed to implement the above-mentioned vehicle driving control method based on lane switching of the preceding vehicle.

[0019] Therefore, the embodiments of the present application have the following beneficial effects:

[0020] The embodiment of the present application can obtain the current driving lane information of the current vehicle and multiple state information of at least one front target vehicle; sample each front target vehicle in at least one front target vehicle to obtain the state sampling data corresponding to the multiple state information of each front target vehicle, and sort the at least one front target vehicle in descending order of importance according to the state sampling data and the preset tracking importance requirements to obtain the tracking target importance sorting result; judge whether each important target vehicle in the tracking target importance sorting result meets the preset lane cut-in or cut-out requirements to obtain the judgment result corresponding to each important target vehicle, and control the current vehicle to perform the corresponding driving operation according to the judgment result. In the cruise control process of the present application, when the front vehicle cuts in or out of the current lane, the vehicle can be controlled to adjust the following vehicle target in time, and adjust the vehicle speed according to the new following vehicle target, thereby greatly improving the reliability and safety performance of the vehicle. Thus, the existing following vehicle cruise technology is solved. When the front vehicle cuts in or out, the following vehicle target cannot be switched and adjusted in time, which greatly affects the driving safety of the vehicle.

[0021] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0023] Figure 1 A flowchart of a vehicle driving control method based on lane switching of a leading vehicle provided according to an embodiment of the present application;

[0024] Figure 2 A schematic diagram of a preceding vehicle cutting-in process provided for an embodiment of the present application;

[0025] Figure 3 A schematic diagram of a front vehicle cutting out and a stationary or low-speed vehicle ahead provided in one embodiment of the present application;

[0026] Figure 4 A schematic diagram of a vehicle ahead cutting out and a vehicle ahead running normally is provided in accordance with an embodiment of the present application;

[0027] Figure 5 is an example diagram of a vehicle driving control device based on lane switching of a leading vehicle according to an embodiment of the present application;

[0028] Figure 6 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application.

[0029] Among them, 10-a vehicle driving control device based on lane switching of a preceding vehicle; 100-an acquisition module, 200-a sampling module, 300-a control module; 601-a memory, 602-a processor, 603-a communication interface. DETAILED DESCRIPTION

[0030] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0031] The following describes the vehicle driving control method and device based on the lane switching of the front vehicle in the embodiment of the present application with reference to the accompanying drawings. In view of the problems mentioned in the above background technology, the present application provides a vehicle driving control method based on the lane switching of the front vehicle, in which the current driving lane information of the current vehicle and multiple state information of at least one front target vehicle are obtained; each front target vehicle in the at least one front target vehicle is sampled to obtain the state sampling data corresponding to the multiple state information of each front target vehicle, and at least one front target vehicle is sorted in descending order of importance according to the state sampling data and the preset tracking importance requirements to obtain the tracking target importance sorting result; it is judged whether each important target vehicle in the tracking target importance sorting result meets the preset lane cutting-in or cutting-out requirements to obtain the judgment result corresponding to each important target vehicle, and the current vehicle is controlled to perform the corresponding driving operation according to the judgment result. In the cruise control process of the present application, when the front vehicle cuts in or out of the current lane, the vehicle can be controlled to adjust the following vehicle target in time, and the self-vehicle speed is adjusted according to the new following vehicle target, thereby greatly improving the reliability and safety performance of the vehicle. This solves the problem that the existing vehicle-following cruise technology is unable to switch and adjust the following target in time when the front vehicle cuts in or out, which greatly affects the driving safety of the vehicle.

[0032] Specifically, Figure 1 A flowchart of a vehicle driving control method based on a preceding vehicle switching lanes provided in an embodiment of the present application.

[0033] like Figure 1 As shown, the vehicle driving control method based on the lane switching of the leading vehicle includes the following steps:

[0034] In step S101, current driving lane information of the current vehicle and multiple status information of at least one front target vehicle are obtained.

[0035] In step S102, each of the at least one front target vehicle is sampled to obtain state sampling data corresponding to multiple state information of each front target vehicle, and at least one front target vehicle is sorted in descending order of importance according to the state sampling data and preset tracking importance requirements to obtain a tracking target importance sorting result.

[0036] The embodiment of the present application can first detect the lane line of the lane where the current vehicle is located through the perception module, and use polynomial equations to represent the vertical and lateral displacements in the vehicle's forward direction, as shown in the following formula:

[0037] y left =f left (x)

[0038] y right =f right (x)

[0039] Among them, x represents the displacement along the current vehicle forward direction, y left Indicates the left lateral displacement perpendicular to the current vehicle's forward direction, y right Indicates the right lateral displacement perpendicular to the current vehicle forward direction, f left (x), f right (x) is a polynomial function.

[0040] Secondly, the embodiment of the present application also needs to detect the target vehicle traveling in front through the perception module, which is represented by {ID1, ID2, ..., ID n}, where ID i Indicates the i-th detected target vehicle, ID i The state is represented as (x1, vx1, y1, vy1, θ1, ω1), which are the x-coordinate, x-speed, y-coordinate, y-speed, heading angle and yaw rate of the i-th target vehicle respectively.

[0041] In the actual implementation process, if the perception module cannot output 6 status data, such as relying solely on ordinary millimeter-wave radar, it is difficult to perceive the speed, heading angle and yaw angular velocity in the y direction, then at least the perception module needs to output the first 3 status data.

[0042] Afterwards, the embodiment of the present application can continuously track the i-th target vehicle, assuming that its historical coordinate information in the y direction in the past k sampling periods is (i.e. state sampling data), where: is the y coordinate of the i-th target vehicle at the current moment.

[0043] Finally, the embodiments of the present application can be judged Whether the preset tracking importance requirement is met. The mathematical expression of the tracking importance requirement is as follows:

[0044]

[0045] in, is the x-coordinate of the ith target vehicle at the current sampling time.

[0046] like If the above tracking importance requirements are met, the target vehicle can be screened as an important target, which can be expressed as {MIO1, MIO2, …, MIO m}; The embodiments of the present application may be based on Arrange them in order from small to large, that is, the target vehicles closer to the vehicle are placed in front, and the ones farther away are placed in the back, so as to obtain the ranking result of the tracking target importance.

[0047] Therefore, the embodiment of the present application obtains target detection vehicles and screens important target vehicles among the target detection vehicles, thereby providing reliable data guidance and support for subsequent judgment of the lane switching behavior and intention of important target vehicles.

[0048] In step S103, it is determined whether each important target vehicle in the tracking target importance ranking result meets the preset lane entry or exit requirements to obtain the judgment result corresponding to each important target vehicle, and the current vehicle is controlled to perform corresponding driving operations according to the judgment result.

[0049] Optionally, in one embodiment of the present application, it is determined whether each important target vehicle in the tracking target importance ranking result meets the preset lane entry or exit requirement to obtain the judgment result corresponding to each important target vehicle, and the current vehicle is controlled to perform corresponding driving operations according to the judgment result, including: determining whether each important target vehicle in the tracking target importance ranking result meets the preset lane entry or exit requirement; if there is at least one important target vehicle that meets the lane entry requirement, switching the tracking target vehicle of the current vehicle, and controlling the current vehicle to perform a preset comfortable deceleration operation.

[0050] Furthermore, the embodiment of the present application further needs to determine whether each important target vehicle in the tracking target importance ranking result meets the lane cutting requirement, and if there is at least one important target vehicle that meets the lane cutting requirement, the MIO is detected. i When the vehicle intends to cut into the lane, the embodiment of the present application needs to immediately switch the tracking target vehicle of the current vehicle, such as Figure 2 As shown, the current vehicle is controlled to perform a comfortable deceleration operation using a following algorithm.

[0051] Optionally, in one embodiment of the present application, judging whether each important target vehicle in the tracking target importance ranking result meets the preset lane entry or exit requirements includes: obtaining the state sampling data of the important target vehicle at time t and in the kth sampling period; When the state sampling data When j = 0, 1, 2, ..., p, In the case of j = p + 1, 2, ..., k, When the important target vehicle cuts into the current lane of the current vehicle from the right, f right (x) represents the right lateral displacement perpendicular to the current vehicle forward direction, and ε represents the preset lateral deviation value; when the state sampling data When j = 0, 1, 2, ..., p, In the case of j = p + 1, 2, ..., k, When the important target vehicle cuts into the current lane from the left, f left (x) represents the left lateral displacement perpendicular to the current vehicle forward direction.

[0052] It should be noted that when obtaining the state sampling data of the important target vehicle at time t and in the kth sampling period, Afterwards, the embodiment of the present application can determine whether the important target vehicle cuts into the current driving lane of the current vehicle according to the lane cutting requirement.

[0053] Specifically, if the state sampling data of the important target vehicle satisfy and It is determined that the important target vehicle cuts into the current driving lane of the current vehicle from the right, where ε represents a preset lateral deviation value to prevent mistracking of the target.

[0054] If the status sampling data of important target vehicles satisfy and It is determined that the important target vehicle cuts into the current driving lane of the current vehicle from the left.

[0055] Therefore, the embodiments of the present application effectively ensure the safety and reliability of the cruise control of the autonomous vehicle by setting reasonable lane entry requirements.

[0056] Optionally, in one embodiment of the present application, it is determined whether each important target vehicle in the tracking target importance ranking result meets the preset lane cutting-in or cutting-out requirement to obtain the judgment result corresponding to each important target vehicle, and the current vehicle is controlled to perform corresponding driving operations according to the judgment result, and it also includes: determining whether each important target vehicle in the tracking target importance ranking result meets the preset lane cutting-out requirement; if there is at least one important target vehicle that meets the lane cutting-out requirement, then determining in turn whether there are other important target vehicles in a preset driving state in front of the important target vehicle that meets the lane cutting-out requirement; when there are other important target vehicles in a preset driving state in front of the important target vehicle that meets the lane cutting-out requirement, Switch the tracking target vehicle of the current vehicle, and control the current vehicle to perform a preset comfortable deceleration operation; when there is no other important target vehicle in front of the important target vehicle that meets the lane cut-out requirements, control the current vehicle to continue to follow the important target vehicle that meets the lane cut-out requirements within a preset following time period, and re-execute the importance descending order sorting operation after the preset following time period to obtain a new tracking target importance sorting result, and judge whether there is a new important target vehicle according to the new tracking target importance sorting result; if there is a new important target vehicle, control the current vehicle to perform the following operation of the important target vehicle that meets the lane cut-out requirements; if there is no new important target vehicle, control the current vehicle to perform the preset cruising operation.

[0057] In the specific implementation process, the embodiment of the present application also needs to determine whether each important target vehicle in the tracking target importance ranking result meets the preset lane cutting requirement. If there is at least one important target vehicle that meets the lane cutting requirement, the MIO is detected. i When the vehicle intends to leave the lane, it is determined whether there is a MIO farther from the current vehicle that is traveling at a low speed or stationary. If so, the embodiment of the present application immediately switches to the following vehicle target, such as Figure 3 As shown, the vehicle performs comfortable deceleration according to the following algorithm; if there is no MIO farther away from the vehicle, such as Figure 4 As shown, while keeping following MIO i After Δt time (i.e., following time period), the operation of screening important target vehicles (i.e., sorting in descending order of importance) is re-executed to obtain a new tracking target importance sorting result, and whether there is a new important target vehicle is determined based on the new tracking target importance sorting result; if there is a new important target vehicle MIO, the current vehicle is controlled to perform a following operation on the important target vehicle that meets the lane cutting requirements; if there is no new important target vehicle MIO, the current vehicle is controlled to perform a preset cruising operation.

[0058] Therefore, in the cruise control of an autonomous vehicle, the embodiments of the present application can adjust the following target in a timely manner when the vehicle ahead cuts in or out of the current lane, and adjust the vehicle speed according to the new following target, thereby greatly improving the safety of the vehicle and improving the user's driving experience.

[0059] Optionally, in one embodiment of the present application, judging whether each important target vehicle in the tracking target importance ranking result meets the preset lane entry or exit requirements includes: when the state sampling data When j = 0, 1, 2, ..., p, In the case of j = p + 1, 2, ..., k, When the important target vehicle cuts out of the current lane of the current vehicle from the right, f right (x) represents the right lateral displacement perpendicular to the current vehicle forward direction, and ε represents the preset lateral deviation value; when the state sampling data When j = 0, 1, 2, ..., p, In the case of j = p + 1, 2, ..., k, When the important target vehicle cuts out of the current driving lane from the left, f left (x) represents the left lateral displacement perpendicular to the current vehicle forward direction.

[0060] It should be noted that the embodiment of the present application can determine whether an important target vehicle cuts out of the current driving lane of the current vehicle according to the lane cutting requirement.

[0061] Specifically, if the state sampling data of the important target vehicle satisfy and It is determined that the important target vehicle cuts out of the current driving lane of the current vehicle from the right side;

[0062] If the status sampling data of important target vehicles satisfy and It is determined that the important target vehicle cuts out of the current driving lane of the current vehicle from the left side.

[0063] Therefore, the embodiments of the present application set appropriate lane cutting requirements to accurately and reliably analyze and judge the lane switching intentions and behaviors of important target vehicles, thereby avoiding dangerous accidents caused by untimely target switching when the leading vehicle cuts in or out.

[0064] According to the vehicle driving control method based on lane switching of the leading vehicle proposed in the embodiment of the present application, by obtaining the current driving lane information of the current vehicle and multiple state information of at least one leading target vehicle; sampling each leading target vehicle in the at least one leading target vehicle to obtain state sampling data corresponding to the multiple state information of each leading target vehicle, and sorting the at least one leading target vehicle in descending order of importance according to the state sampling data and the preset tracking importance requirements to obtain the tracking target importance sorting result; judging whether each important target vehicle in the tracking target importance sorting result meets the preset lane cutting-in or cutting-out requirements to obtain the judgment result corresponding to each important target vehicle, and controlling the current vehicle to perform corresponding driving operations according to the judgment result. In the cruise control process of the present application, when encountering the leading vehicle cutting-in or cutting-out of the current lane, the vehicle can be controlled to adjust the following vehicle target in time, and the vehicle speed can be adjusted according to the new following vehicle target, thereby greatly improving the reliability and safety performance of the vehicle.

[0065] Secondly, the vehicle driving control device based on the preceding vehicle switching lanes proposed in accordance with an embodiment of the present application is described with reference to the accompanying drawings.

[0066] Figure 5 It is a block diagram of a vehicle driving control device based on lane switching of a leading vehicle according to an embodiment of the present application.

[0067] like Figure 5 As shown, the vehicle driving control device 10 based on lane switching of the preceding vehicle includes: an acquisition module 100 , a sampling module 200 and a control module 300 .

[0068] The acquisition module 100 is used to acquire the current driving lane information of the current vehicle and multiple status information of at least one front target vehicle.

[0069] The sampling module 200 is used to sample each of the at least one front target vehicle to obtain state sampling data corresponding to multiple state information of each front target vehicle, and to sort the at least one front target vehicle in descending order of importance according to the state sampling data and preset tracking importance requirements to obtain a tracking target importance sorting result.

[0070] The control module 300 is used to determine whether each important target vehicle in the tracking target importance ranking result meets the preset lane entry or exit requirements, so as to obtain the judgment result corresponding to each important target vehicle, and control the current vehicle to perform corresponding driving operations according to the judgment result.

[0071] Optionally, in one embodiment of the present application, the control module 300 includes: a first judgment unit and an execution unit.

[0072] Wherein, the first judgment unit is used to judge whether each important target vehicle in the tracking target importance ranking result meets the preset lane entry or exit requirements.

[0073] The execution unit switches the tracking target vehicle of the current vehicle if there is at least one important target vehicle that meets the lane cutting requirement, and controls the current vehicle to perform a preset comfortable deceleration operation.

[0074] Optionally, in one embodiment of the present application, the control module 300 further includes: a second judgment unit, a third judgment unit, a comfortable deceleration unit, a fourth judgment unit, a following unit and a cruising unit.

[0075] The second judgment unit is used to judge whether each important target vehicle in the tracking target importance ranking result meets the preset lane cutting requirement.

[0076] The third judgment unit is used to judge in sequence whether there are other important target vehicles in a preset driving state ahead of the important target vehicle that meets the lane cutting requirement if there is at least one important target vehicle that meets the lane cutting requirement.

[0077] The comfortable deceleration unit is used to switch the tracking target vehicle of the current vehicle and control the current vehicle to perform a preset comfortable deceleration operation when there is another important target vehicle in the preset driving state in front of the important target vehicle that meets the lane cut-out requirement.

[0078] The fourth judgment unit is used to control the current vehicle to continuously follow the important target vehicle that meets the lane cutting requirement within a preset following time period when there is no other important target vehicle in front of the important target vehicle that meets the lane cutting requirement, and re-execute the descending importance sorting operation after the preset following time period to obtain a new tracking target importance sorting result, and judge whether there is a new important target vehicle based on the new tracking target importance sorting result.

[0079] The following unit is used for controlling the current vehicle to perform a following operation on the important target vehicle that meets the lane cut-out requirement if the new important target vehicle exists.

[0080] A cruise unit is used for controlling the current vehicle to perform a preset cruise operation if the new important target vehicle does not exist.

[0081] Optionally, in one embodiment of the present application, the control module 300 further includes: a data preparation unit, a right-side cut-in unit and a left-side cut-in unit.

[0082] The data preparation unit is used to obtain the state sampling data of the important target vehicle at time t and in the kth sampling period.

[0083] The right-side cut-in unit is used to sample data in the current state When j = 0, 1, 2, ..., p, In the case of j = p + 1, 2, ..., k, When the important target vehicle cuts into the current lane of the current vehicle from the right, f right (x) represents the right lateral displacement perpendicular to the current vehicle forward direction, and ε represents the preset lateral deviation value.

[0084] The left cut-in unit is used to sample data in the current state When j = 0, 1, 2, ..., p, In the case of j = p + 1, 2, ..., k, When the important target vehicle cuts into the current lane from the left, f left (x) represents the left lateral displacement perpendicular to the current vehicle forward direction.

[0085] Optionally, in one embodiment of the present application, the control module 300 further includes: a right-side cut-out unit and a left-side cut-out unit.

[0086] Among them, the right side cut-out unit is used for state sampling data When j = 0, 1, 2, ..., p, In the case of j = p + 1, 2, ..., k, When the important target vehicle cuts out of the current lane of the current vehicle from the right, f right (x) represents the right lateral displacement perpendicular to the current vehicle forward direction, and ε represents the preset lateral deviation value.

[0087] The left side cut-out unit is used to sample data in the current state When j = 0, 1, 2, ..., p, In the case of j = p + 1, 2, ..., k, When the important target vehicle cuts out of the current driving lane from the left, f left (x) represents the left lateral displacement perpendicular to the current vehicle forward direction.

[0088] It should be noted that the aforementioned explanation of the embodiment of the vehicle driving control method based on the preceding vehicle switching lanes is also applicable to the vehicle driving control device based on the preceding vehicle switching lanes of this embodiment, and will not be repeated here.

[0089] According to the vehicle driving control device based on the lane switching of the front vehicle proposed in the embodiment of the present application, it includes an acquisition module for acquiring the current driving lane information of the current vehicle and multiple state information of at least one front target vehicle; a sampling module for sampling each front target vehicle in the at least one front target vehicle to obtain the state sampling data corresponding to the multiple state information of each front target vehicle, and sorting the at least one front target vehicle in descending order of importance according to the state sampling data and the preset tracking importance requirements to obtain the tracking target importance sorting result; a control module for judging whether each important target vehicle in the tracking target importance sorting result meets the preset lane cutting-in or cutting-out requirements to obtain the judgment result corresponding to each important target vehicle, and controlling the current vehicle to perform the corresponding driving operation according to the judgment result. In the cruise control process of the present application, when the front vehicle cuts in or out of the current lane, the vehicle can be controlled to adjust the following vehicle target in time, and adjust the vehicle speed according to the new following vehicle target, thereby greatly improving the reliability and safety performance of the vehicle.

[0090] Figure 6 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. The vehicle may include:

[0091] A memory 601 , a processor 602 , and a computer program stored in the memory 601 and executable on the processor 602 .

[0092] When the processor 602 executes the program, the vehicle driving control method based on the preceding vehicle switching lanes provided in the above embodiment is implemented.

[0093] Furthermore, the vehicle also includes:

[0094] The communication interface 603 is used for communication between the memory 601 and the processor 602 .

[0095] The memory 601 is used to store computer programs that can be executed on the processor 602 .

[0096] The memory 601 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0097] If the memory 601, the processor 602 and the communication interface 603 are implemented independently, the communication interface 603, the memory 601 and the processor 602 can be connected to each other through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0098] Optionally, in a specific implementation, if the memory 601, the processor 602 and the communication interface 603 are integrated on a chip, the memory 601, the processor 602 and the communication interface 603 can communicate with each other through an internal interface.

[0099] The processor 602 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0100] An embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the vehicle driving control method based on lane switching by a preceding vehicle is implemented as described above.

[0101] An embodiment of the present application also provides a computer program product, including a computer program, which, when executed, is used to implement the above-mentioned vehicle driving control method based on lane switching of a leading vehicle.

[0102] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0103] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0104] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or N executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0105] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or N wirings (electronic devices), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways as necessary and then storing it in a computer memory.

[0106] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above embodiment, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0107] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0108] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0109] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A vehicle driving control method based on lane switching of a preceding vehicle, characterized in that: The following steps are involved: Acquire current driving lane information of the current vehicle and multiple status information of at least one front target vehicle; Sampling each of the at least one front target vehicle to obtain state sampling data corresponding to a plurality of state information of each front target vehicle, and sorting the at least one front target vehicle in descending order of importance according to the state sampling data and a preset tracking importance requirement to obtain a tracking target importance sorting result; It is determined whether each important target vehicle in the tracking target importance ranking result meets the preset lane entry or exit requirements to obtain a judgment result corresponding to each important target vehicle, and the current vehicle is controlled to perform corresponding driving operations according to the judgment result.

2. The method according to claim 1, characterized in that The determining whether each important target vehicle in the tracking target importance ranking result meets a preset lane cut-in or cut-out requirement to obtain a determination result corresponding to each important target vehicle, and controlling the current vehicle to perform a corresponding driving operation according to the determination result, includes: Determining whether each important target vehicle in the tracking target importance ranking result meets the preset lane cut-in or cut-out requirements; If there is at least one important target vehicle that meets the lane cutting requirement, the tracking target vehicle of the current vehicle is switched, and the current vehicle is controlled to perform a preset comfortable deceleration operation.

3. The method according to claim 1, characterized in that The determining whether each important target vehicle in the tracking target importance ranking result meets a preset lane cut-in or cut-out requirement to obtain a determination result corresponding to each important target vehicle, and controlling the current vehicle to perform a corresponding driving operation according to the determination result, further includes: Determining whether each important target vehicle in the tracking target importance ranking result meets the preset lane cut-out requirement; If there is at least one important target vehicle that meets the lane cut-out requirement, then sequentially determining whether there are other important target vehicles in a preset driving state ahead of the important target vehicle that meets the lane cut-out requirement; When there is another important target vehicle in the preset driving state ahead of the important target vehicle that meets the lane cut-out requirement, switching the tracking target vehicle of the current vehicle, and controlling the current vehicle to perform a preset comfortable deceleration operation; When there is no other important target vehicle in front of the important target vehicle that meets the lane cut-out requirement, control the current vehicle to continuously follow the important target vehicle that meets the lane cut-out requirement within a preset following time period, and re-execute the importance descending order sorting operation after the preset following time period to obtain a new tracking target importance sorting result, and judge whether there is a new important target vehicle according to the new tracking target importance sorting result; If the new important target vehicle exists, controlling the current vehicle to perform a following operation on the important target vehicle that meets the lane cut-out requirement; If the new important target vehicle does not exist, the current vehicle is controlled to perform a preset cruising operation.

4. The method according to claim 1, characterized in that: The determining whether each important target vehicle in the tracking target importance ranking result meets the preset lane cut-in or cut-out requirement includes: Obtain the state sampling data of the important target vehicle at time t and in the kth sampling period When the state sampling data When j = 0, 1, 2, ..., p, In the case of j = p + 1, 2, ..., k, , it is determined that the important target vehicle cuts into the current driving lane of the current vehicle from the right, wherein f right (x) represents the right lateral displacement perpendicular to the current vehicle forward direction, and ε represents a preset lateral deviation value; When the state sampling data When j = 0, 1, 2, ..., p, In the case of j = p + 1, 2, ..., k, When the important target vehicle cuts into the current driving lane from the left, f ;eft (x) represents the left lateral displacement perpendicular to the current vehicle forward direction.

5. The method according to claim 3, characterized in that: The determining whether each important target vehicle in the tracking target importance ranking result meets the preset lane cut-in or cut-out requirement includes: When the state sampling data When j = 0, 1, 2, ..., p, In the case of j = p + 1, 2, ..., k, When the important target vehicle cuts out of the current driving lane of the current vehicle from the right, f right (x) represents the right lateral displacement perpendicular to the current vehicle forward direction, and ε represents a preset lateral deviation value; When the state sampling data When j = 0, 1, 2, ..., p, In the case of j = p + 1, 2, ..., k, When the important target vehicle cuts out of the current driving lane from the left, f left (x) represents the left lateral displacement perpendicular to the current vehicle forward direction.

6. A vehicle driving control device based on lane switching of a preceding vehicle, characterized in that: include: An acquisition module, used to acquire current driving lane information of the current vehicle and multiple status information of at least one front target vehicle; A sampling module, used for sampling each of the at least one front target vehicle to obtain state sampling data corresponding to a plurality of state information of each front target vehicle, and sorting the at least one front target vehicle in descending order of importance according to the state sampling data and a preset tracking importance requirement to obtain a tracking target importance sorting result; The control module is used to determine whether each important target vehicle in the tracking target importance ranking result meets the preset lane entry or exit requirements, so as to obtain the judgment result corresponding to each important target vehicle, and control the current vehicle to perform corresponding driving operations according to the judgment result.

7. The device according to claim 6, characterized in that The control module comprises: A first judgment unit is used to judge whether each important target vehicle in the tracking target importance ranking result meets the preset lane cutting-in or cutting-out requirements; The execution unit switches the tracking target vehicle of the current vehicle if there is at least one important target vehicle that meets the lane cutting requirement, and controls the current vehicle to perform a preset comfortable deceleration operation.

8. A vehicle, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle driving control method based on lane switching of a leading vehicle as described in any one of claims 1 to 5.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement a vehicle driving control method based on a preceding vehicle switching lanes as described in any one of claims 1 to 5.

10. A computer program product, comprising a computer program, characterized in that The computer program is executed to implement the vehicle driving control method based on the preceding vehicle switching lanes as described in any one of claims 1-5.

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