Lane changing method, device and equipment, vehicle and storage medium

Abstract

The invention provides a lane changing method, device and equipment, a vehicle and a storage medium. Relates to the technical field of vehicle control. The method comprises the steps that when a lane changing auxiliary function of a vehicle is started and it is detected that the vehicle meets lane changing conditions, outer side road data of a target lane is obtained, and the transverse distance of lane changing of the vehicle is determined according to the outer side road data; the transverse distance is the distance that the center of the vehicle after lane changing and the center line of the target lane deviate towards one side of the lane before lane changing; and according to the transverse distance, controlling the vehicle to change the lane to one side close to the lane before change in the target lane. The method is used for improving the driving experience of the user.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a lane change method, device, equipment, vehicle and storage medium. Background Art

[0002] Driver assistance systems are technologies integrated into vehicles to improve driving safety and convenience. Using cameras, radar, lidar and other sensors, driver assistance systems monitor the vehicle's surroundings in real time, identify potential hazards, and warn the driver or take automatic action when necessary. These systems can include features such as automatic lane change assistance, automatic emergency braking, adaptive cruise control and blind spot monitoring.

[0003] In the related art, when a vehicle with a driving assistance system performs an automatic lane change assistance function, it changes lanes based on the center line of the lane. However, when guiding the vehicle to the target lane based on the center line of the lane, the vehicle is usually close to roadblocks or large objects near the target lane, which makes the user feel unsafe and affects the user's driving experience. Summary of the invention

[0004] The present application provides a lane change method, device, equipment, vehicle and storage medium to improve the user's driving experience.

[0005] In a first aspect, the present application provides a lane change method, comprising:

[0006] When the lane change assist function of the vehicle is turned on and it is detected that the vehicle meets the lane change condition, obtaining outer road data of the target lane;

[0007] Determine, based on the outer road data, a lateral distance for the vehicle to change lanes, wherein the lateral distance is a distance between the center of the vehicle after the lane change and the center line of the target lane offset to one side of the lane before the lane change;

[0008] According to the lateral distance, the vehicle is controlled to change lanes to a side of the target lane close to a lane before the change.

[0009] In a possible implementation manner, the outer road data includes boundary information and / or obstacle information of the vehicle driving road;

[0010] Determining the lateral distance for the vehicle to change lanes according to the outer road data includes:

[0011] If the outer road data indicates that there is a road boundary, and there is no other lane between the road boundary and the target lane, then determining the distance from the road boundary to the lane line adjacent to the target lane as the lateral distance;

[0012] If the outer road data indicates that there is an obstacle in the direction of vehicle travel, and there is no other lane between the lane where the obstacle is located and the target lane, the distance from the obstacle to the lane line adjacent to the target lane is determined as the lateral distance.

[0013] In a possible implementation, the method further includes:

[0014] If there is at least one lane between the lane where the road boundary or the obstacle is located and the target lane, the lateral distance is determined to be zero.

[0015] In a possible implementation manner, the acquiring outer road data of the target lane includes:

[0016] The outer road data of the target lane is acquired according to a navigation map of the vehicle and / or a sensor arranged on the vehicle.

[0017] In a possible implementation, the method further includes:

[0018] After controlling the vehicle to complete the lane change according to the lateral distance, controlling the vehicle to continue traveling a preset distance;

[0019] In the driving direction, the vehicle center of the vehicle is controlled to coincide with the center line of the target lane to maintain centered driving.

[0020] In a possible implementation, the method further includes:

[0021] determining a target lateral offset distance according to a target lane width of the target lane;

[0022] Optimizing the lateral distance by using the target lateral offset distance to obtain an optimized lateral distance;

[0023] Accordingly, controlling the vehicle to change lanes to a side of the target lane close to the lane before the change according to the lateral distance includes:

[0024] According to the optimized lateral distance, the vehicle is controlled to change lanes to a side of the target lane close to the lane before the change.

[0025] In a possible implementation manner, the optimizing the lateral distance and the target lateral offset distance to obtain an optimized lateral distance includes:

[0026] The difference between the lateral distance and the target lateral offset distance is determined as the optimized lateral distance.

[0027] In a possible implementation manner, determining the target lateral offset distance according to the lane width of the target lane includes:

[0028] If the target lane width is less than or equal to the first preset lane width, determining the target lateral offset distance to be zero;

[0029] If the target lane width is greater than the first preset lane width and less than the second preset lane width, determining the target lateral offset distance according to the relationship between the preset lane width and the lateral offset distance;

[0030] If the target lane width is greater than or equal to the second preset lane width, determining the target lateral offset distance to be the lateral distance;

[0031] Wherein, the first preset lane width is smaller than the second preset lane width.

[0032] In a second aspect, the present application provides a lane change device, comprising:

[0033] An acquisition module, used for acquiring outer road data of a target lane when a lane change assist function of the vehicle is turned on and it is detected that the vehicle meets a lane change condition;

[0034] A first processing module is used to determine a lateral distance for the vehicle to change lanes based on the outer road data, wherein the lateral distance is a distance between the center of the vehicle after the lane change and the center line of the target lane offset to one side of the lane before the lane change;

[0035] The control module is used to control the vehicle to change lanes to a side of the target lane close to the lane before the change according to the lateral distance.

[0036] In a possible implementation manner, the outer road data includes boundary information and / or obstacle information of the vehicle driving road;

[0037] The first processing module is specifically used for:

[0038] If the outer road data indicates that there is a road boundary, and there is no other lane between the road boundary and the target lane, then determining the distance from the road boundary to the lane line adjacent to the target lane as the lateral distance;

[0039] If the outer road data indicates that there is an obstacle in the direction of vehicle travel, and there is no other lane between the lane where the obstacle is located and the target lane, the distance from the obstacle to the lane line adjacent to the target lane is determined as the lateral distance.

[0040] In a possible implementation manner, the first processing module is further configured to:

[0041] If there is at least one lane between the lane where the road boundary or the obstacle is located and the target lane, the lateral distance is determined to be zero.

[0042] In a possible implementation manner, the acquisition module is specifically configured to:

[0043] The outer road data of the target lane is acquired according to a navigation map of the vehicle and / or a sensor arranged on the vehicle.

[0044] In a possible implementation manner, the control module is further used for:

[0045] After controlling the vehicle to complete the lane change according to the lateral distance, controlling the vehicle to continue traveling a preset distance;

[0046] In the driving direction, the vehicle center of the vehicle is controlled to coincide with the center line of the target lane to maintain centered driving.

[0047] In a possible implementation manner, the first processing module is further configured to:

[0048] determining a target lateral offset distance according to a target lane width of the target lane;

[0049] Optimizing the lateral distance by using the target lateral offset distance to obtain an optimized lateral distance;

[0050] Accordingly, the control module is specifically used for:

[0051] According to the optimized lateral distance, the vehicle is controlled to change lanes to a side of the target lane close to the lane before the change.

[0052] In a possible implementation manner, the first processing module is specifically configured to:

[0053] The difference between the lateral distance and the target lateral offset distance is determined as the optimized lateral distance.

[0054] In a possible implementation manner, the first processing module is specifically configured to:

[0055] If the target lane width is less than or equal to the first preset lane width, determining the target lateral offset distance to be zero;

[0056] If the target lane width is greater than the first preset lane width and less than the second preset lane width, determining the target lateral offset distance according to the relationship between the preset lane width and the lateral offset distance;

[0057] If the target lane width is greater than or equal to the second preset lane width, determining the target lateral offset distance to be the lateral distance;

[0058] Wherein, the first preset lane width is smaller than the second preset lane width.

[0059] In a third aspect, the present application provides an electronic device, including: a memory, a processor;

[0060] The memory stores computer-executable instructions;

[0061] The processor executes the computer-executable instructions stored in the memory, so that the processor performs the lane change method as described in any one of the first aspects.

[0062] In a fourth aspect, the present application provides a vehicle, comprising: a vehicle body, and the electronic device described in the third aspect.

[0063] In a fifth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer execution instructions, and when the computer execution instructions are executed by a processor, they are used to implement the lane change method as described in any one of the first aspects.

[0064] In a sixth aspect, the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the lane change method as described in any one of the first aspects.

[0065] The lane change method, device, equipment, vehicle and storage medium provided in the present application obtain the outer road data of the target lane when the lane change assist function of the vehicle is turned on and it is detected that the vehicle meets the lane change conditions, and determine the lateral distance of the vehicle for lane change according to the outer road data. According to the determined lateral distance, the vehicle is controlled to change lanes to the side of the target lane close to the lane before the change. By obtaining the outer road data of the target lane, the lateral distance of the vehicle for lane change can be flexibly adjusted, which brings a sense of security to the user, thereby improving the user's driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0067] Figure 1 A schematic diagram of an application scenario provided by an embodiment of the present application;

[0068] Figure 2 A flowchart of a first embodiment of a lane change method provided in the present application;

[0069] Figure 3 A schematic diagram of an example 1 of outer road data provided in an embodiment of the present application;

[0070] Figure 4 A flowchart of a second embodiment of the lane change method provided in this application;

[0071] Figure 5 A schematic diagram of a second example of outer road data provided in an embodiment of the present application;

[0072] Figure 6 A schematic diagram of the third example of outer road data provided in an embodiment of the present application;

[0073] Figure 7 A flowchart of a third embodiment of the lane change method provided in this application;

[0074] Figure 8 A schematic diagram of the relationship between lane width and lateral offset distance provided in an embodiment of the present application;

[0075] Fig. 9 A schematic diagram of the structure of a lane change device provided in an embodiment of the present application;

[0076] Fig.10 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0077] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0078] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0079] Figure 1 This is a schematic diagram of an application scenario provided by an embodiment of the present application. Figure 1 , including vehicle A, lane A, lane B, and curb C. Lane A includes lane line A1, lane line D1, and center line L1, and lane B includes lane line B1, lane line D1, and center line L2. Vehicle A with lane change assist turned on is traveling in lane A.

[0080] When vehicle A is driving, if it is determined that vehicle A meets the lane change conditions, it can change lanes from lane A to lane B and continue driving.

[0081] In the related art, when a vehicle with an integrated driving assistance system performs an automatic lane change assistance function, it usually changes lanes based on the center line of the lane. The centerline-based lane change method can ensure that the vehicle is centered in the target lane. However, in actual operation, the distance between the vehicle and the roadblocks or large objects (such as guardrails, large vehicles or other fixed obstacles) near the target lane during the lane change process is often close, which gives the user a strong sense of insecurity, especially when driving at high speeds or in complex road conditions. The user may feel nervous or uneasy, worried that the vehicle may collide with these obstacles, thus affecting the user's overall driving experience.

[0082] In response to the above problems, the inventors considered allowing the electronic device to determine the lateral distance for the vehicle to change lanes based on the outer road data of the lane that the vehicle is about to change, wherein the lateral distance can be the distance between the center of the vehicle after the lane change and the center line of the target lane offset to the side of the lane before the lane change. Specifically, when the electronic device determines that the vehicle has turned on the lane change assist function and detects that the vehicle meets the lane change conditions, it can obtain the outer road data of the target lane, and determine the lateral distance for the vehicle to change lanes based on the outer road data. Further, the vehicle can be controlled to change lanes based on the lateral distance so that it changes to the side of the target lane close to the lane before the change, thereby improving the user's sense of security. Based on this, the present application proposes a lane change method, which aims to further enhance the user's sense of security by optimizing the lateral distance during the vehicle's lane change process, thereby improving the user's driving experience.

[0083] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0084] Figure 2This is a flowchart of the first embodiment of the lane change method provided by this application. Figure 2 , the method comprising:

[0085] S201. When a lane change assist function of a vehicle is turned on and it is detected that the vehicle meets lane change conditions, outer road data of a target lane is obtained.

[0086] The execution subject of the embodiment of the present application may be an electronic device, or a lane change device set in the electronic device. The lane change device may be implemented by software, or by a combination of software and hardware. The lane change device may be a processor in the electronic device. For ease of understanding, the following description is made by taking the execution subject as an electronic device as an example.

[0087] In this step, when the vehicle is driving and it is detected that the lane change assist function of the vehicle is turned on and the vehicle meets the lane change conditions, the outer road data of the target lane can be obtained.

[0088] Optionally, it can be determined that the lane change assist function of the vehicle is turned on by any of the following methods.

[0089] Method 1: The vehicle is provided with a button or switch for enabling or disabling the lane change assist function. When the user presses the button or switches the switch, a signal can be transmitted to the electronic device to inform the electronic device that the lane change assist function is turned on.

[0090] Method 2: The vehicle can provide different driving modes for users to choose, such as automatic driving or semi-automatic driving mode. In these modes, the lane change assist function can be automatically activated. The electronic device can confirm whether the lane change assist function is turned on by detecting the current driving mode.

[0091] Method 3: In vehicles equipped with voice recognition technology, users can enable the Lane Change Assist function through voice commands. The electronic device can receive and recognize the voice command to confirm the activation of the function.

[0092] Lane change conditions refer to a series of safety and operational requirements that a vehicle needs to meet before making a lane change, which may include at least one of vehicle speed, turn signal, driver status, road conditions, system health status, regulations, and traffic rules.

[0093] For example, before changing lanes, the vehicle's speed should be kept within the appropriate range for lane change, as too high or too low a speed may affect the safety of lane change. In addition, the vehicle must turn on the turn signal before changing lanes to alert other road users to ensure the safety of the lane change process. At the same time, the driver should ensure that he is in good condition, stay focused and alert, so as to respond to possible emergencies in a timely manner.

[0094] In addition, the health of the system cannot be ignored. The key systems of the vehicle, such as steering and braking, should be in good working condition to ensure smooth lane change operations. Finally, when changing lanes, relevant laws and traffic rules must be followed, such as not changing lanes in areas or time periods where lane changes are prohibited, to ensure the safety of yourself and others.

[0095] In another optional implementation, satisfying the lane change condition may also refer to a scenario in which the electronic device detects that the vehicle needs to change lanes.

[0096] For example, if the electronic device identifies through the vehicle's sensors (such as a camera, radar, or lidar) that there are other slow-moving vehicles on the vehicle's road, it can be determined that the vehicle meets the lane change conditions.

[0097] For another example, if a vehicle is driving automatically on a highway and the speed in the slow lane reaches an upper limit, it can be changed to the fast lane to increase the driving speed of the vehicle.

[0098] The target lane is the lane that the vehicle plans to change to.

[0099] The outer road data refers to the outer road data of the target lane, which may include boundary information and / or obstacle information of the vehicle driving road.

[0100] Among them, boundary information may include road boundaries, such as curbs, guardrails, fences, walls, etc.; obstacle information may include obstacles, such as rows of roadblocks, such as construction areas, water barriers, ice cream cones, etc., or other vehicles.

[0101] Optionally, the boundary information also includes the distance between the road boundary and the lane line of the target lane; the obstacle information also includes the distance between the center of the obstacle, or the outermost side of the obstacle close to the target lane, and the lane line of the target lane.

[0102] Figure 3 This is a schematic diagram of an example of outer road data provided in an embodiment of the present application. Figure 3 , including lane A and target lane B, lane A includes lane line A1, lane line D1, and center line L1, and target lane B includes lane line B1, lane line D1, and center line L2. During the driving process of the vehicle, the electronic device detects that the lane change assist function of the vehicle is turned on and the vehicle meets the lane change conditions. At this time, the outer road data of the target lane B can be obtained. The outer road data indicates that there is a curb C in the vehicle driving road, and the distance between the curb C and the lane line B1 of the target lane is Dx.

[0103] S202: Determine a lateral distance for the vehicle to change lanes based on the outer road data.

[0104] In this step, the electronic device can determine the lateral distance of the vehicle for lane change based on the acquired outer road data of the target lane, wherein the lateral distance is the distance between the center of the vehicle after the lane change and the center line of the target lane offset to the side of the lane before the lane change.

[0105] Optionally, the vehicle center refers to the central axis of the vehicle that is parallel to the lane line in the direction of travel.

[0106] For example, the outer road data of the target lane B indicates that there is a curb C in the vehicle's driving road, and the distance between the curb C and the lane line B1 of the target lane is Dx, and the lateral distance for the vehicle to change lanes is determined to be Dy, that is, Figure 3 , the distance between the center line L2 and the center axis La.

[0107] S203: Control the vehicle to change lanes to a side of the target lane close to the lane before the lane is changed according to the lateral distance.

[0108] In this step, the electronic device can control the vehicle to calculate the planned trajectory according to the determined lateral distance to change lanes to a side of the target lane close to the lane before the change.

[0109] For example, the electronic device can control the vehicle to calculate the planned trajectory according to the determined lateral distance Dy to change lanes to the side of the target lane B close to the front lane A, that is, control the vehicle to change to the central axis La. The planned trajectory is S1.

[0110] In an optional implementation, the electronic device may calculate the planned trajectory based on the characteristic information of the lane line. The characteristic information of the lane line may include the lateral distance, curvature, curvature change rate, and yaw angle of the vehicle. The lateral distance of the vehicle refers to the lateral distance between the lane line and the vehicle itself; the curvature refers to the degree of curvature of the lane line; the curvature change rate refers to the rate of change of the curvature of the lane line over time or distance; and the yaw angle refers to the deviation angle of the vehicle relative to the lane line.

[0111] In the embodiment of the present application, when the lane change assist function of the vehicle is turned on and the lane change conditions are detected, the outer road data of the target lane can be obtained, and the lateral distance of the vehicle for lane change can be determined based on the outer road data, and the vehicle can be controlled to change lanes to the side of the target lane close to the lane before the change. In the above process, the lateral distance of the vehicle change can be determined based on the outer road data of the target lane to avoid the vehicle from being too close to roadblocks or large objects when changing to the target lane, thereby enhancing the sense of safety and improving the user's driving experience.

[0112] exist Figure 2 Based on the embodiment shown below, combined with Figure 4 , the above lane changing method is further described in detail.

[0113] Figure 4 This is a flow chart of the second embodiment of the lane change method provided by this application. Figure 4 , the outer road data includes boundary information and / or obstacle information of the vehicle driving road, and the method may include:

[0114] S401. When the lane change assist function of the vehicle is turned on and it is detected that the vehicle meets the lane change conditions, the outer road data of the target lane is obtained according to the navigation map of the vehicle and / or the sensors arranged on the vehicle.

[0115] In this step, when the vehicle is driving, if it is detected that the lane change assist function has been activated and the vehicle meets the conditions for changing lanes, the outer road data of the target lane can be obtained through the vehicle's navigation map and / or sensors installed on the vehicle.

[0116] Specifically, the navigation map may include current traffic conditions, road restrictions and environmental information, and the outer road data of the target lane may be determined based on the navigation map.

[0117] Optionally, the vehicle may be equipped with multiple sensors such as cameras, radars, and lidars, and the outer road data of the target lane may be obtained by fusing data collected by different sensors.

[0118] For example, laser radar can generate high-precision point cloud data around the vehicle to identify road boundaries, walls and other impassable obstacles; cameras are used to identify lane lines, road signs and other visual features to help determine lane boundaries; radar can detect objects around the vehicle, including guardrails and other vehicles, providing additional environmental perception information. By integrating data collected by multiple sensors, the road data outside the target lane can be accurately obtained.

[0119] For example, after the user presses the button of the lane change assist function, the electronic device can detect that the lane change assist function has been activated; during the driving process of the vehicle, if a slow-moving vehicle is detected in the current lane (before the change) and the user has turned on the vehicle's turn signal, it can be determined that the vehicle meets the lane change conditions. The outer road data of the target lane can be obtained based on the laser radar and camera installed on the vehicle.

[0120] S402: If the outer road data indicates that there is a road boundary, and there is no other lane between the road boundary and the target lane, the distance from the road boundary to the lane line adjacent to the target lane is determined as the lateral distance.

[0121] In this step, the acquired outer road data indicates that there is a road boundary, and there is no other lane between the road boundary and the target lane, that is, the road boundary is adjacent to the target lane, and the distance from the road boundary to the lane line adjacent to the target lane is determined as the lateral distance.

[0122] For example, Figure 3 As shown, according to the acquired outer road data, it can be indicated that there is a curb C, and there is no other lane between the curb C and the target lane B, that is, the curb C is adjacent to the target lane B, then the distance Dx from the curb C to the lane line B1 adjacent to the target lane B can be determined as the lateral distance Dy.

[0123] S403: If the outer road data indicates that there is an obstacle in the direction of vehicle travel, and there is no other lane between the lane where the obstacle is located and the target lane, the distance from the obstacle to the lane line adjacent to the target lane is determined as the lateral distance.

[0124] In this step, the acquired outer road data indicates that there is an obstacle in the direction of vehicle travel, and there is no other lane between the obstacle and the target lane, that is, the lane where the obstacle is located is adjacent to the target lane, and the distance from the obstacle to the lane line adjacent to the target lane is determined as the lateral distance.

[0125] In an optional implementation, the distance from the obstacle to the lane line adjacent to the target lane may refer to the distance from the center of the obstacle to the lane line, or the distance from the outermost side of the obstacle close to the target lane to the lane line.

[0126] Figure 5 This is a schematic diagram of the second example of the outer road data provided in the embodiment of the present application. Figure 5 , including lane A, target lane B, and lane C. Lane A includes lane line A1, lane line D1, and center line L1. Target lane B includes lane line B1, lane line D1, and center line L2. Lane C includes lane line C1, lane line B1, and center line L3. During the driving process of the vehicle, the electronic device detects that the lane change assist function of the vehicle has been turned on and the vehicle meets the lane change conditions. At this time, the outer road data of the target lane B can be obtained. The outer road data indicates that there are rows of ice cream cones F in the driving direction of the vehicle, and there are no other lanes between the ice cream cones F and the target lane B. The distance between the outermost side of the ice cream cone F close to the target lane and the lane line B1 of the target lane is Dx. Among them, the planned trajectory is S2.

[0127] For example, Figure 5As shown, according to the acquired outer road data, the existence of ice cream cone F can be indicated, and there is no other lane between ice cream cone F and the target lane B, that is, lane C where the ice cream cone is located is adjacent to the target lane B, then the distance Dx between the outermost side of the ice cream cone F close to the target lane and the lane line B1 of the target lane can be determined as the lateral distance Dy.

[0128] Figure 6 This is a schematic diagram of the third example of the outer road data provided in the embodiment of the present application. Figure 6 , during the driving process of the vehicle, the electronic device detects that the lane change assist function of the vehicle has been turned on and the vehicle meets the lane change conditions. At this time, the outer road data of the target lane B can be obtained. The outer road data indicates that there is a vehicle F traveling in the driving direction of the vehicle, and there is no other lane between vehicle F and the target lane B. The distance between the outermost side of vehicle F close to the target lane and the lane line B1 of the target lane is Dx. Among them, the planned trajectory is S3.

[0129] In an optional implementation, if there is at least one lane between the lane where the road boundary or obstacle is located and the target lane, the lateral distance is determined to be zero.

[0130] S404: Control the vehicle to change lanes to a side of the target lane close to the lane before the lane is changed according to the lateral distance.

[0131] In this step, the vehicle may be controlled to change lanes to a side of the target lane that is closer to the lane before the change according to the determined lateral distance.

[0132] For example, the vehicle can be controlled to change lanes to the side of the target lane close to the lane before the change based on the lateral distance Dy determined by the ice cream cone F, so that the vehicle is on the central axis La and keeps moving.

[0133] S405. After the vehicle is controlled to complete the lane change according to the lateral distance, the vehicle is controlled to continue traveling a preset distance.

[0134] In this step, after the vehicle is controlled to complete the lane change according to the lateral distance, the vehicle can be further controlled to continue driving a preset distance, providing the user with enough time and space to adapt to the new driving environment.

[0135] Optionally, the preset length distance may be determined based on the boundary information and / or obstacle information of the vehicle driving road included in the outer road data.

[0136] For example, if the outside road data indicates that there are obstacles in the direction of the vehicle, such as construction areas, water barriers, ice cream cones, or other vehicles, the preset distance can be adjusted based on the relative position of these obstacles to the vehicle, the type and height of the obstacles, and the current speed and direction of travel of the vehicle.

[0137] For example, after the vehicle is controlled to complete the lane change according to the lateral distance Dy, the vehicle can be controlled to be at the central axis La and continue to travel a preset distance of 100 m.

[0138] S406. In the driving direction, control the vehicle center to coincide with the center line of the target lane to maintain centered driving.

[0139] In this step, after the vehicle continues to travel a preset distance, the center of the vehicle can be controlled to coincide with the center line of the target lane in the driving direction according to the planned trajectory, so as to maintain centered driving.

[0140] For example, after the vehicle continues to travel a preset distance of 100 m, the vehicle center can be controlled to coincide with the center line L2 of the target lane in the driving direction according to the planned trajectory, so as to maintain centered driving.

[0141] In an embodiment of the present application, the electronic device can obtain the outer road data of the target lane according to the navigation map and / or the vehicle-mounted sensor when the lane change assist function of the vehicle is turned on and the vehicle is detected to meet the lane change conditions. According to the outer road data indicating that there is a road boundary and there are no other lanes between the road boundary and the target lane, the distance from the road boundary to the lane line adjacent to the target lane is determined as the lateral distance; according to the outer road data indicating that there is an obstacle in the direction of vehicle travel, and there are no other lanes between the lane where the obstacle is located and the target lane, the distance from the obstacle to the lane line adjacent to the target lane is determined as the lateral distance. According to the lateral distance, the vehicle is controlled to change to the side of the target lane close to the lane before the change. After completing the lane change, the vehicle continues to travel a preset length and keeps the center of the vehicle coincident with the center line of the target lane in the direction of travel to ensure centered driving. In the above process, the lateral distance can be adaptively adjusted according to the outer road data of the target lane, so as to dynamically adapt to the complex and changing road environment, thereby enhancing the user's sense of security and improving the driving experience.

[0142] Figure 7 This is a flow chart of the third embodiment of the lane change method provided by this application. Figure 7 , the method comprising:

[0143] S701. When the lane change assist function of the vehicle is turned on and it is detected that the vehicle meets the lane change conditions, obtain outer road data of the target lane.

[0144] For example, Figure 3 As shown, the outer road data of the target lane B can be obtained. The outer road data indicates that there is a curb C in the vehicle driving road, and the distance between the curb C and the lane line B1 of the target lane is Dx.

[0145] S702: Determine a lateral distance for the vehicle to change lanes based on the outer road data.

[0146] For example, the lateral distance Dy for the vehicle to change lanes may be determined based on the distance Dx between the curb C and the lane line B1 of the target lane, wherein the values ​​of Dx and Dy are the same.

[0147] S703: Determine a target lateral offset distance according to a target lane width of the target lane.

[0148] In this step, the target lane width of the target lane may be acquired according to the navigation map of the vehicle and / or sensors arranged on the vehicle, and the target lateral offset distance may be determined according to the target lane width.

[0149] In a specific implementation, if the target lane width is less than or equal to the first preset lane width, the target lateral offset distance is determined to be zero;

[0150] If the target lane width is greater than the first preset lane width and less than the second preset lane width, determining the target lateral offset distance according to the relationship between the preset lane width and the lateral offset distance;

[0151] If the target lane width is greater than or equal to the second preset lane width, determining the target lateral offset distance as the lateral distance;

[0152] The first preset lane width is smaller than the second preset lane width.

[0153] Optionally, the first preset lane width and the second preset lane width may be set according to the type of road and / or traffic safety standards.

[0154] Figure 8 A schematic diagram of the relationship between lane width and lateral offset distance provided in an embodiment of the present application. Figure 8 The first preset lane width is 3m, and the second preset lane width is 3.8m. The lateral offset distance D2 has the same value as the lateral distance Dy, and the lateral offset distance D1 can be determined according to the relationship between the preset lane width L and the lateral offset distance D.

[0155] For example, if the target lane width is 2.5 m, which is less than the first preset lane width of 3 m, the target lateral offset distance is determined to be zero;

[0156] If the target lane width is 3.4 m, which is larger than the first preset lane width of 3 m and smaller than the second preset lane width of 3.8 m, the target lateral offset distance D1 can be determined to be half of the lateral distance Dy according to the relationship between the preset lane width and the lateral offset distance.

[0157] If the target lane width is 4 m, which is greater than the second preset lane width of 3.8 m, the target lateral offset distance D2 is determined to be the lateral distance Dy.

[0158] For example, the lateral distance Dy is 1m, and the target lane width L of the target lane is 3.4m. Figure 8 The relationship between lane width and lateral offset distance shown can determine that the target lateral offset distance D1 is 0.5m.

[0159] S704: Optimize the lateral distance by using the target lateral offset distance to obtain an optimized lateral distance.

[0160] In this step, the lateral distance may be optimized using the target lateral offset distance to obtain an optimized lateral distance.

[0161] In an optional implementation, the difference between the lateral distance and the target lateral offset distance may be determined as the optimized lateral distance.

[0162] For example, if the lateral distance Dy is 1 m and the target lateral offset distance D1 is 0.5 m, the difference of 0.5 m between the lateral distance 1 m and the target lateral offset distance 0.5 m may be determined as the optimized lateral distance.

[0163] S705. According to the optimized lateral distance, control the vehicle to change lanes to a side of the target lane close to the lane before the lane is changed.

[0164] In this step, the vehicle can be controlled to change lanes to a side of the target lane that is close to the lane before the change according to the optimized lateral distance.

[0165] For example, based on the optimized lateral distance of 0.5m, the vehicle can be controlled to change lanes to the side of the target lane B close to the front lane A, that is, the vehicle can be controlled to change lanes to the center axis La, and the distance between the center axis La and the center line L2 of the target lane B is 0.5m.

[0166] In an embodiment of the present application, when the lane change assist function of the vehicle is turned on and it is detected that the lane change conditions are met, the outer road data of the target lane can be obtained, and the lateral distance of the vehicle for lane change can be determined based on the outer road data. At the same time, the target lateral offset distance can be determined based on the lane width of the target lane, and the lateral distance can be optimized to obtain the optimized lateral distance. Then, based on the optimized lateral distance, the vehicle is controlled to change to the side of the target lane close to the lane before the change. In the above process, the target lateral offset distance can be dynamically adjusted in combination with the lane width of the target lane, and the lateral distance can be optimized, thereby improving the adaptability of the vehicle under different traffic conditions and the driving experience of the user.

[0167] Fig. 9 This is a schematic diagram of the structure of the lane change device provided in the embodiment of the present application. Fig. 9 The lane change device 10 provided in this embodiment includes:

[0168] An acquisition module 11 is used to acquire outer road data of a target lane when a lane change assist function of the vehicle is turned on and it is detected that the vehicle meets a lane change condition;

[0169] A first processing module 12 is used to determine a lateral distance for the vehicle to change lanes based on the outer road data, wherein the lateral distance is a distance between the center of the vehicle after the lane change and the center line of the target lane offset to one side of the lane before the lane change;

[0170] The control module 13 is used to control the vehicle to change lanes to a side of the target lane close to the lane before the change according to the lateral distance.

[0171] The lane changing device provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effect are similar, and will not be described in detail in this embodiment.

[0172] In a possible implementation manner, the outer road data includes boundary information and / or obstacle information of the vehicle driving road;

[0173] The first processing module 12 is specifically used for:

[0174] If the outer road data indicates that there is a road boundary, and there is no other lane between the road boundary and the target lane, then determining the distance from the road boundary to the lane line adjacent to the target lane as the lateral distance;

[0175] If the outer road data indicates that there is an obstacle in the direction of vehicle travel, and there is no other lane between the lane where the obstacle is located and the target lane, the distance from the obstacle to the lane line adjacent to the target lane is determined as the lateral distance.

[0176] In a possible implementation manner, the first processing module 12 is further configured to:

[0177] If there is at least one lane between the lane where the road boundary or the obstacle is located and the target lane, the lateral distance is determined to be zero.

[0178] In a possible implementation manner, the acquisition module 11 is specifically configured to:

[0179] The outer road data of the target lane is acquired according to a navigation map of the vehicle and / or a sensor arranged on the vehicle.

[0180] In a possible implementation manner, the control module 13 is further configured to:

[0181] After controlling the vehicle to complete the lane change according to the lateral distance, controlling the vehicle to continue traveling a preset distance;

[0182] In the driving direction, the vehicle center of the vehicle is controlled to coincide with the center line of the target lane to maintain centered driving.

[0183] In a possible implementation manner, the first processing module 12 is further configured to:

[0184] determining a target lateral offset distance according to a target lane width of the target lane;

[0185] Optimizing the lateral distance by using the target lateral offset distance to obtain an optimized lateral distance;

[0186] Accordingly, the control module 13 is specifically used for:

[0187] According to the optimized lateral distance, the vehicle is controlled to change lanes to a side of the target lane close to the lane before the change.

[0188] In a possible implementation manner, the first processing module 12 is specifically configured to:

[0189] The difference between the lateral distance and the target lateral offset distance is determined as the optimized lateral distance.

[0190] In a possible implementation manner, the first processing module 12 is specifically configured to:

[0191] If the target lane width is less than or equal to the first preset lane width, determining the target lateral offset distance to be zero;

[0192] If the target lane width is greater than the first preset lane width and less than the second preset lane width, determining the target lateral offset distance according to the relationship between the preset lane width and the lateral offset distance;

[0193] If the target lane width is greater than or equal to the second preset lane width, determining the target lateral offset distance to be the lateral distance;

[0194] Wherein, the first preset lane width is smaller than the second preset lane width.

[0195] The lane changing device provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effect are similar, and will not be described in detail in this embodiment.

[0196] Fig.10 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Fig.10 The electronic device 20 provided in this embodiment includes: at least one processor 21 and a memory 22. Optionally, the device 20 also includes a communication component 23. The processor 21, the memory 22 and the communication component 23 are connected via a bus 24.

[0197] In a specific implementation process, at least one processor 21 executes the computer-executable instructions stored in the memory 22, so that at least one processor 21 executes the above method.

[0198] The specific implementation process of the processor 21 can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0199] The electronic device provided in the present application may be a domain controller of a vehicle, such as any one of a driving domain controller, a power domain controller, and a chassis domain controller, and those skilled in the art may set it according to actual needs.

[0200] In the above embodiments, it should be understood that the processor can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the invention can be directly implemented as a hardware processor, or can be implemented by a combination of hardware and software modules in the processor.

[0201] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (NVM), such as at least one disk storage.

[0202] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of this application is not limited to only one bus or one type of bus.

[0203] The present application provides a vehicle, including a vehicle body and Fig.10 The electronic device shown is used to implement the lane changing method in the above embodiment.

[0204] An embodiment of the present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0205] An embodiment of the present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above method is implemented.

[0206] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0207] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (Application Specific Integrated Circuits, referred to as: ASIC). Of course, the processor and the readable storage medium can also exist in the device as discrete components.

[0208] The division of units is only a logical function division, and there may be other divisions in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0209] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0210] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0211] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0212] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0213] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art not disclosed by the present invention, are not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A method for lane change, characterized in that: include: When the lane change assist function of the vehicle is turned on and it is detected that the vehicle meets the lane change condition, obtaining outer road data of the target lane; Determine, based on the outer road data, a lateral distance for the vehicle to change lanes, wherein the lateral distance is a distance between the center of the vehicle after the lane change and the center line of the target lane offset to one side of the lane before the lane change; According to the lateral distance, the vehicle is controlled to change lanes to a side of the target lane close to a lane before the change.

2. The method according to claim 1, characterized in that The outer road data includes boundary information and / or obstacle information of the vehicle driving road; Determining the lateral distance for the vehicle to change lanes according to the outer road data includes: If the outer road data indicates that there is a road boundary, and there is no other lane between the road boundary and the target lane, then determining the distance from the road boundary to the lane line adjacent to the target lane as the lateral distance; If the outer road data indicates that there is an obstacle in the direction of vehicle travel, and there is no other lane between the lane where the obstacle is located and the target lane, the distance from the obstacle to the lane line adjacent to the target lane is determined as the lateral distance.

3. The method according to claim 2, characterized in that The method further comprises: If there is at least one lane between the lane where the road boundary or the obstacle is located and the target lane, the lateral distance is determined to be zero.

4. The method according to any one of claims 1 to 3, characterized in that: The step of obtaining outer road data of the target lane includes: The outer road data of the target lane is acquired according to a navigation map of the vehicle and / or a sensor arranged on the vehicle.

5. The method according to claim 1 or 2, characterized in that: The method further comprises: After controlling the vehicle to complete the lane change according to the lateral distance, controlling the vehicle to continue traveling a preset distance; In the driving direction, the vehicle center of the vehicle is controlled to coincide with the center line of the target lane to maintain centered driving.

6. The method according to claim 1, characterized in that The method further comprises: determining a target lateral offset distance according to a target lane width of the target lane; Optimizing the lateral distance by using the target lateral offset distance to obtain an optimized lateral distance; Accordingly, controlling the vehicle to change lanes to a side of the target lane close to the lane before the change according to the lateral distance includes: According to the optimized lateral distance, the vehicle is controlled to change lanes to a side of the target lane close to the lane before the change.

7. The method according to claim 6, characterized in that The step of optimizing the lateral distance and the target lateral offset distance to obtain an optimized lateral distance includes: The difference between the lateral distance and the target lateral offset distance is determined as the optimized lateral distance.

8. The method according to claim 6 or 7, characterized in that: The determining of the target lateral offset distance according to the lane width of the target lane includes: If the target lane width is less than or equal to the first preset lane width, determining the target lateral offset distance to be zero; If the target lane width is greater than the first preset lane width and less than the second preset lane width, determining the target lateral offset distance according to the relationship between the preset lane width and the lateral offset distance; If the target lane width is greater than or equal to the second preset lane width, determining the target lateral offset distance to be the lateral distance; Wherein, the first preset lane width is smaller than the second preset lane width.

9. A lane change device, characterized in that: include: An acquisition module, used for acquiring outer road data of a target lane when a lane change assist function of the vehicle is turned on and it is detected that the vehicle meets a lane change condition; A first processing module is used to determine a lateral distance for the vehicle to change lanes based on the outer road data, wherein the lateral distance is a distance between the center of the vehicle after the lane change and the center line of the target lane offset to one side of the lane before the lane change; The control module is used to control the vehicle to change lanes to a side of the target lane close to the lane before the change according to the lateral distance.

10. An electronic device, characterized in that: include: Memory, processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method according to any one of claims 1 to 8.

11. A vehicle, characterized in that: include: A vehicle body, and the electronic device as claimed in claim 10.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 8 when executed by a processor.

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