Lane changing method, device and equipment and computer readable storage medium

Abstract

The invention discloses a lane changing method, device and equipment and a computer readable storage medium, and is applied to the field of intelligent driving, and the method comprises the steps: determining a target lane according to the driving information of a vehicle and surrounding obstacle vehicles; determining a lane changing space based on the obstacle vehicle position information of the target lane, and judging whether the lane changing distance of the lane changing space meets lane changing or not; and if not, performing a lane changing game based on the game speed and the game position, and changing the lane to the target lane when the game succeeds. Therefore, when the lane changing distance does not meet the lane changing requirement, lane changing is not directly quitted, and the game strategy is added. Thus, corresponding lane changing strategies are provided for the working condition with the small lane changing distance, the lane changing working condition is enriched, the lane changing function is more humanoid, and the richness and practicability of the lane changing function are improved; and the lane changing game with the target obstacle vehicle is performed based on the game speed and the game position, the calculation amount is small, the method is simple and rapid, the game action can be rapidly performed, and the delay of lane changing opportunity is avoided.

Description

Technical Field

[0001] The present invention relates to the field of intelligent driving, and in particular to a lane changing method, device, equipment and computer-readable storage medium. Background Art

[0002] Among the existing advanced driver assistance (ADAS) functions, the lane change assistance function (lanechange) in most cases only determines the relative position of the vehicle and the adjacent obstacle vehicle, and only changes lanes after reaching a sufficient distance. It can be seen that this solution has a low coverage of working conditions. For working conditions with small spatial distances, there is no corresponding lane change strategy, lacks a human-like driving experience, and does not imitate or adapt to human driving habits and needs well.

[0003] Therefore, how to provide a lane changing method that is adaptable to multiple working conditions so that assisted driving can better adapt to human driving habits and needs is a technical problem that urgently needs to be solved. Summary of the invention

[0004] In view of this, an object of the present invention is to provide a lane changing method, device, equipment and computer-readable storage medium, which solve the problems of incomplete coverage of lane changing conditions and insufficient human-like assisted driving in the prior art.

[0005] In order to solve the above technical problems, the present invention provides a lane changing method, comprising:

[0006] Determine the target lane based on the driving information of the vehicle and surrounding obstacle vehicles;

[0007] Determine a lane-changing space based on the position information of the obstacle vehicle in the target lane, and judge whether a lane-changing distance of the lane-changing space satisfies the lane-changing requirement;

[0008] If not, a lane-changing game is performed based on the game speed and the game position, and when the game is successful, the lane is changed to the target lane.

[0009] Optionally, determining the target lane according to the driving information of the ego vehicle and surrounding obstacle vehicles includes:

[0010] If the speed of the vehicle is affected by the speed of the vehicle in front of the vehicle in the lane and does not reach the preset speed, and the speed of the vehicle in the adjacent lane is greater than the speed of the vehicle, the optimal lane is selected as the target lane according to the adjacent lane information; the adjacent lane information at least includes the front and rear gaps of the adjacent vehicles in the adjacent lane and the driving status of the adjacent vehicles in the adjacent lane.

[0011] Optionally, determining the lane change space based on the position information of the obstacle vehicle in the target lane includes:

[0012] Calculate each lane change gap based on the position information of the obstacle vehicle in the target lane;

[0013] Based on the current speed and current position of the own vehicle and the current speed and current position of the obstacle vehicle, an initial target speed and an initial target position are set for each lane change gap;

[0014] Calculating the lane changing cost of each lane changing gap based on the initial target speed and the initial target position;

[0015] The lane-changing gap with the minimum lane-changing cost is used as the lane-changing space.

[0016] Optionally, if the conditions are not met, a lane-changing game is performed based on the game speed and the game position, and when the game is successful, the lane is changed to the target lane, including:

[0017] If the lane-changing distance of the lane-changing space does not satisfy the lane-changing requirement, then the game speed and the game position are calculated;

[0018] When the vehicle travels to the game position at the game speed, recalculate the lane change distance of the lane change space, and determine whether the lane change is satisfied;

[0019] If satisfied, the game is successful and the lane is changed to the target lane;

[0020] If not, the lane-changing game continues to be executed. When the lane-changing condition is satisfied, the game succeeds and the lane is changed to the target lane.

[0021] Optionally, the calculation process of the game speed and the game position includes:

[0022] The game position is calculated based on the vehicle width, the position of the vehicles in front and behind the lane change space, the position of the lane line, the vehicle speed, the speed of the vehicles in front and behind the lane change space, and the lane change distance;

[0023] The game speed is calculated based on the vehicle speed and the speeds of the vehicles in front and behind the lane change space.

[0024] Optionally, the game position is calculated based on the vehicle width, the positions of the vehicles in front and behind the lane changing space, the lane line position, the vehicle speed, the speeds of the vehicles in front and behind the lane changing space, and the lane changing distance, including:

[0025] Calculating a first distance based on the lane line position and the position of the vehicle in front of the lane change space;

[0026] Calculate the lateral position of the game lane change based on the first distance, the vehicle width and the lane line position;

[0027] The longitudinal distance of the game lane change is calculated based on the positions of the vehicles in front and behind the lane change space, the speeds of the vehicles in front and behind the lane change space, the speed of the vehicle itself and the lane change distance;

[0028] The gaming position is determined according to the longitudinal distance and the lateral position.

[0029] Optionally, before the lane change to the target lane, the method further includes:

[0030] Determine whether the lane-changing space stability, lane-changing environment safety, and lane-changing legality are met;

[0031] If the conditions are met, the step of changing lanes to the target lane is executed.

[0032] The present invention also provides a lane changing device, comprising:

[0033] The target lane determination module is used to determine the target lane based on the driving information of the vehicle and surrounding obstacle vehicles;

[0034] A lane-changing judgment module is used to determine a lane-changing space based on the position information of the obstacle vehicle in the target lane, and to judge whether the lane-changing distance of the lane-changing space satisfies the lane-changing requirement;

[0035] The lane-changing game module is used to perform a lane-changing game based on the game speed and the game position if the conditions are not met, and to change lanes to the target lane when the game is successful.

[0036] The present invention also provides a lane changing device, comprising:

[0037] Memory for storing computer programs;

[0038] A processor is used to implement the lane changing method as described above when executing the computer program.

[0039] The present invention also provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are loaded and executed by a processor, the lane changing method as described above is implemented.

[0040] It can be seen that the present invention determines the target lane based on the driving information of the vehicle and the surrounding obstacle vehicles; determines the lane changing space based on the position information of the obstacle vehicle in the target lane, and judges whether the lane changing distance of the lane changing space satisfies the lane changing; if not, a lane changing game is performed based on the game speed and the game position, and when the game is successful, the lane is changed to the target lane. It can be seen that the present invention does not directly exit the lane changing when the lane changing distance does not meet the lane changing, but adds a game strategy. In this way, there are corresponding lane changing strategies for working conditions with a small lane changing distance, which enriches the lane changing working conditions, makes the lane changing function more humanized, and improves the richness and practicality of the lane changing function.

[0041] In addition, the present invention also provides a lane changing device, equipment and computer-readable storage medium, which also have the above-mentioned beneficial effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0043] Figure 1 This is an example diagram of a lane change in which the speed is first reduced and then the lane is changed;

[0044] Figure 2 This is an example diagram of an existing lane change of first speeding up and then changing lanes;

[0045] Figure 3 This is an example of a lane changing diagram of a uniform lane changing under an existing open working condition;

[0046] Figure 4 This is an example of a lane changing diagram of a constant speed lane change under an existing vehicle-free condition;

[0047] Figure 5 A flow chart of a lane changing method provided by an embodiment of the present invention;

[0048] Figure 6 An example flow chart of a target lane determination method provided by an embodiment of the present invention;

[0049] Figure 7 An exemplary diagram of a lane change gap provided by an embodiment of the present invention;

[0050] Figure 8 An example flowchart of a lane changing method provided by an embodiment of the present invention;

[0051] Fig. 9 An example diagram of target information of a lane-changing space provided by an embodiment of the present invention;

[0052] Fig.10 An example diagram of a successful lane change in a game provided by an embodiment of the present invention;

[0053] Fig.11 An example diagram of a lane change failure game provided by an embodiment of the present invention;

[0054] Fig.12 An example diagram of a gaming position provided by an embodiment of the present invention;

[0055] Fig.13 An example diagram of lane change space stability judgment provided by an embodiment of the present invention;

[0056] Fig.14 An example diagram of an illegal lane change provided by an embodiment of the present invention;

[0057] Fig.15 Another example diagram of illegal lane change provided by an embodiment of the present invention;

[0058] Fig.16 An example diagram of a lane change safety verification provided by an embodiment of the present invention;

[0059] Fig.17 An example diagram of another lane change safety verification provided by an embodiment of the present invention;

[0060] Fig.18 An example flowchart of another lane changing method provided by an embodiment of the present invention;

[0061] Fig.19 A schematic structural diagram of a lane changing device provided by an embodiment of the present invention;

[0062] Fig. 20 A schematic structural diagram of a lane changing device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0063] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0064] In the traditional advanced driver assistance (ADAS) function with 5R1V (5 millimeter-wave radars and one front-view camera 5Radar&1Video) sensor solution, the lane change assistance function only determines the relative relationship between the vehicle and the surrounding obstacle vehicles in most cases, and only changes lanes after reaching a sufficient space distance. Lane change cannot be completed in small spaces. Figures 1 to 4 As shown, Figure 1 This is an example diagram of a lane change in which the speed is first reduced and then the lane is changed; Figure 2 This is an example diagram of an existing lane change of first speeding up and then changing lanes; Figure 3 This is an example of lane changing at a constant speed under existing open conditions. Figures 1 to 4 In the above figure, Ego represents the ego vehicle, obs-f represents the front vehicle in the target lane, and obs-b represents the rear vehicle in the target lane.

[0065] It can be seen that for the above-mentioned working conditions with small spatial distance, the traditional method does not have a corresponding lane changing strategy, lacks a human-like driving experience, and does not imitate or adapt to human driving habits and needs well. In order to solve the above-mentioned problems, the present invention provides a lane changing method, which is specifically referred to in Figure 5, Figure 5 A flow chart of a lane changing method provided by an embodiment of the present invention. The method may include:

[0066] S101: Determine a target lane based on the driving information of the own vehicle and surrounding obstacle vehicles.

[0067] The execution subject of this embodiment is the lane changing module, which can be the decision-making layer of the lane changing module. The surrounding obstacle vehicles in this embodiment refer to the front and rear vehicles in the own lane and the front and rear vehicles in the adjacent lane. The driving information in this embodiment refers to the vehicle position and vehicle speed. The driving information in this embodiment can be obtained by the 5R1V sensor. It can be understood that based on the driving information of the own vehicle and the surrounding obstacle vehicles, it can be determined whether the traffic in the adjacent lane is congested, and generally the lane with uncongested traffic is selected as the target lane. By default, it can be determined whether the left lane meets the lane change requirements first. If it meets the requirements, the left lane will be used as the target lane; if the left lane does not meet the lane change requirements, the right lane will be determined.

[0068] It should be noted that the triggering condition of step S101 can be passively triggered, such as the driver intending to trigger a lane change by turning the steering lever. Or it can be actively triggered by the decision-making layer. For example, when assisted driving is turned on, when there is a special situation where there is a need to change lanes, the decision-making layer will be triggered. For example, when driving on a highway, due to the influence of the speed of the vehicle in front, the speed of the vehicle cannot reach the preset speed (generally the speed limit of the lane), then step S101 will be triggered; or when there is an obstacle in front of the current lane, step S101 will also be triggered.

[0069] Furthermore, the above-mentioned determination of the target lane according to the driving information of the own vehicle and the surrounding obstacle vehicles may specifically include:

[0070] If the speed of the vehicle is affected by the speed of the vehicle in front of it and does not reach the preset speed, and the speed of the vehicle in the adjacent lane is greater than that of the vehicle, the optimal lane is selected as the target lane based on the adjacent lane information; the adjacent lane information includes at least the front and rear gaps between the adjacent vehicles in the adjacent lane and the driving status of the adjacent vehicles in the adjacent lane.

[0071] Specifically, please refer to Figure 6 , Figure 6 An example flow chart of a method for determining a target lane provided in an embodiment of the present invention. In this embodiment, when the speed of the vehicle is affected by the speed of the vehicle in front of the vehicle in the lane and does not reach the preset speed, and the speed of the adjacent vehicle in the adjacent lane is greater than the speed of the vehicle, the decision layer actively triggers the lane change, otherwise it exits the lane change. Compare the left and right adjacent lane information (such as the front and rear gaps of the adjacent vehicles in the adjacent lanes and the driving status of the adjacent vehicles in the adjacent lanes) to select the optimal lane change direction and the corresponding target lane, activate the lane change instruction, and output the target lane. It can be understood that the adjacent lane here refers to the lane in the same direction as the lane of the vehicle.

[0072] S102: Determine a lane-changing space based on the position information of the obstacle vehicle in the target lane, and judge whether a lane-changing distance of the lane-changing space satisfies the lane-changing requirement.

[0073] Receive the position information of the target lane obstacle vehicle collected by the sensor, determine the lane changing space according to the position information of the obstacle vehicle, and judge whether the lane changing distance of the lane changing space satisfies the lane changing. Specifically, if the lane changing distance of the lane changing space is greater than or equal to the preset lane changing distance, the lane changing space satisfies the lane changing; if the lane changing distance of the lane changing space is less than the preset lane changing distance, the lane changing space does not satisfy the lane changing.

[0074] Furthermore, the lane changing space is determined based on the position information of the obstacle vehicle in the target lane, and specifically may include:

[0075] Step 21: Calculate each lane change gap based on the position information of the obstacle vehicle in the target lane;

[0076] Step 22: setting an initial target speed and an initial target position for each lane change gap based on the current speed and current position of the ego vehicle and the current speed and current position of the obstacle vehicle;

[0077] Step 23: Calculate the lane change cost of each lane change gap based on the initial target speed and the initial target position;

[0078] Step 24: The lane-changing gap with the minimum lane-changing cost is used as the lane-changing space.

[0079] Specifically, the lane change gaps are calculated based on the position information of the obstacle vehicle in the target lane. Figure 7 . Figure 7 An example diagram of a lane change gap provided by an embodiment of the present invention, Figure 7 obs1-obs4 are obstacle vehicles, and ego is the ego vehicle. The lane change space determination process can be referred to Figure 8 Based on the current speed and current position of the vehicle and the current speed and current position of the obstacle vehicle, an appropriate initial target speed and initial target position are assigned to each lane change gap, and a lane change cost is calculated for each lane change gap based on the initial target speed and initial target position, and the lane change gap corresponding to the minimum lane change cost is used as the optimal lane change gap, that is, the lane change space in this embodiment. The lane change cost may include a comfort cost and a safety cost.

[0080] S103: If not satisfied, a lane-changing game is performed based on the game speed and the game position, and when the game is successful, the lane is changed to the target lane.

[0081] For details, please refer to Figure 8If the lane-changing space does not meet the lane-changing requirements, enter the lane-changing game. When the game succeeds, change lanes to the target lane. When the game fails, exit the lane-changing game. If the requirements are met, there is no need to conduct the game and lanes can be changed. The target speed and target position are planned for the lane-changing space: the center line position of the target lane is used as the lateral position, and the target speed is determined according to the speed of the obstacle vehicles in front and behind the lane-changing space. The longitudinal distance (referring to the longitudinal distance between the vehicle and the target position) is adjusted according to the speed of the obstacle vehicles in front and behind the lane-changing space and the target speed. Output: The target position can be determined based on the lateral position and longitudinal distance, such as Fig. 9 The target information of the optimal gap is shown, dx represents the longitudinal distance, v represents the target speed, and the target is located on the center line of the target lane. The target position and target speed are output, and lane change is achieved based on the target speed and target position.

[0082] Specifically, during the game, if the lane changing distance of the lane changing space satisfies the lane changing requirement, the game is considered successful. The lane changing game idea of ​​this embodiment is that the vehicle performs a tentative game pressure action towards the target lane, and changes lanes when the lane changing requirement is met, and enters the target lane.

[0083] Furthermore, if the above conditions are not met, a lane-changing game is performed based on the game speed and the game position. When the game is successful, the lane is changed to the target lane, which may specifically include:

[0084] Step 31: If the lane-changing distance of the lane-changing space does not satisfy the lane-changing requirement, then the game speed and the game position are calculated;

[0085] Step 32: When the vehicle drives to the game position at the game speed, recalculate the lane change distance of the lane change space and determine whether the lane change is satisfied;

[0086] Step 33: If satisfied, the game is successful and the lane is changed to the target lane;

[0087] Step 34: If not, continue to execute the lane-changing game. When the lane-changing condition is satisfied, the game is successful and the lane is changed to the target lane.

[0088] Specifically, when entering the lane changing game, it is necessary to calculate the game speed and the game position. When the vehicle travels to the game position at the game speed, the lane changing distance of the lane changing space is recalculated, and it is determined whether the lane changing conditions are met. If so, the game is successful and the lane can be changed to the target lane; if not, the lane changing game is continued. When the lane changing conditions are met, the game is successful and the lane is changed to the target lane. This embodiment does not limit the conditions for the failure of the game. If it can be determined by the number of games, such as during the game process, the number of games is accumulated. If the lane change is still not satisfied when the number of games reaches the preset number, the game fails and the lane change is exited; or it can be determined by the lane change duration, such as when the game starts, the timer is started to get the lane change duration. If the lane change duration reaches the preset lane change duration and still does not meet the lane change, the game fails and the lane change is exited; or it can be determined by the game position, such as when the game starts, if the time reaches the preset game duration (which can be 30-40S) and the vehicle has not crossed the lane line, the game fails and the lane change is exited. For details, please refer to Fig.10 and Fig.11 ego represents the position of the vehicle, obs before and after the lane-changing space are the positions of the front vehicle and the rear vehicle in the lane-changing space, ego1-ego3, obs1-obs3 are the vehicle positions in the lane-changing game. When ego1 is used, the lane-changing game is decided. At this time, the game position and game speed can be calculated based on the current position. When driving to the ego2 position at the game speed, the lane-changing space is obs2 before and obs2 after. At this time, it is determined whether the distance of the lane-changing space meets the requirements for lane-changing. If it meets the requirements, the lane is changed to the target lane, such as Fig.10 As shown, the game is successful; if it is not satisfied, the game fails, such as Fig.11 As shown in the figure, due to the speed increase of the vehicle behind, there is insufficient space for lane change, so exit the lane change. Fig.10 and Fig.11 This is just a simple example of a lane-changing game. There may be multiple games in the middle. At this time, other conditions need to be added, such as time judgment or number of lane changes, to determine whether the game needs to continue. If it continues, the game speed, game position and lane-changing space are recalculated based on the changed position to determine whether the lane change is satisfied. Such settings can further improve the safety of lane-changing games.

[0089] Furthermore, the calculation process of the game speed and the game position may specifically include:

[0090] Step 311: Calculate the game position based on the vehicle width, the position of the front and rear vehicles in the lane change space, the position of the lane line, the vehicle speed, the speed of the front and rear vehicles in the lane change space, and the lane change distance;

[0091] Step 312: Calculate the game speed based on the vehicle speed and the speeds of the vehicles in front and behind the lane change space.

[0092] Specifically, in this embodiment, the game speed and game position need to be calculated during the game process so that the ego vehicle can play the game according to the game speed and game position. The game speed is determined according to the ego vehicle speed and the speed of the vehicles in front and behind the lane change space; the game position is determined according to the speed, position and lane change distance, such as the width of the ego vehicle, the position of the vehicles in front and behind the lane change space, the position of the lane line, the ego vehicle speed, the speed of the vehicles in front and behind the lane change space and the lane change distance.

[0093] Furthermore, the game position is calculated based on the vehicle width, the position of the front and rear vehicles in the lane changing space, the position of the lane line, the vehicle speed, the speed of the front and rear vehicles in the lane changing space, and the lane changing distance, and may specifically include:

[0094] Step 3111: Calculate a first distance based on the lane line position and the position of the front vehicle in the lane change space;

[0095] Step 3112: Calculate the lateral position of the lane change game based on the first distance, the vehicle width and the lane line position;

[0096] Step 3113: Calculate the longitudinal distance of the game lane change based on the positions of the front and rear vehicles in the lane change space, the speeds of the front and rear vehicles in the lane change space, the vehicle speed, and the lane change distance;

[0097] Step 3114: Determine the gaming position based on the longitudinal distance and the lateral position.

[0098] For details, please refer to Fig.12 , the yellow dotted lines are d0 and d2, which represent the lateral position of the center line of the current lane and the lateral position of the center line of the target lane, respectively. The black dotted line is d1, which represents the lateral position of the lane line; the red dotted line is dc, which represents the lateral position of the game lane change. The specific calculation formula is as follows:

[0099] The lateral position dc of the game lane change:

[0100] dc=d1-0.5*vehweight-max(0,(Lsaft-de));

[0101] The longitudinal distance ld of the game lane change is:

[0102] ld=max(Sback+(Ve-Vb)*Tc1,Sfront–min((Vf-Ve)*Tc0,Lengap / 2)).

[0103] Among them, d1 is the lateral position of the lane line; Vehweight is the width of the ego vehicle; Lsaft is the empirical value of the safety distance; de ​​is the first distance, that is, the difference between the lateral position of the lane line and the lateral position of the front vehicle in the lane changing space; Sback is the position of the rear vehicle in the lane changing space; Sfront is the position of the front vehicle in the lane changing space; Ve, Vb, Vf represent the speed of the ego vehicle, the speed of the rear vehicle in the lane changing space, and the speed of the front vehicle in the lane changing space respectively; Lengap is the lane changing distance; Tc0 and Tc1 are the calibrated collision times respectively, and Tc0>Tc1.

[0104] The game speed Vdes of the game lane change is:

[0105] Vdes=min(Vf–(Vf-Vb)*k1,max(Vb,Ve)).

[0106] Among them, K1 is the coefficient value.

[0107] Furthermore, before the lane change to the target lane, the following may also be included:

[0108] Determine whether the lane-changing space stability, lane-changing environment safety, and lane-changing legality are met;

[0109] If the conditions are met, the step of changing lanes to the target lane is executed.

[0110] This embodiment does not limit the order of judging lane change space stability, lane change environment safety, and lane change legality. Fig.13 . Based on the target speed and target position of the optimal lane-changing gap (lane-changing space), the information of the obstacle vehicles in front and behind is judged, and an instruction on whether to maintain the original plan and continue the lane change is output. For the real-time changing information of the obstacle vehicles in front and behind the lane-changing space, if the stability is judged to be not met based on the speed and position information of the obstacle vehicles in front and behind the lane-changing space, feedback is given to the state machine for state switching to exit the lane change. The lane-changing legality judgment is based on the acquired perception information to judge whether the surrounding environment at the current lane-changing moment meets the legal traffic rules. It mainly judges whether the current target lane is a solid line. The solid line does not allow lane changing, such as Fig.14 As shown in the figure; whether the curvature of the target lane is too large, and if the curvature is too large, lane changing is not allowed, etc. Fig.15 The safety of the lane changing environment is to judge whether the lane changing process is safe and whether there is a collision risk based on the real-time self-vehicle and surrounding perception information. If it is safe, continue the lane changing, otherwise exit the lane changing. It mainly includes collision detection of the self-lane, front and rear collision detection of the target lane, and side collision detection, such as Fig.16 and Fig.17 shown.

[0111] The lane changing method provided by the embodiment of the present invention is applied to determine the target lane according to the driving information of the vehicle and the surrounding obstacle vehicles; determine the lane changing space based on the position information of the obstacle vehicle in the target lane, and judge whether the lane changing distance of the lane changing space satisfies the lane changing; if not, a lane changing game is performed based on the game speed and the game position, and the lane is changed to the target lane when the game is successful. It can be seen that the present invention does not directly exit the lane changing when the lane changing distance does not meet the lane changing, but adds a game strategy. In this way, there are corresponding lane changing strategies for working conditions with a small lane changing distance, which enriches the lane changing working conditions, makes the lane changing function more humanized, and improves the richness and practicality of the lane changing function; and based on the game speed and the game position, the lane changing game is performed with the target obstacle vehicle, the amount of calculation is small, simple and fast, and the game action can be made quickly to avoid delaying the lane changing opportunity.

[0112] In order to make the present invention easier to understand, please refer to Fig.18 , Fig.18 An example flow chart of a lane changing method provided in an embodiment of the present invention may specifically include:

[0113] Receive valid signals of lane lines and surrounding obstacle vehicles after processing by sensors. The valid signals contain various information, such as the type of lane lines (whether it is legal to change lanes), speed, acceleration, position and other information of obstacle vehicles in each lane. The decision layer determines the lane changing time and direction (target lane) according to the received information, determines the lane changing space according to the lane changing direction, and judges whether the lane changing distance of the lane changing space meets the lane changing requirements; if so, the target speed and target position are planned during the lane changing process, and the stability of the lane changing space, the legality and safety of the lane changing environment are determined during the lane changing process. If there are no problems, the decision layer outputs the valid target speed and target position and sends them to the control layer. The control layer performs double closed-loop motion control on the speed and position to realize the lane changing function. If the lane changing space is not satisfied, the decision layer triggers the game lane changing instruction to conduct the game. If any of the stability of the lane changing space, the legality and safety of the lane changing environment is not satisfied, then exit the lane changing and re-determine the lane changing time and direction. Among them, the lane changing time can be sent to the control layer immediately for lane changing; or it can be sent to the control layer for lane changing after 5 seconds.

[0114] According to this method, it can be known that the state machine of this application includes multiple states: (1) lane change waiting state: WaitLeftlaneChange (waiting for left lane change) state, WaitRightlaneChange state; (2) lane change execution state: LeftLaneChange (left lane change) state, RightLaneChange state; (3) lane change game state: LeftForceLaneChange (left forced lane change) state, RightForceLaneChange state; (4) lane change exit state: LaneChangeAbort (lane change termination) state, (5) lane change completion state: LaneChangeFinish (lane change completion) state; (6) lane keeping state: LaneKeeping (lane keeping) state. For example, during normal driving, it is in the lane keeping state; when there is a need to change lanes, it is in the waiting state for lane changing; when the target lane is determined and the lane changing conditions are met, it enters the lane changing execution state; when it is determined that the target lane does not meet the lane changing conditions (safety, stability and legality), it is in the lane changing exit state; when the target lane is determined but the lane changing distance does not meet the lane changing conditions, it enters the game lane changing state; when the lane change is completed, it is in the lane changing completion state.

[0115] The lane changing device provided by an embodiment of the present invention is introduced below. The lane changing device described below and the lane changing method described above can be referred to each other.

[0116] Please refer to Fig.19 , Fig.19 A schematic structural diagram of a lane changing device provided in an embodiment of the present invention may include:

[0117] The target lane determination module 100 is used to determine the target lane according to the driving information of the vehicle and surrounding obstacle vehicles;

[0118] A lane-changing judgment module 200 is used to determine a lane-changing space based on the position information of the obstacle vehicle in the target lane, and to judge whether the lane-changing distance of the lane-changing space satisfies the lane-changing requirement;

[0119] The lane-changing game module 300 is used to perform a lane-changing game based on the game speed and the game position if the conditions are not met, and to change lanes to the target lane when the game is successful.

[0120] Based on the above embodiment, the target lane determination module 100 may include:

[0121] The target lane determination unit is used to select the best lane as the target lane according to the adjacent lane information if the speed of the vehicle is affected by the speed of the vehicle in front of the vehicle lane and does not reach the preset speed, and the speed of the adjacent vehicle in the adjacent lane is greater than the speed of the vehicle. The adjacent lane information at least includes the front and rear gaps of the adjacent vehicles in the adjacent lane and the driving status of the adjacent vehicles in the adjacent lane.

[0122] Based on the above embodiment, the lane change determination module 200 may include:

[0123] A lane-changing gap calculation unit, configured to calculate each lane-changing gap based on the position information of the obstacle vehicle in the target lane;

[0124] an initial target determination unit, configured to set an initial target speed and an initial target position for each lane change gap based on a current vehicle speed and a current position of the own vehicle and a current vehicle speed and a current position of the obstacle vehicle;

[0125] a lane-changing cost calculation unit, configured to calculate the lane-changing cost of each lane-changing gap based on the initial target speed and the initial target position;

[0126] The lane-changing space determining unit is configured to use the lane-changing gap with the minimum lane-changing cost as the lane-changing space.

[0127] Based on any of the above embodiments, the lane changing game module 300 may include:

[0128] A game calculation unit, configured to calculate a game speed and a game position if the lane changing distance of the lane changing space does not satisfy the lane changing requirement;

[0129] A lane-changing judgment unit, configured to recalculate the lane-changing distance of the lane-changing space when the vehicle travels to the game position at the game speed, and judge whether the lane-changing is satisfied;

[0130] A first result unit, used for, if satisfied, the game is successful, and the lane is changed to the target lane;

[0131] The second result unit is used to continue to execute the lane-changing game if the condition is not satisfied, and the game succeeds when the condition is satisfied, and the lane is changed to the target lane.

[0132] Based on the above embodiment, the game calculation unit may include:

[0133] A game position calculation subunit, used to calculate the game position based on the vehicle width, the positions of the vehicles in front and behind the lane change space, the lane line position, the vehicle speed, the speed of the vehicles in front and behind the lane change space and the lane change distance;

[0134] The game speed calculation subunit is used to calculate the game speed based on the vehicle speed and the speeds of the vehicles before and after the lane change space.

[0135] Based on the above embodiment, the gaming position calculation subunit may include:

[0136] A first distance calculation subunit, configured to calculate a first distance based on the lane line position and the position of a preceding vehicle in the lane change space;

[0137] A lateral position calculation subunit, configured to calculate a lateral position of the game lane change based on the first distance, the vehicle width and the lane line position;

[0138] A longitudinal distance calculation subunit, configured to calculate a longitudinal distance of a game lane change based on the positions of the vehicles in front and behind the lane change space, the speeds of the vehicles in front and behind the lane change space, the speed of the vehicle itself and the lane change distance;

[0139] The gaming position determining subunit is configured to determine the gaming position according to the longitudinal distance and the transverse position.

[0140] Based on the above embodiment, the lane changing device may further include:

[0141] The lane-changing condition judgment module is used to judge whether the lane-changing space stability, lane-changing environment safety and lane-changing legality are met;

[0142] The lane changing module is used to execute the step of changing lanes to the target lane if the conditions are met.

[0143] It should be noted that the order of the modules and units in the lane changing device can be changed without affecting the logic.

[0144] The lane changing device provided by the embodiment of the present invention includes a target lane determination module 100, which is used to determine the target lane according to the driving information of the vehicle and the surrounding obstacle vehicles; a lane change judgment module 200, which is used to determine the lane change space based on the obstacle vehicle position information of the target lane, and judge whether the lane change distance of the lane change space meets the lane change; a lane change game module 300, which is used to perform a lane change game based on the game speed and the game position if it does not meet the requirements, and change lanes to the target lane when the game succeeds. It can be seen that the present invention does not directly exit the lane change when the lane change distance does not meet the requirements, but adds a game strategy. In this way, for working conditions with a small lane change distance, there are also corresponding lane change strategies, which enriches the lane change working conditions, makes the lane change function more human-like, and improves the richness and practicality of the lane change function; and based on the game speed and the game position, the lane change game with the target obstacle vehicle has a small amount of calculation, is simple and fast, and can quickly make a game action to avoid delaying the lane change opportunity.

[0145] The lane changing device provided in an embodiment of the present invention is introduced below. The lane changing device described below and the lane changing method described above can be referred to each other.

[0146] Please refer to Fig. 20 , Fig. 20 A schematic structural diagram of a lane changing device is provided for an embodiment of the present invention, which may include:

[0147] A memory 10, used for storing computer programs;

[0148] The processor 20 is used to execute a computer program to implement the above lane changing method.

[0149] The memory 10 , the processor 20 , and the communication interface 31 all communicate with each other via the communication bus 32 .

[0150] In the embodiment of the present invention, the memory 10 is used to store one or more programs, and the program may include program code, and the program code includes computer operation instructions. In the embodiment of the present invention, the memory 10 may store programs for implementing the following functions:

[0151] Determine the target lane based on the driving information of the vehicle and surrounding obstacle vehicles;

[0152] Determine the lane changing space based on the position information of the obstacle vehicle in the target lane, and judge whether the lane changing distance of the lane changing space satisfies the lane changing;

[0153] If not, a lane-changing game is performed based on the game speed and game position, and the lane is changed to the target lane when the game is successful.

[0154] In a possible implementation, the memory 10 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application required for at least one function, etc.; the data storage area may store data created during use.

[0155] In addition, the memory 10 may include a read-only memory and a random access memory, and provide instructions and data to the processor. A portion of the memory may also include an NVRAM. The memory stores an operating system and operating instructions, executable modules or data structures, or a subset thereof, or an extended set thereof, wherein the operating instructions may include various operating instructions for implementing various operations. The operating system may include various system programs for implementing various basic tasks and processing hardware-based tasks.

[0156] The processor 20 may be a central processing unit (CPU), an application specific integrated circuit, a digital signal processor, a field programmable gate array or other programmable logic device, a microprocessor or any conventional processor, etc. The processor 20 may call a program stored in the memory 10 .

[0157] The communication interface 31 may be an interface of a communication module, and is used to connect to other devices or systems.

[0158] Of course, it should be noted that Fig. 20 The structure shown does not constitute a limitation on the lane changing device in the embodiment of the present invention. In actual applications, the lane changing device may include Fig. 20 More or fewer components than shown, or combinations of certain components.

[0159] The computer-readable storage medium provided in an embodiment of the present invention is introduced below. The computer-readable storage medium described below and the lane changing method described above can be referenced to each other.

[0160] The present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the lane changing method described above are implemented.

[0161] The computer-readable storage medium may include: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

[0162] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0163] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0164] Finally, it should be noted that, in this article, relationships such as first and second, etc. are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprises" or any other variations are intended to cover non-exclusive inclusion, so that a process, method, article or device that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0165] The lane changing method, device, equipment and computer-readable storage medium provided by the present invention are introduced in detail above. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A lane changing method, characterized in that: include: Determine the target lane based on the driving information of the vehicle and surrounding obstacle vehicles; Determine a lane-changing space based on the position information of the obstacle vehicle in the target lane, and judge whether a lane-changing distance of the lane-changing space satisfies the lane-changing requirement; If not, a lane-changing game is performed based on the game speed and the game position, and when the game is successful, the lane is changed to the target lane.

2. The lane changing method according to claim 1, characterized in that: Determine the target lane based on the driving information of the vehicle and surrounding obstacle vehicles, including: If the speed of the vehicle is affected by the speed of the vehicle in front of the vehicle in the lane and does not reach the preset speed, and the speed of the vehicle in the adjacent lane is greater than the speed of the vehicle, the optimal lane is selected as the target lane according to the adjacent lane information; the adjacent lane information at least includes the front and rear gaps of the adjacent vehicles in the adjacent lane and the driving status of the adjacent vehicles in the adjacent lane.

3. The lane changing method according to claim 1, characterized in that: Determining the lane change space based on the position information of the obstacle vehicle in the target lane includes: Calculate each lane change gap based on the position information of the obstacle vehicle in the target lane; Based on the current speed and current position of the own vehicle and the current speed and current position of the obstacle vehicle, an initial target speed and an initial target position are set for each lane change gap; Calculating the lane changing cost of each lane changing gap based on the initial target speed and the initial target position; The lane-changing gap with the minimum lane-changing cost is used as the lane-changing space.

4. The lane changing method according to claim 1, characterized in that: If not, a lane-changing game is performed based on the game speed and the game position. When the game is successful, the lane is changed to the target lane, including: If the lane-changing distance of the lane-changing space does not satisfy the lane-changing requirement, then calculating the game speed and the game position; When the vehicle travels to the game position at the game speed, recalculate the lane change distance of the lane change space, and determine whether the lane change is satisfied; If satisfied, the game is successful and the lane is changed to the target lane; If not, the lane-changing game continues to be executed. When the lane-changing condition is satisfied, the game succeeds and the lane is changed to the target lane.

5. The lane changing method according to any one of claims 1 or 4, characterized in that: The calculation process of the gaming speed and the gaming position includes: The game position is calculated based on the vehicle width, the position of the vehicles in front and behind the lane change space, the position of the lane line, the vehicle speed, the speed of the vehicles in front and behind the lane change space, and the lane change distance; The game speed is calculated based on the vehicle speed and the speeds of the vehicles in front and behind the lane change space.

6. The lane changing method according to claim 5, characterized in that: The game position is calculated based on the vehicle width, the position of the vehicles in front and behind the lane change space, the position of the lane line, the vehicle speed, the speed of the vehicles in front and behind the lane change space, and the lane change distance, including: Calculating a first distance based on the lane line position and the position of the vehicle in front of the lane change space; Calculate the lateral position of the game lane change based on the first distance, the vehicle width and the lane line position; The longitudinal distance of the game lane change is calculated based on the positions of the vehicles in front and behind the lane change space, the speeds of the vehicles in front and behind the lane change space, the speed of the vehicle itself and the lane change distance; The gaming position is determined according to the longitudinal distance and the lateral position.

7. The lane changing method according to claim 1, characterized in that: Before the lane change to the target lane, the method further includes: Determine whether the lane-changing space stability, lane-changing environment safety, and lane-changing legality are met; If the conditions are met, the step of changing lanes to the target lane is executed.

8. A lane changing device, characterized in that: include: The target lane determination module is used to determine the target lane based on the driving information of the vehicle and surrounding obstacle vehicles; A lane-changing judgment module is used to determine a lane-changing space based on the position information of the obstacle vehicle in the target lane, and to judge whether the lane-changing distance of the lane-changing space satisfies the lane-changing requirement; The lane-changing game module is used to perform a lane-changing game based on the game speed and the game position if the conditions are not met, and to change lanes to the target lane when the game is successful.

9. A lane changing device, characterized in that: include: Memory for storing computer programs; A processor, configured to implement the lane changing method as claimed in any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are loaded and executed by the processor, the lane changing method according to any one of claims 1 to 7 is implemented.

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