Vehicle lane changing method and system under high-speed navigation aided driving

Abstract

The invention provides a vehicle lane changing method and system under high-speed navigation aided driving, and relates to the technical field of automobile intelligent aided driving, and the method comprises the steps: obtaining front vehicle millimeter wave radar information, map information and an automobile external environment image; identifying a front vehicle driving speed based on front vehicle millimeter wave radar information, and identifying a vehicle distance and a lane changing space based on an environment image and map information; setting a difference threshold according to difference comparison between the vehicle speed and the running speed of the front vehicle, and judging whether lane changing can be carried out or not according to a comparison result with the difference threshold; wherein the lane changing modes comprise overtaking lane changing, navigation lane changing and efficient lane changing, and the navigation lane changing refers to judging whether a ramp, an entrance, an exit and an intersection exist in front or not, intervening navigation lane changing control and assisting a vehicle in lane changing.

Description

Technical Field

[0001] The present disclosure relates to the technical field of automobile intelligent assisted driving, and in particular to a vehicle lane changing method and system under high-speed navigation assisted driving. Background Art

[0002] The statements in this section merely provide background information related to the present disclosure and do not necessarily constitute prior art.

[0003] High-speed navigation assisted driving functions have been implemented in many OEMs and are gradually maturing. However, there are defects in traffic efficiency. For example, most current solutions only judge overtaking and changing lanes based on the speed difference between the vehicle and the vehicle in front. Shortly after changing lanes, road construction / triangle signs / navigation paths appear in front and need to return to the original lane, resulting in invalid lane changes. In addition, fixed distance calibration values ​​are used to determine the timing of navigation lane changes, resulting in unnecessary following of slow vehicles or insufficient remaining lane change space, resulting in the need for the driver to take over and other problems, affecting traffic efficiency. Summary of the invention

[0004] In order to solve the above problems, the present disclosure proposes a vehicle lane changing method and system under high-speed navigation assisted driving, which judges whether it is necessary to change lanes in advance based on map information and vehicle external environment information, and analyzes the timing of lane changing, thereby avoiding unnecessary deceleration and lane changing, and improving the traffic efficiency of the vehicle's high-speed navigation assisted driving function.

[0005] According to some embodiments, the present disclosure adopts the following technical solutions:

[0006] A vehicle lane changing method under high-speed navigation-assisted driving, comprising:

[0007] Obtaining millimeter-wave radar information of the vehicle ahead, map information, and images of the vehicle's external environment;

[0008] Identify the speed of the vehicle ahead based on the millimeter-wave radar information of the vehicle ahead, and identify the distance between vehicles and the lane-changing space based on the environmental image and map information;

[0009] According to the difference between the own vehicle speed and the speed of the preceding vehicle, a difference threshold is set, and whether lane change can be performed is determined according to the comparison result with the difference threshold;

[0010] Among them, the lane changing methods include overtaking lane changing, navigation lane changing and efficiency lane changing. The navigation lane changing is to determine whether there is a ramp, entrance, exit and intersection ahead, intervene in the navigation lane changing control, and assist the vehicle to change lanes.

[0011] According to some embodiments, the present disclosure adopts the following technical solutions:

[0012] A vehicle lane changing system under high-speed navigation-assisted driving, comprising:

[0013] A data acquisition module is used to obtain millimeter-wave radar information of the preceding vehicle, map information, and images of the vehicle's external environment;

[0014] The recognition module is used to identify the speed of the preceding vehicle based on the millimeter-wave radar information of the preceding vehicle, and to identify the vehicle distance and lane change space based on the environmental image and map information;

[0015] A lane change control module is used to set a difference threshold value based on the difference between the vehicle's own speed and the speed of the vehicle ahead, and determine whether the lane change can be performed based on the comparison result with the difference threshold value;

[0016] Among them, the lane changing methods include overtaking lane changing, navigation lane changing and efficiency lane changing. The navigation lane changing is to determine whether there is a ramp, entrance, exit and intersection ahead, intervene in the navigation lane changing control, and assist the vehicle to change lanes.

[0017] According to some embodiments, the present disclosure adopts the following technical solutions:

[0018] A computer program product includes a computer program, and when the computer program is executed by a processor, the vehicle lane changing method under high-speed navigation-assisted driving is implemented.

[0019] According to some embodiments, the present disclosure adopts the following technical solutions:

[0020] A non-transitory computer-readable storage medium is used to store computer instructions. When the computer instructions are executed by a processor, a vehicle lane changing method under high-speed navigation-assisted driving is implemented.

[0021] According to some embodiments, the present disclosure adopts the following technical solutions:

[0022] An electronic device comprises: a processor, a memory and a computer program; wherein the processor is connected to the memory, the computer program is stored in the memory, and when the electronic device is running, the processor executes the computer program stored in the memory so that the electronic device executes the vehicle lane changing method under high-speed navigation assisted driving.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] The present invention discloses a vehicle lane changing method under high-speed navigation assisted driving, which senses the state of the vehicle in front of the vehicle and the state of the left or right target lane and lane line through multiple sensors, and proposes multiple lane changing control methods in combination with map information obtained by the automatic driving controller, judges whether there are ramps, merging entrances, merging exits and intersections ahead, makes decisions in advance, intervenes in overtaking or navigation lane changing logic, avoids invalid lane changes and unnecessary deceleration, and improves the lane changing efficiency and traffic efficiency of the vehicle under high-speed navigation assisted driving.

[0025] The present invention discloses a vehicle lane changing method under high-speed navigation assisted driving. In the Advanced Driving Assistance System (ADAS), the current L2+ high-speed navigation assisted driving (H-NOA, Highway-Navigate on Autopilot) function can realize point-to-point automatic driving in highway scenes by combining maps (ADAS maps or high-precision maps or navigation SD maps, etc.), including: automatic overtaking and lane changing, automatic navigation and lane changing, etc. The perception hardware solution disclosed in the present invention is realized by combining 5R (millimeter wave radar) and 1V (monocular or binocular camera). BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings constituting a part of the present disclosure are used to provide a further understanding of the present disclosure. The illustrative embodiments of the present disclosure and their descriptions are used to explain the present disclosure and do not constitute an improper limitation on the present disclosure.

[0027] Figure 1 The present invention is a flow chart of a method for changing vehicle lanes under high-speed navigation-assisted driving according to an embodiment of the present invention. DETAILED DESCRIPTION

[0028] The present disclosure is further described below in conjunction with the accompanying drawings and embodiments.

[0029] It should be noted that the following detailed descriptions are all illustrative and are intended to provide further explanation of the present disclosure. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present disclosure belongs.

[0030] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present disclosure. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0031] Example 1

[0032] In one embodiment of the present disclosure, a vehicle lane changing method under high-speed navigation-assisted driving is provided. By combining a map (ADAS map or high-precision map or navigation SD map, etc.), point-to-point automatic driving can be achieved in highway scenarios, including: automatic overtaking and lane changing, automatic navigation lane changing, and frequency lane changing, etc. The perception hardware solution of the present disclosure is implemented by combining 5R (millimeter wave radar) and 1V (monocular or binocular camera). It includes:

[0033] Step 1: Obtain the millimeter-wave radar information, map information and external environment image of the vehicle in front;

[0034] Step 2: Identify the speed of the preceding vehicle based on the millimeter-wave radar information of the preceding vehicle, and identify the vehicle distance and lane change space based on the environmental image and map information;

[0035] Step 3: According to the difference between the own vehicle speed and the speed of the preceding vehicle, a difference threshold is set, and whether lane change can be performed is determined according to the comparison result with the difference threshold;

[0036] Among them, the lane changing methods include overtaking lane changing, navigation lane changing and efficiency lane changing. The navigation lane changing is to determine whether there is a ramp, entrance, exit and intersection ahead, intervene in the navigation lane changing control, and assist the vehicle to change lanes.

[0037] As an embodiment, the specific implementation process of a vehicle lane changing method under high-speed navigation assisted driving disclosed in the present invention is as follows:

[0038] Step 1: Obtain the millimeter-wave radar information, map information, and external environment image of the vehicle in front;

[0039] Specifically, when the car is driving on a highway, the driver turns on the H-NOA central control soft switch and presses the smart driving function button to enter the function. The car drives normally in the center of the main lane and obtains ADAS map information through the vehicle's automatic driving controller. The car obtains the external environment image of the car and the speed of the vehicle in front through the camera and millimeter-wave radar.

[0040] Among them, the ADAS map information includes: which lane the vehicle is in, whether there is an exit or entrance ahead, which lane ahead has accident information and road speed limit information; the vehicle's external environment image includes lane line information, whether there is a construction area or cone ahead, whether there is a warning triangle ahead, and the speed of the vehicle ahead includes the speed and deceleration information of the vehicle ahead.

[0041] Step 2: Identify the speed of the preceding vehicle based on the millimeter-wave radar information of the preceding vehicle, and identify the vehicle distance and lane change space based on the environmental image and map information;

[0042] Specifically, the present disclosure uses existing deep learning recognition algorithms to perceive vehicle information in the front vehicle's millimeter-wave radar information, environmental images, and map information, including the front vehicle's speed, vehicle distance, and lane change space.

[0043] Step 3: According to the difference between the own vehicle speed and the speed of the vehicle in front, a difference threshold is set, and whether the lane change can be made is determined according to the comparison result with the difference threshold; the lane change methods include overtaking lane change, navigation lane change and efficiency lane change. The navigation lane change is to determine whether there is a ramp, entrance, exit and intersection ahead, intervene in the navigation lane change control, and assist the vehicle to change lanes.

[0044] Specifically, a difference threshold is set based on the comparison between the vehicle's own speed and the speed of the vehicle ahead, and a judgment is made based on the comparison result with the difference threshold whether a lane change can be made, including overtaking lane change, navigation lane change and efficiency lane change, wherein:

[0045] 1) Overtaking and lane changing: When it is recognized that the speed of the front vehicle is slower than that of the self-vehicle by a set ratio and the TTC is ≤ the calibration value, the vehicle will overtake and change lanes to the left, and determine whether there is space for lane change in the left and right target lanes and whether the lane line conditions are met based on the perception information. At the same time, determine whether there is a front vehicle in the left and right target lanes. If the lane change space allows and there is a front vehicle, determine whether the longitudinal TTC of the front vehicle and the self-vehicle is TTC> the calibration value, or the speed is> the self-vehicle. If so, overtaking and lane changing will be performed; if the lane change space allows and there is no front vehicle, overtaking and lane changing will be performed directly.

[0046] As an embodiment, when it is recognized that the speed of the front vehicle is slower than that of the vehicle by more than 15% and TTC≤7s (calibrable), priority is given to overtaking and changing lanes to the left, and the perception information of the radar and visual sensors is combined to determine whether there is space for lane change in the left / right target lane and whether the lane line conditions are met. At the same time, it is determined whether there is a front vehicle in the left / right target lane. If the lane change space allows and there is a front vehicle, it is determined whether the longitudinal TTC of the front vehicle and the vehicle is TTC>15s (calibrable), or the speed is>the vehicle speed. If so, overtaking and lane change are performed; if the lane change space allows and there is no front vehicle, overtaking and lane change are performed directly.

[0047] 2) Navigation lane change is to determine whether there is an off-ramp or a need to exit the highway at the latest lane change point ahead based on the acquired map information. If there is a need, the navigation lane change to the right is triggered, and at the same time, the left lane change for overtaking is suppressed to avoid invalid lane changes such as changing right again to the original lane after changing left. If there is no need, the overtaking lane change control is triggered normally. When on the ramp, it is determined whether the current lane ahead of the vehicle can directly merge into the main road or directly enter the fork of the ramp on the navigation route without changing lanes. If so, the overtaking lane change is suppressed. If not, the navigation lane change is performed normally before the lane disappearance point or the latest lane change point.

[0048] As an embodiment, the navigation lane change will determine in real time based on the acquired map information whether there is a need to get off the ramp / exit the highway at the latest lane change point ahead [400(n+1)m, n is the number of lane changes to directly enter the ramp / directly merge into the main road / directly enter the intersection lane]. If there is a need, the navigation lane change to the right is triggered, and at the same time, the overtaking lane change to the left is suppressed to avoid invalid lane changes that require changing right back to the original lane after changing lanes to the left; if there is no need, the above-mentioned overtaking lane change logic is triggered normally. In addition, when in the ramp, determine whether the current lane ahead of the vehicle can directly merge into the main road / directly enter the fork of the ramp on the navigation route without changing lanes. If so, the logic of suppressing overtaking lane change is given priority; if not, the navigation lane change is performed normally according to the navigation lane change logic before the lane extinction point / the latest lane change point.

[0049] 3) Efficient lane change: When the vehicle ahead of you in your lane brakes suddenly, slows down, or stops, the driver determines whether the left or right target lane supports lane change. If the lane change safety conditions are met, the driver overtakes and changes lanes in advance to avoid the vehicle. If not, the driver continues to drive in the lane.

[0050] As an embodiment, a specific implementation process of efficient lane change is as follows:

[0051] 1. When the vehicle ahead of you in your lane brakes suddenly / slows down / stops, the system uses the same logic as overtaking and lane changing to determine whether the left / right target lane supports lane changing. If the lane changing safety conditions are met, the system will overtake in advance to avoid lane changing; if not, the system will continue driving in the current lane.

[0052] 2. If the above overtaking / navigation lane change logic is met, but obstacles such as warning tripods and construction cones are detected in front of the left / right target lane, overtaking / navigation lane change will be suppressed first, and lane change will be performed only when the vehicle continues to drive past the obstacle.

[0053] 3. If the vehicle is preparing to overtake / navigate to change lanes to the rightmost lane, determine whether there is a merging entrance 600m ahead (calibrable). If so, first suppress the overtaking / navigation lane change, and activate the lane change after driving in the lane beyond the merging entrance. This prevents the vehicle from following behind the low-speed vehicle that has just merged, causing unnecessary deceleration.

[0054] In a vehicle lane changing method under high-speed navigation assisted driving disclosed in the present invention, the vehicle determines whether it needs to change lanes in advance based on the above-mentioned acquired information, thereby avoiding unnecessary deceleration and lane changing, and improving the traffic efficiency of the vehicle's high-speed navigation assisted driving function.

[0055] Example 2

[0056] In one embodiment of the present disclosure, a vehicle lane changing system under high-speed navigation-assisted driving is provided, comprising:

[0057] A data acquisition module is used to obtain millimeter-wave radar information of the preceding vehicle, map information, and images of the vehicle's external environment;

[0058] The recognition module is used to identify the speed of the preceding vehicle based on the millimeter-wave radar information of the preceding vehicle, and to identify the vehicle distance and lane change space based on the environmental image and map information;

[0059] A lane change control module is used to set a difference threshold value based on the difference between the vehicle's own speed and the speed of the vehicle ahead, and determine whether the lane change can be performed based on the comparison result with the difference threshold value;

[0060] Among them, the lane changing methods include overtaking lane changing, navigation lane changing and efficiency lane changing. The navigation lane changing is to determine whether there is a ramp, entrance, exit and intersection ahead, intervene in the navigation lane changing control, and assist the vehicle to change lanes.

[0061] Example 3

[0062] In one embodiment of the present disclosure, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the vehicle lane changing method under high-speed navigation-assisted driving is implemented.

[0063] Example 4

[0064] In one embodiment of the present disclosure, a non-transitory computer-readable storage medium is provided, wherein the non-transitory computer-readable storage medium is used to store computer instructions. When the computer instructions are executed by a processor, the vehicle lane changing method under high-speed navigation-assisted driving is implemented.

[0065] Example 5

[0066] In one embodiment of the present disclosure, an electronic device is provided, including: a processor, a memory, and a computer program; wherein the processor is connected to the memory, the computer program is stored in the memory, and when the electronic device is running, the processor executes the computer program stored in the memory, so that the electronic device executes the vehicle lane changing method under high-speed navigation assisted driving.

[0067] The present disclosure is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present disclosure. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0068] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0069] Although the above describes the specific implementation methods of the present disclosure in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present disclosure. Technical personnel in the relevant field should understand that on the basis of the technical solution of the present disclosure, various modifications or variations that can be made by those skilled in the art without creative work are still within the scope of protection of the present disclosure.

Claims

1. A vehicle lane changing method under high-speed navigation-assisted driving, characterized in that: include: Obtaining millimeter-wave radar information of the vehicle ahead, map information, and images of the vehicle's external environment; Identify the speed of the vehicle ahead based on the millimeter-wave radar information of the vehicle ahead, and identify the distance between vehicles and the lane-changing space based on the environmental image and map information; According to the difference between the own vehicle speed and the speed of the preceding vehicle, a difference threshold is set, and whether lane change can be performed is determined according to the comparison result with the difference threshold; Among them, the lane changing methods include overtaking lane changing, navigation lane changing and efficiency lane changing. The navigation lane changing is to determine whether there is a ramp, entrance, exit and intersection ahead, intervene in the navigation lane changing control, and assist the vehicle to change lanes.

2. The vehicle lane changing method under high-speed navigation-assisted driving as claimed in claim 1, characterized in that: The ADAS map information is obtained through the vehicle's automatic driving controller, including: which lane the vehicle is in, whether there is an exit or entrance ahead, which lane ahead has accident information, and road speed limit information.

3. The vehicle lane changing method under high-speed navigation-assisted driving as claimed in claim 1, characterized in that: The vehicle obtains the external environment image of the vehicle and the speed of the vehicle in front through the camera and millimeter-wave radar, thereby sensing the external environment information. The external environment image of the vehicle includes lane line information, whether there is a construction area or cone barrel ahead, whether there is a warning triangle ahead, and the speed of the vehicle in front includes the speed and deceleration information of the vehicle in front.

4. The vehicle lane changing method under high-speed navigation-assisted driving as claimed in claim 1, characterized in that: A difference threshold is set based on the comparison between the vehicle's own speed and the speed of the vehicle in front, and whether lane change is possible is determined based on the comparison result with the difference threshold, including: when it is identified that the speed of the vehicle in front is slower than that of the vehicle in front by more than a set ratio and TTC≤calibrated value, overtake to the left and change lanes, and determine whether there is lane change space in the left and right target lanes and whether the lane line conditions are met based on the perception information. At the same time, determine whether there is a vehicle in front in the left and right target lanes. If lane change space allows and there is a vehicle in front, determine whether the longitudinal TTC of the vehicle in front and the vehicle in front is TTC>calibrated value, or the speed>of the vehicle in front. If so, overtake and change lanes are performed; if lane change space allows and there is no vehicle in front, overtake and change lanes directly.

5. The vehicle lane changing method under high-speed navigation-assisted driving as claimed in claim 1, characterized in that: Navigation lane change is to determine whether there is an off-ramp or a need to exit the highway at the latest lane change point ahead based on the acquired map information. If there is a need, the navigation lane change to the right is triggered, and at the same time, the left overtaking lane change is suppressed to avoid invalid lane changes such as having to change right back to the original lane after changing lanes to the left. If there is no need, the overtaking lane change control is triggered normally. When on the ramp, determine whether the vehicle's current lane ahead does not need to change lanes and can directly merge into the main road or directly enter the fork of the ramp on the navigation route. If so, choose to suppress the overtaking lane change. If not, the navigation lane change is performed normally before the lane disappearance point or the latest lane change point.

6. The vehicle lane changing method under high-speed navigation-assisted driving as claimed in claim 1, characterized in that: Efficient lane change occurs when the vehicle ahead of you in your lane brakes suddenly, slows down, or stops. At this time, the driver determines whether the left or right target lane supports lane change as in overtaking lane change. If the lane change safety conditions are met, the driver overtakes and changes lanes in advance to avoid the vehicle. If not, the driver continues to drive in the lane.

7. A vehicle lane changing system under high-speed navigation-assisted driving, characterized in that: include: A data acquisition module is used to obtain millimeter-wave radar information of the preceding vehicle, map information, and images of the vehicle's external environment; The recognition module is used to identify the speed of the preceding vehicle based on the millimeter-wave radar information of the preceding vehicle, and to identify the vehicle distance and lane change space based on the environmental image and map information; A lane change control module is used to set a difference threshold value based on the difference between the vehicle's own speed and the speed of the vehicle ahead, and determine whether the lane change can be performed based on the comparison result with the difference threshold value; Among them, the lane changing methods include overtaking lane changing, navigation lane changing and efficiency lane changing. The navigation lane changing is to determine whether there is a ramp, entrance, exit and intersection ahead, intervene in the navigation lane changing control, and assist the vehicle to change lanes.

8. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the vehicle lane changing method under high-speed navigation-assisted driving described in any one of claims 1 to 6 is implemented.

9. A non-transitory computer-readable storage medium, characterized in that: The non-transitory computer-readable storage medium is used to store computer instructions. When the computer instructions are executed by the processor, a vehicle lane changing method under high-speed navigation-assisted driving as described in any one of claims 1-6 is implemented.

10. An electronic device, characterized in that: include: A processor, a memory and a computer program; wherein the processor is connected to the memory, the computer program is stored in the memory, and when the electronic device is running, the processor executes the computer program stored in the memory so that the electronic device executes a vehicle lane changing method under high-speed navigation assisted driving as described in any one of claims 1-6.

Images