Lane changing control method and device, electronic equipment, storage medium and program product

Abstract

The invention provides a lane changing control method and device, electronic equipment, a storage medium and a program product. The method comprises the following steps: acquiring navigation path information and congested road section information, wherein the navigation path information comprises navigation path information from a main road to a ramp; according to the navigation path information and the congested road section information, determining the position relationship between the congested road section on the navigation path and the ramp entrance; determining the position of a lane changing point according to the position relationship between the congested road section and the ramp entrance; and controlling the vehicle to change the lane at the position of the lane changing point. The method is used for achieving the effects of preventing the vehicle from missing the ramp and improving the passing efficiency.

Description

Technical Field

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

[0002] At present, autonomous driving technology has become a research hotspot in the automotive industry and intelligent transportation field, and it also faces many challenges. In complex and changing road environments, such as the entrances and exits of highway ramps and congested sections of cities, the autonomous driving system is required to have a high degree of perception, accurate decision-making algorithms and fast response speed to ensure that the vehicle can drive safely and stably.

[0003] In related technologies, the process of a vehicle entering a ramp usually relies on accurate navigation path planning and real-time road information. When the Highway Navigation Pilot (HNP) system receives information about the need to exit the ramp ahead in the navigation path, the system will plan a reasonable lane change strategy in advance based on the difference in the number of lanes between the current lane of the vehicle and the target lane of the ramp. For example, if the vehicle is currently in the adjacent lane of the target lane, the system controls the vehicle to change lanes to the target lane 500 meters before the ramp entrance; if the vehicle is in a lane separated from the target lane by one lane, the system controls the vehicle to change lanes to the adjacent lane of the target vehicle 1000 meters before the ramp entrance, and then controls the vehicle to change lanes to the target lane 500 meters before the ramp entrance.

[0004] The above lane change control method may cause the vehicle to miss the ramp or reduce traffic efficiency. Summary of the invention

[0005] The embodiments of the present application provide a lane change control method, device, electronic device, storage medium and program product to solve the problem in the prior art that vehicles cannot enter the ramp smoothly and efficiently.

[0006] In a first aspect, an embodiment of the present application provides a lane change control method, including:

[0007] Obtaining navigation path information and congested road section information, the navigation path information including navigation path information from the main road to the ramp;

[0008] Determine the positional relationship between the congested road section and the ramp entrance on the navigation path according to the navigation path information and the congested road section information;

[0009] Determine the location of the lane change point based on the positional relationship between the congested road section and the ramp entrance;

[0010] At the lane change point, the vehicle is controlled to change lanes.

[0011] In a possible implementation, determining the location of the lane change point according to the location relationship between the congested road section and the ramp entrance includes:

[0012] When the congestion starting point of a congested road section is located in the main road and the congestion end point of the congested road section is located in the ramp, the lane changing point is determined according to the position of the congestion starting point.

[0013] In a possible implementation, determining the lane change point according to the location of the congestion starting point includes:

[0014] When the vehicle is in an adjacent lane of a target lane, a first preset distance before the starting point of congestion is determined as the first lane change point; wherein the target lane is the lane where the vehicle enters the ramp;

[0015] Accordingly, at the position of the lane change point, controlling the vehicle to change lanes includes:

[0016] At the first lane change point, the vehicle is controlled to change lanes from the adjacent lane to the target lane.

[0017] In a possible implementation manner, determining the lane change point according to the location of the congestion starting point further includes:

[0018] When the vehicle is in the lane spaced apart from the target lane, determining a second preset distance before the first lane change point as the second lane change point;

[0019] Accordingly, at the position of the lane change point, controlling the vehicle to change lanes also includes:

[0020] At the second lane change point, the vehicle is controlled to change lanes from the alternate lane to the adjacent lane.

[0021] In a possible implementation, determining the location of the lane change point according to the location relationship between the congested road section and the ramp entrance includes:

[0022] When the congestion starting point and the congestion end point of a congested road section are both located on the main road, the lane changing point is determined according to the location of the congestion end point and the location of the ramp entrance.

[0023] In a possible implementation, determining the lane change point according to the location of the congestion end point and the location of the ramp entrance includes:

[0024] When the vehicle is in the adjacent lane of the target lane, the third preset distance after the congestion end is determined as the third lane change point; wherein the target lane is the lane where the vehicle enters the ramp, and the third lane change point is between the congestion end and the ramp entrance;

[0025] Accordingly, at the position of the lane change point, controlling the vehicle to change lanes includes:

[0026] At the third lane change point, the vehicle is controlled to change lanes from the adjacent lane to the target lane.

[0027] In a possible implementation, determining the lane change point according to the location of the congestion end point and the location of the ramp entrance further includes:

[0028] When the vehicle is in the lane spaced apart from the target lane, a fourth preset distance before the third lane-changing point is determined as the fourth lane-changing point; wherein the fourth lane-changing point is located between the congestion end point and the third lane-changing point;

[0029] Accordingly, at the position of the lane change point, controlling the vehicle to change lanes also includes:

[0030] At the fourth lane-changing point, the vehicle is controlled to change lanes from the alternate lane to the adjacent lane.

[0031] In a second aspect, an embodiment of the present application provides a lane change control device, including:

[0032] An acquisition module, used to acquire navigation path information and congested road section information, wherein the navigation path information includes navigation path information from the main road to the ramp;

[0033] A determination module, used to determine the positional relationship between the congested road section and the ramp entrance on the navigation path according to the navigation path information and the congested road section information;

[0034] The determination module is further used to determine the location of the lane change point according to the positional relationship between the congested road section and the ramp entrance;

[0035] The control module is used to control the vehicle to change lanes at a lane change point.

[0036] In a possible implementation, the determination module is specifically used to determine the lane change point according to the position of the congestion starting point when the congestion starting point of the congested road section is located in the main road and the congestion end point of the congested road section is located in the ramp.

[0037] In a possible implementation, the determination module is specifically configured to determine, when the vehicle is in an adjacent lane of a target lane, a first preset distance before a congestion starting point as a first lane change point; wherein the target lane is a lane where the vehicle enters a ramp;

[0038] Accordingly, the control module is specifically configured to control the vehicle to change lanes from an adjacent lane to a target lane at a first lane-changing point.

[0039] In a possible implementation manner, the determination module is further configured to determine, when the vehicle is in an interval lane of the target lane, that a second preset distance before the first lane change point is a second lane change point;

[0040] Accordingly, the control module is further configured to control the vehicle to change lanes from the alternate lane to the adjacent lane at the second lane change point.

[0041] In a possible implementation, the determination module is specifically used to determine the lane change point according to the location of the congestion end point and the location of the ramp entrance when the congestion starting point and the congestion end point of the congested road section are both located on the main road.

[0042] In a possible implementation, the determination module is specifically configured to determine, when the vehicle is in an adjacent lane of a target lane, that a third preset distance after a congestion end point is a third lane change point; wherein the target lane is a lane for the vehicle to enter a ramp, and the third lane change point is located between the congestion end point and the ramp entrance;

[0043] Accordingly, the control module is specifically configured to control the vehicle to change lanes from the adjacent lane to the target lane at the third lane change point.

[0044] In a possible implementation manner, the determination module is further configured to determine, when the vehicle is in an interval lane of the target lane, a fourth preset distance before the third lane change point as a fourth lane change point; wherein the fourth lane change point is located between the congestion end point and the third lane change point;

[0045] Correspondingly, the control module is further configured to control the vehicle to change lanes from the alternate lane to the adjacent lane at the fourth lane-changing point.

[0046] In a third aspect, an embodiment of the present application provides an electronic device, including: a memory, a processor;

[0047] Memory stores computer-executable instructions;

[0048] The processor executes the computer-executable instructions stored in the memory, so that the processor executes the above first aspect and / or various possible implementations of the first aspect.

[0049] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the first aspect above and / or various possible implementations of the first aspect.

[0050] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the above first aspect and / or various possible implementation methods of the first aspect.

[0051] The lane change control method, device, electronic device, storage medium and program product provided in the embodiments of the present application determine the lane change point according to the positional relationship between the congested road section and the ramp entrance on the navigation path, and control the vehicle to change lanes at the lane change point, so that the vehicle can accurately enter the ramp, while reducing unnecessary congestion time and improving traffic efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] 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.

[0053] Figure 1 A schematic diagram of a lane change control scenario in the prior art;

[0054] Figure 2 A flowchart of a lane change control method provided by the present application;

[0055] Figure 3 Scenario illustration of lane change control provided in this application Figure 1 ;

[0056] Figure 4 Scenario illustration of lane change control provided in this application Figure 2 ;

[0057] Figure 5 A schematic structural diagram of a lane change control device provided in this application;

[0058] Figure 6 A schematic diagram of the structure of an electronic device provided in this application.

[0059] 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

[0060] 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.

[0061] The user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0062] Figure 1 FIG. 1 is a schematic diagram of a lane change control scenario in the prior art. Figure 1As shown in the figure, when the vehicle is driving on the main road and determines that it needs to enter a ramp ahead according to the navigation path, the autonomous driving system needs to control the vehicle to change lanes to lane 1 and enter the ramp through lane 1 according to the number of lanes between the vehicle's current lane and the target lane for entering the ramp (that is, lane 1 in the figure). For example, if the vehicle is in lane 2, the vehicle needs to change lanes to lane 1 500 meters before the ramp entrance, that is, change lanes at lane change point 1 in the figure. If the vehicle is in lane 3, the vehicle needs to change lanes to lane 2 1000 meters before the ramp entrance, that is, change lanes at lane change point 2 in the figure, and change lanes to lane 1 at lane change point 1.

[0063] However, if there is a congestion queue at the entrance of Lane 1, and the congestion length is greater than 500 meters, it is difficult for the automatic driving system to control the vehicle to change lanes to Lane 1 500 meters before the ramp entrance, causing the vehicle to miss the ramp. If there is a short congestion in Lane 1 before the ramp, but there is no congestion at the ramp entrance, the automatic driving system controls the vehicle to change lanes to Lane 1 500 meters before the ramp entrance, which will increase invalid congestion and reduce traffic efficiency.

[0064] Based on the above problems, the present application provides a lane change control method, device, electronic device, storage medium and program product. In the method, when the navigation path shows that a ramp is about to be entered, the positional relationship between the congested road section within a preset distance of the ramp entrance and the ramp entrance is detected, and different lane change points are determined according to different positional relationships, so as to avoid the congested road section affecting the vehicle's efficient and smooth entry into the ramp.

[0065] 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.

[0066] Figure 2 A flow chart of a lane change control method provided in this application. Figure 2 As shown, with the automatic driving system as the execution subject, the lane change control method of this embodiment includes the following steps:

[0067] S101: Obtain navigation route information and congested road section information.

[0068] The navigation path information includes navigation path information from the main road to the ramp.

[0069] In this embodiment, the autonomous driving system, or the HNP system in the autonomous driving system, can obtain navigation path information and congested road section information through the navigation system. The navigation path information includes the complete path from the current location to the destination, especially the detailed navigation information from the main road to the ramp, such as direction instructions, intersection information, etc. The congested road section information includes the starting and ending positions of the congested road section, the degree of congestion (such as mild, moderate, severe), and the estimated passing time.

[0070] S102: Determine the positional relationship between the congested road section and the ramp entrance on the navigation path according to the navigation path information and the congested road section information.

[0071] In this embodiment, the navigation path information and the congested road section information are both road-level information. The autonomous driving system can also obtain map topology information from the navigation system, and match the navigation path information and the congested road section information with the map topology information, respectively, to determine the starting position and the end position of the congested road section on the navigation path. Specifically, the positional relationship between the congestion starting point, the congestion end point and the ramp entrance can be determined. For example, the congestion starting point is 500 meters behind the ramp entrance, that is, the congestion starting point is 500 meters inside the ramp.

[0072] S103: Determine the position of the lane change point according to the positional relationship between the congested road section and the ramp entrance.

[0073] In this embodiment, the autonomous driving system can determine the lane changing point based on the positional relationship between the congested road section and the ramp entrance, based on information such as the degree of congestion, difficulty of lane changing, traffic rules, and predictions of surrounding vehicle behavior.

[0074] For example, if the congested section is close to the ramp entrance and the congestion is serious, the system may choose to change lanes in advance at a location that is slightly farther away from the ramp entrance but with relatively smooth traffic, to avoid the risks and inconveniences of changing lanes in the congested section. If the congested section is far from the ramp entrance, you can choose to change lanes after the congested section to avoid increasing invalid congestion trips and reducing traffic efficiency.

[0075] S104. At the lane change point, control the vehicle to change lanes.

[0076] After determining the lane change point, the autonomous driving system sends control instructions to the vehicle's chassis system to control the vehicle to change lanes at the lane change point. The control instructions may include adjusting the vehicle's driving direction, acceleration / deceleration, and steering.

[0077] The lane change control method provided in this embodiment determines the positional relationship between the congested road section and the ramp entrance based on the navigation path information and the congested road section information, and then determines the lane change point based on this positional relationship, thereby achieving the effect of improving the rationality of the lane change point, ensuring that the vehicle can smoothly enter the ramp, while avoiding invalid congested trips and improving traffic efficiency.

[0078] like Figure 3 As shown, in a possible implementation, the congestion starting point of the congested road section is located in the main road, and the congestion end point of the congested road section is located in the ramp. At this time, the specific implementation method of step S103 is: determine the lane change point according to the position of the congestion starting point.

[0079] For example, when the vehicle is in the adjacent lane of the target lane, the first preset distance before the congestion starting point is determined as the first lane change point. It can be understood that the target lane is the lane where the vehicle enters the ramp, that is, lane 1 in the figure, and the adjacent lane of the target lane is lane 2.

[0080] At this time, the distance from the first lane change point to the ramp entrance = the distance from the first lane change point to the congestion starting point + the distance from the congestion starting point to the ramp entrance. Among them, the distance from the first lane change point to the congestion starting point is the first preset distance, which is positively correlated with the length of the congested road section. It can be understood that the longer the congested road section, the higher the difficulty of changing lanes at the preset distance before the congestion starting point, so the first preset distance needs to be set in a positive correlation with the length of the congested road section.

[0081] In this scenario, a specific implementation of step S104 includes controlling the vehicle to change lanes from an adjacent lane to a target lane at the first lane change point.

[0082] For another example, when the vehicle is in the lane between the target lane, the second preset distance before the first lane change point is determined as the second lane change point. It can be understood that the lane between the target lane is lane 3 in the figure.

[0083] At this time, the distance from the second lane-changing point to the ramp entrance = the distance from the second lane-changing point to the first lane-changing point + the distance from the first lane-changing point to the congestion starting point + the distance from the congestion starting point to the ramp entrance. Among them, the distance from the second lane-changing point to the first lane-changing point is the second preset distance, which is positively correlated with the length of the congested section. Similarly, the longer the congested section, the higher the difficulty of changing lanes at the preset distance before the congestion starting point, so the second preset distance needs to be set in a positive correlation with the length of the congested section.

[0084] In this scenario, the specific implementation of step S104 also includes: at the second lane change point, controlling the vehicle to change lanes from the alternate lane to the adjacent lane. That is, the automatic driving system first controls the vehicle to change lanes from lane 3 to lane 2 at the second lane change point, and then controls the vehicle to change lanes from lane 2 to lane 1 at the first lane change point.

[0085] Figure 3In the scenario shown, the ramp entrance is in a congested section. The lane change point is determined according to the starting point of the congestion, so that the vehicle can change lanes before the congested section, thereby avoiding the difficulty of changing lanes to the target lane after entering the congested section, and thus avoiding the vehicle missing the ramp entrance. By determining the first lane change point and the second lane change point, it is ensured that the vehicle can smoothly change lanes to the target lane and enter the ramp when it is in different lanes.

[0086] like Figure 4 As shown, in a possible implementation, the congestion start point and the congestion end point of the congested road section are both located on the main road. In this case, the specific implementation of step S103 is: determining the lane change point according to the location of the congestion end point and the location of the ramp entrance.

[0087] For example, when the vehicle is in the adjacent lane of the target lane, the third preset distance after the congestion end is determined as the third lane change point. The target lane is the lane where the vehicle enters the ramp, that is, lane 1 in the figure, and the adjacent lane of the target lane is lane 2. The third lane change point is between the congestion end and the ramp entrance.

[0088] At this time, the distance from the third lane-changing point to the ramp entrance = the distance from the congestion end point to the ramp entrance - the distance from the congestion end point to the third lane-changing point. Among them, the distance from the congestion end point to the third lane-changing point is the third preset distance. In order to avoid the position error of the congestion end point affecting the lane change, the third preset distance is positively correlated with the length of the congested road section. In addition, since the third lane-changing point is located between the congestion end point and the ramp entrance, the upper limit of the third preset distance is the distance from the congestion end point to the ramp entrance.

[0089] In this scenario, a specific implementation of step S104 includes controlling the vehicle to change lanes from an adjacent lane to a target lane at the third lane change point.

[0090] For another example, when the vehicle is in the lane between the target lane, the fourth preset distance before the third lane change point is determined as the fourth lane change point. The lane between the target lane is lane 3 in the figure, and the fourth lane change point is between the congestion end and the third lane change point.

[0091] At this time, the distance from the fourth lane-changing point to the ramp entrance = the distance from the congestion end point to the ramp entrance - the distance from the congestion end point to the third lane-changing point + the distance from the third lane-changing point to the fourth lane-changing point. Among them, the distance from the third lane-changing point to the fourth lane-changing point is the fourth preset distance. In order to avoid the position error of the congestion end point affecting the lane change, the fourth preset distance is positively correlated with the length of the congested road section. In addition, since the fourth lane-changing point is located between the congestion end point and the third lane-changing point, the upper limit of the fourth preset distance is the distance from the congestion end point to the third lane-changing point.

[0092] In this scenario, the specific implementation of step S104 also includes: at the fourth lane change point, controlling the vehicle to change lanes from the alternate lane to the adjacent lane. That is, the automatic driving system first controls the vehicle to change lanes from lane 3 to lane 2 at the fourth lane change point, and then controls the vehicle to change lanes from lane 2 to lane 1 at the third lane change point.

[0093] Figure 4 In the scenario shown, the ramp entrance is located after the congested section. The lane change point is determined according to the location of the congestion end point and the ramp entrance, so that the vehicle can complete the lane change after the congested section and before the ramp entrance, thereby avoiding the increase of invalid congestion trips caused by the vehicle changing lanes before the congested section, and improving the traffic efficiency of the vehicle. By determining the third and fourth lane change points according to the location of the congestion end point and the ramp entrance, it is ensured that the vehicle can smoothly change lanes to the target lane when it is in different lanes, so as to smoothly enter the ramp.

[0094] Figure 5 A schematic diagram of the structure of the lane change control device provided in this application, such as Figure 5 As shown, the lane change control device 10 of this embodiment is used to implement the operation corresponding to the automatic driving system in any of the above method embodiments. The lane change control 10 provided by this embodiment includes:

[0095] An acquisition module 11 is used to acquire navigation path information and congested road section information, wherein the navigation path information includes navigation path information from the main road to the ramp;

[0096] A determination module 12, for determining a positional relationship between a congested road section and a ramp entrance on the navigation path according to the navigation path information and the congested road section information;

[0097] The determination module 12 is further used to determine the location of the lane change point according to the positional relationship between the congested road section and the ramp entrance;

[0098] The control module 13 is used to control the vehicle to change lanes at the lane change point.

[0099] In a possible implementation, the determination module 12 is specifically configured to determine a lane change point according to the position of the congestion starting point when the congestion starting point of the congested road section is located in the main road and the congestion ending point of the congested road section is located in the ramp.

[0100] In a possible implementation, the determination module 12 is specifically configured to determine, when the vehicle is in an adjacent lane of a target lane, a first preset distance before a congestion starting point as a first lane change point; wherein the target lane is a lane where the vehicle enters a ramp;

[0101] Accordingly, the control module 13 is specifically configured to control the vehicle to change lanes from the adjacent lane to the target lane at the first lane-changing point.

[0102] In a possible implementation manner, the determination module 12 is further configured to determine, when the vehicle is in an interval lane of the target lane, a position at a second preset distance before the first lane change point as a second lane change point;

[0103] Correspondingly, the control module 13 is further configured to control the vehicle to change lanes from the alternate lane to the adjacent lane at the second lane-changing point.

[0104] In a possible implementation, the determination module 12 is specifically configured to determine the lane change point according to the location of the congestion end point and the location of the ramp entrance when the congestion start point and the congestion end point of the congested road section are both located on the main road.

[0105] In a possible implementation, the determination module 12 is specifically configured to determine, when the vehicle is in an adjacent lane of the target lane, that a third preset distance after the congestion end point is a third lane change point; wherein the target lane is a lane for the vehicle to enter the ramp, and the third lane change point is located between the congestion end point and the ramp entrance;

[0106] Accordingly, the control module 13 is specifically configured to control the vehicle to change lanes from the adjacent lane to the target lane at the third lane-changing point.

[0107] In a possible implementation, the determination module 12 is further configured to determine, when the vehicle is in an interval lane of the target lane, a fourth preset distance before the third lane change point as a fourth lane change point; wherein the fourth lane change point is located between the congestion end point and the third lane change point;

[0108] Correspondingly, the control module 13 is further configured to control the vehicle to change lanes from the alternate lane to the adjacent lane at the fourth lane-changing point.

[0109] The lane change control device 10 provided in this embodiment can execute the method provided in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be described in detail here.

[0110] Figure 6 This is a schematic diagram of the structure of an electronic device provided in this application. Figure 6 As shown, the electronic device 20 provided in this embodiment includes: a memory 21 and at least one processor 22. Optionally, the device 20 also includes a communication component 23. The memory 21, the processor 22 and the communication component 23 are connected via a bus 24.

[0111] In a specific implementation process, at least one processor 22 executes the computer-executable instructions stored in the memory 21, so that at least one processor 22 executes the above method.

[0112] The specific implementation process of the processor 22 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.

[0113] In the above embodiments, it should be understood that the processor may 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 may be a microprocessor or the processor may be any conventional processor, etc. The steps of the method disclosed in the invention may be directly embodied as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor.

[0114] 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.

[0115] 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.

[0116] The present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0117] 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.

[0118] 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.

[0119] 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 an integral part of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (ASIC). Of course, the processor and the readable storage medium can also exist in a device as discrete components.

[0120] 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.

[0121] 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.

[0122] 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.

[0123] 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.

[0124] 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.

[0125] 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 lane change control method, characterized in that: include: Acquiring navigation path information and congested road section information, wherein the navigation path information includes navigation path information from a main road to a ramp; Determining a positional relationship between a congested road section and a ramp entrance on the navigation path according to the navigation path information and the congested road section information; Determining the position of the lane change point according to the positional relationship between the congested road section and the ramp entrance; At the position of the lane change point, the vehicle is controlled to change lanes.

2. The method according to claim 1, characterized in that Determining the location of the lane change point according to the positional relationship between the congested road section and the ramp entrance includes: When the congestion starting point of the congested road section is located in the main road and the congestion end point of the congested road section is located in the ramp, the lane change point is determined according to the position of the congestion starting point.

3. The method according to claim 2, characterized in that Determining a lane change point according to the location of the congestion starting point includes: When the vehicle is in an adjacent lane of a target lane, a first preset distance before the congestion starting point is determined as a first lane change point; wherein the target lane is a lane where the vehicle enters a ramp; Accordingly, at the position of the lane-changing point, controlling the vehicle to change lanes includes: At the first lane change point, the vehicle is controlled to change lanes from the adjacent lane to the target lane.

4. The method according to claim 3, characterized in that: Determining a lane change point according to the location of the congestion starting point also includes: When the vehicle is in the lane spaced apart from the target lane, determining a second preset distance before the first lane change point as a second lane change point; Accordingly, at the position of the lane change point, controlling the vehicle to change lanes further includes: At the second lane change point, the vehicle is controlled to change lanes from the interval lane to the adjacent lane.

5. The method according to any one of claims 1 to 4, characterized in that: Determining the location of the lane change point according to the positional relationship between the congested road section and the ramp entrance includes: When the congestion starting point and the congestion end point of the congested road section are both located on the main road, the lane change point is determined according to the position of the congestion end point and the position of the ramp entrance.

6. The method according to claim 5, characterized in that Determining a lane change point according to the location of the congestion end point and the location of the ramp entrance includes: When the vehicle is in an adjacent lane of a target lane, a third preset distance after the congestion end point is determined as a third lane change point; wherein the target lane is a lane for the vehicle to enter a ramp, and the third lane change point is located between the congestion end point and the ramp entrance; Accordingly, at the position of the lane-changing point, controlling the vehicle to change lanes includes: At the third lane-changing point, the vehicle is controlled to change lanes from the adjacent lane to the target lane.

7. The method according to claim 6, characterized in that Determining a lane change point according to the location of the congestion end point and the location of the ramp entrance also includes: When the vehicle is in the interval lane of the target lane, a fourth preset distance before the third lane change point is determined as a fourth lane change point; wherein the fourth lane change point is located between the congestion end point and the third lane change point; Accordingly, at the position of the lane change point, controlling the vehicle to change lanes further includes: At the fourth lane-changing point, the vehicle is controlled to change lanes from the interval lane to the adjacent lane.

8. A lane change control device, characterized in that: include: An acquisition module, used to acquire navigation path information and congested road section information, wherein the navigation path information includes navigation path information from a main road to a ramp; A determination module, used to determine the positional relationship between the congested road section and the ramp entrance on the navigation path according to the navigation path information and the congested road section information; The determination module is further used to determine the position of the lane change point according to the positional relationship between the congested road section and the ramp entrance; The control module is used to control the vehicle to change lanes at the location of the lane change point.

9. 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 7.

10. 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 7 when executed by a processor.

11. A computer program product, characterized in that The invention comprises a computer program, which implements the method according to any one of claims 1 to 7 when being executed by a processor.

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