Auxiliary driving overtaking lane changing control method and device and electronic equipment

Abstract

The invention relates to an auxiliary driving overtaking lane changing control method and device and electronic equipment, and belongs to the technical field of auxiliary driving. The method comprises the steps that the strategy state of a lane changing strategy is determined according to the traffic flow speed of a target lane and the dynamic obstacle speed of the lane, and if the strategy state of the lane changing strategy is triggered, the lane changing strategy is triggered; a lane changing probability value is obtained according to the traffic flow speed of the target lane, the dynamic obstacle speed of the lane, the front vehicle steering blocking probability, the obstacle blocking probability, the intersection lane changing danger probability and the lane danger probability, and if the lane changing probability value is larger than a preset value, the vehicle is controlled to execute lane changing operation; according to the auxiliary driving method, whether overtaking is needed or not is judged through the triggering condition, when lane changing overtaking is needed, the optimal lane changing decision is obtained by comprehensively considering the factors of the traffic flow speed, the dynamic obstacle, front vehicle steering, obstacle blocking, the front intersection and the lane where the vehicle is located, redundant lane changing actions are effectively avoided, and the driving efficiency is improved. And the riding experience of the driver is improved.

Description

Technical Field

[0001] The present application relates to the field of assisted driving technology, and in particular to an assisted driving overtaking and lane changing control method, device and electronic equipment. Background Art

[0002] With the trend of vehicle intelligence, various assisted driving functions are increasingly being installed on vehicles, such as automatic emergency braking, adaptive cruise control, automatic parking, etc. The assisted driving function can automatically adjust the vehicle speed to maintain a safe distance from the vehicle in front, and can also automatically accelerate and decelerate according to the driving conditions of the vehicle in front, so that the vehicle maintains a preset safe distance and keeps the vehicle safely in the middle of the lane, thereby realizing the assisted driving function during vehicle driving.

[0003] When controlling a vehicle to overtake and change lanes, existing assisted driving systems generally predict the movement trajectory and behavior of surrounding vehicles based on their positions, speeds, and accelerations to decide whether to initiate overtaking and lane changes. This method of judging whether to overtake and change lanes based on movement trajectories can generally meet the needs. However, when using existing assisted driving technology to decide whether to overtake in complex scenarios such as the vehicle in front changing lanes or the vehicle in front needs to turn right, it is easy to cause unnecessary lane changes due to incomplete considerations, affecting the driving experience. Summary of the invention

[0004] To this end, the present invention provides an assisted driving overtaking lane change control method, device and electronic equipment to solve the problem in the prior art that incomplete consideration of factors easily leads to unnecessary lane change actions, affecting the driving experience.

[0005] In a first aspect, a method for controlling lane change by assisting driving and overtaking is provided, the method comprising:

[0006] Determine the strategy state of the lane change strategy according to the traffic speed of the target lane and the speed of the dynamic obstacle in the lane; the strategy state includes triggered and not triggered;

[0007] If the strategy status of the lane change strategy is triggered,

[0008] Obtain the probability of the vehicle ahead turning blocked according to the state of the vehicle ahead’s turn signal;

[0009] Obstacle blocking probability is obtained based on the lane change space between the vehicle and surrounding obstacles;

[0010] The probability of lane change danger at the intersection is obtained based on the distance between the vehicle and the intersection ahead;

[0011] The lane hazard probability is obtained according to the lane type of the vehicle;

[0012] Obtaining a lane change probability value according to the target lane traffic speed, the lane dynamic obstacle speed, the preceding vehicle turning blocking probability, the obstacle blocking probability, the intersection lane change danger probability and the lane danger probability;

[0013] If the lane change probability value is greater than a preset value, the vehicle is controlled to perform a lane change operation.

[0014] Furthermore, the lane change probability value is obtained according to the target lane traffic speed, the dynamic obstacle speed of the lane, the blocking probability of the preceding vehicle turning, the blocking probability of the obstacle, the lane change danger probability at the intersection and the lane danger probability, including:

[0015] According to the target lane traffic speed, the dynamic obstacle speed of the lane, the blocking probability of the preceding vehicle turning, the blocking probability of the obstacle, the lane change danger probability at the intersection and the lane danger probability, the lane change probability value is obtained by the lane change probability formula, and the lane change probability formula is:

[0016] P=[(p1×a)+(p2×b)]-[(p3×c)+(p4×d)+(p5×e)+(p6×f)];

[0017] Among them, P is the lane change probability value; a is the ratio of the traffic speed of the target lane to the traffic speed of the own lane; b is the ratio of the speed of the dynamic obstacle in the own lane to the speed of the own vehicle; c is the probability of blocking by the preceding vehicle turning; d is the probability of blocking by an obstacle; e is the probability of lane change danger at the intersection; f is the probability of lane danger; p1, p2, p3, p4, p5 and p6 are the weights of a, b, c, d, e and f respectively.

[0018] Furthermore, obtaining the blocking probability of the front vehicle turning according to the state of the front vehicle's turn signal lamp includes:

[0019] If the left turn signal of the vehicle in front is on, the blocking probability of the vehicle in front is obtained through the existing motion collision algorithm according to the speed of the vehicle in front, the acceleration of the vehicle in front, the speed of the vehicle, the acceleration of the vehicle in front and the distance to the vehicle in front.

[0020] Furthermore, the lane change space is the distance between the vehicle and the nearest obstacle; and obtaining the obstacle blocking probability according to the lane change space between the vehicle and surrounding obstacles includes:

[0021] If the lane change space is smaller than the sum of the vehicle body length and the first preset length, the obstacle blocking probability is 1;

[0022] If the lane change space is greater than the sum of the vehicle body length and the second preset length, the obstacle blocking probability is 0;

[0023] If the lane change space is greater than the sum of the vehicle body length and the first preset length, and less than the sum of the vehicle body length and the second preset length, the obstacle blocking probability is obtained by the obstacle blocking formula, which is:

[0024] d=(L 车 +j1-L 变 ) / (i1-j1)+1;

[0025] Where d is the probability of obstacle blocking; L 车 is the length of the vehicle; L 变 is the lane change space; j1 is the first preset length; i1 is the second preset length; L 变 ∈L 车 +[j1,i1].

[0026] Furthermore, obtaining the probability of lane change danger at the intersection according to the distance between the vehicle and the front intersection includes:

[0027] If the vehicle needs to turn right at the intersection ahead, the distance between the vehicle and the intersection ahead is obtained as the road clearance;

[0028] When the distance from the road is less than the third preset length, the probability of lane change danger at the intersection is 1;

[0029] When the distance from the road is greater than a fourth preset length, the probability of lane change danger at the intersection is 0;

[0030] If the lane change space is greater than the third preset length and less than the fourth preset length, the lane change hazard probability at the intersection is obtained by using the lane change formula at the intersection, and the lane change formula at the intersection is:

[0031] e=(j2-L 路口 ) / (i2-j2)+1;

[0032] Where e is the probability of lane change danger at the intersection; L 路口 is the distance from the road; j2 is the third preset length; i2 is the fourth preset length; L 路口 ∈[j2,i2].

[0033] Furthermore, obtaining the lane hazard probability according to the lane type of the vehicle includes:

[0034] If the lane where the vehicle is located is a ramp or an auxiliary road, the lane hazard probability is 1, otherwise the lane hazard probability is 0.

[0035] Furthermore, the strategy state of the lane change strategy is determined according to the target lane traffic speed and the dynamic obstacle speed of the lane, including:

[0036] If the ratio of the target lane traffic speed to the own lane traffic speed is greater than a first preset ratio, and the ratio of the own vehicle speed to the dynamic obstacle speed in the own lane is greater than a second preset ratio, the strategy state of the lane change strategy is set to triggered.

[0037] Furthermore, the method further comprises:

[0038] If the lane change probability value is less than or equal to the preset value, the strategy state is reset to not triggered, and the strategy state is locked as not triggered until a preset time period.

[0039] In a second aspect, a driving assistance overtaking lane change control device is provided, the device comprising:

[0040] A trigger module, used to determine the strategy state of the lane change strategy according to the traffic speed of the target lane and the speed of the dynamic obstacle in the lane; the strategy state includes triggered and not triggered;

[0041] A lane change probability value module is used to, if the strategy state of the lane change strategy is triggered,

[0042] Obtain the probability of the vehicle ahead turning blocked according to the state of the vehicle ahead’s turn signal;

[0043] Obstacle blocking probability is obtained based on the lane change space between the vehicle and surrounding obstacles;

[0044] The probability of lane change danger at the intersection is obtained based on the distance between the vehicle and the intersection ahead;

[0045] The lane hazard probability is obtained according to the lane type of the vehicle;

[0046] Obtaining a lane change probability value according to the target lane traffic speed, the lane dynamic obstacle speed, the preceding vehicle turning blocking probability, the obstacle blocking probability, the intersection lane change danger probability and the lane danger probability;

[0047] The execution module is used to control the vehicle to execute a lane change operation if the lane change probability value is greater than a preset value.

[0048] In a third aspect, an electronic device is provided, including:

[0049] at least one processor; and

[0050] a memory communicatively connected to the at least one processor; wherein,

[0051] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute any of the above-mentioned assisted driving overtaking lane change control methods.

[0052] The present invention adopts the above technical solution and has at least the following beneficial effects:

[0053] Provided are an assisted driving overtaking lane change control method, device and electronic device. The strategy state of the lane change strategy is determined according to the traffic speed of the target lane and the speed of the dynamic obstacle of the lane. If the strategy state of the lane change strategy is triggered, the blocking probability of the front vehicle turning is obtained according to the state of the turn signal of the front vehicle, the blocking probability of the obstacle is obtained according to the lane change space between the vehicle and the surrounding obstacles, the danger probability of lane change at the intersection is obtained according to the distance between the vehicle and the front intersection, the danger probability of the lane is obtained according to the type of lane where the vehicle is located, and the probability value of lane change is obtained according to the traffic speed of the target lane, the speed of the dynamic obstacle of the lane, the blocking probability of the front vehicle turning, the blocking probability of the obstacle, the danger probability of lane change at the intersection and the danger probability of the lane. If the probability value of lane change is greater than a preset value, the vehicle is controlled to perform a lane change operation. The assisted driving of the present application first determines whether overtaking is required through triggering conditions. When lane change is required, the factors of traffic speed, dynamic obstacles, steering of the front vehicle, obstacle blocking, front intersection and lane where the vehicle is located are comprehensively considered to obtain the best lane change decision, effectively avoiding unnecessary lane change actions and improving the riding experience of passengers.

[0054] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] 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 some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0056] Figure 1 is a flow chart of an assisted driving overtaking lane change control method shown in an exemplary embodiment of the present invention;

[0057] Figure 2 is a schematic block diagram of an assisted driving overtaking lane change control device shown in an exemplary embodiment of the present invention;

[0058] Figure 3 It is a schematic block diagram of an electronic device shown in an exemplary embodiment of the present invention. DETAILED DESCRIPTION

[0059] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0060] At present, when the assisted driving system controls the vehicle to overtake and change lanes, it generally predicts the movement trajectory and behavior of the surrounding vehicles through physical quantities such as the position, speed, and acceleration to decide whether to initiate overtaking and changing lanes. This strategy is not "smart" enough. When the vehicle in front changes lanes or the vehicle in front needs to turn right, when using the existing assisted driving technology to decide whether to overtake, it is easy to cause unnecessary lane changes due to incomplete considerations, affecting the driving experience.

[0061] The embodiments of the present application provide an assisted driving overtaking and lane changing control method, device and electronic device. First, whether overtaking is required is determined through trigger conditions. When lane changing is required, factors such as traffic speed, dynamic obstacles, turning of the vehicle in front, obstacle blocking, intersection ahead and the lane in which the vehicle is located are comprehensively considered to arrive at the best lane changing decision, thereby effectively avoiding unnecessary lane changing actions and improving the riding experience of passengers.

[0062] The method and device in this application are described below through specific embodiments.

[0063] See also Figure 1 , Figure 1 is a flow chart of an assisted driving overtaking lane change control method according to an exemplary embodiment of the present invention, see Figure 1 , the method comprising:

[0064] Step S11, determining the strategy state of the lane change strategy according to the traffic speed of the target lane and the speed of the dynamic obstacle in the lane;

[0065] Step S12: If the strategy status of the lane change strategy is triggered;

[0066] Step S13, obtaining the blocking probability of the front vehicle turning according to the state of the front vehicle's turn signal;

[0067] Step S14, obtaining the obstacle blocking probability according to the lane change space between the vehicle and surrounding obstacles;

[0068] Step S15, obtaining the probability of lane change danger at the intersection according to the distance between the vehicle and the intersection ahead;

[0069] Step S16, obtaining a lane hazard probability according to the lane type in which the vehicle is located;

[0070] Step S17, obtaining a lane change probability value according to the target lane traffic speed, the dynamic obstacle speed of the lane, the blocking probability of the preceding vehicle turning, the blocking probability of the obstacle, the lane change danger probability at the intersection, and the lane danger probability;

[0071] Step S18: If the lane change probability value is greater than a preset value, the vehicle is controlled to perform a lane change operation.

[0072] It should be noted that the technical solution provided in this embodiment can be added to the existing assisted driving system in the form of a small program in specific practice, or can be provided in the form of an independent application to provide an interface to the outside world to complete the lane change strategy; applicable scenarios include but are not limited to: assisted driving lane change and overtaking.

[0073] Specifically, the preset value can be set according to the safety level of the vehicle driving. The higher the safety level, the larger the preset value. Generally, the preset value is 0.

[0074] It can be understood that the method provided in this embodiment determines the strategy state of the lane changing strategy based on the traffic speed of the target lane and the dynamic obstacle speed of the lane. If the strategy state of the lane changing strategy is triggered, the lane changing probability value is obtained based on the traffic speed of the target lane, the dynamic obstacle speed of the lane, the blocking probability of the vehicle in front, the blocking probability of the obstacle, the probability of lane changing danger at the intersection and the probability of lane danger. If the lane changing probability value is greater than the preset value, the vehicle is controlled to perform the lane changing operation. The assisted driving of the present application first determines whether overtaking is required through the triggering conditions. When lane changing and overtaking are required, the factors of traffic speed, dynamic obstacles, steering of the vehicle in front, obstacle blocking, intersection ahead and lane in which the vehicle is located are comprehensively considered to obtain the best lane changing decision, which effectively avoids unnecessary lane changing actions and improves the riding experience of passengers.

[0075] In specific practice, step S11 "determining the strategy state of the lane changing strategy based on the traffic speed of the target lane and the speed of the dynamic obstacle in the lane" includes: if the ratio of the traffic speed of the target lane to the traffic speed of the lane is greater than a first preset ratio, and the ratio of the vehicle speed to the dynamic obstacle speed in the lane is greater than a second preset ratio, then the strategy state of the lane changing strategy is set to triggered.

[0076] It should be noted that the lane change strategy triggering conditions include that the traffic speed of the target lane is higher than the traffic speed of the lane, and the vehicle speed is higher than the dynamic obstacle speed of the lane. The specific speed that is higher than the speed triggers the lane change strategy, which is controlled by a first preset ratio and a second preset ratio. The first preset ratio and the second preset ratio are both greater than 1, and the first preset ratio and the second preset ratio are set according to the safety level of the vehicle driving. The higher the safety level, the larger the first preset ratio and the second preset ratio.

[0077] It can be understood that the technical solution provided in this embodiment uses trigger conditions to decide whether to activate the lane change strategy, thereby achieving precise control over the activation of the lane change strategy.

[0078] In specific practice, "obtaining the probability of turning blockage of the vehicle in front based on the state of the turn signal of the vehicle in front" in step S13 includes: if the left turn signal of the vehicle in front is on, then obtaining the probability of turning blockage of the vehicle in front through the existing motion collision algorithm based on the speed of the vehicle in front, the acceleration of the vehicle in front, the speed of the vehicle, the acceleration of the vehicle in front and the distance to the vehicle in front.

[0079] In specific practice, in step S14, "obtaining the obstacle blocking probability based on the lane changing space between the vehicle and the surrounding obstacles" includes: if the lane changing space is less than the sum of the vehicle body length and the first preset length, the obstacle blocking probability is 1; if the lane changing space is greater than the sum of the vehicle body length and the second preset length, the obstacle blocking probability is 0; if the lane changing space is greater than the sum of the vehicle body length and the first preset length, and less than the sum of the vehicle body length and the second preset length, the obstacle blocking probability is obtained by the obstacle blocking formula, and the obstacle blocking formula is: d=(L 车 +j1-L 变 ) / (i1-j1)+1; where d is the probability of being blocked by an obstacle; L 车 is the length of the vehicle; L 变 is the lane change space; j1 is the first preset length; i1 is the second preset length; L 变 ∈L 车 +[j1,i1].

[0080] It should be noted that the lane change space is the distance between the vehicle and the nearest obstacle, which includes surrounding vehicles, two-wheeled vehicles and pedestrians on the road; the first preset length and the second preset length are set according to the safety level of the vehicle's driving. The higher the safety level, the larger the first preset length and the second preset length.

[0081] In specific practice, in step S15, "obtaining the probability of lane change danger at the intersection based on the distance between the vehicle and the intersection ahead" includes: if the vehicle needs to turn right at the intersection ahead, obtaining the distance between the vehicle and the intersection ahead as the road departure distance; when the road departure distance is less than the third preset length, the probability of lane change danger at the intersection is 1; when the road departure distance is greater than the fourth preset length, the probability of lane change danger at the intersection is 0; if the lane change space is greater than the third preset length and less than the fourth preset length, the probability of lane change danger at the intersection is obtained by the intersection lane change formula, and the intersection lane change formula is: e=(j2-L 路口 ) / (i2-j2)+1; where e is the probability of lane change danger at the intersection; L 路口 is the distance from the road; j2 is the third preset length; i2 is the fourth preset length; L 路口 ∈[j2,i2].

[0082] It should be noted that when there is an intersection ahead, it is necessary to determine whether it is a right-turn intersection and whether the vehicle needs to turn right based on the navigation data. If the vehicle needs to turn right at the intersection ahead, then changing lanes to overtake on the left should be suppressed; the third preset length and the fourth preset length are set according to the safety level of the vehicle's driving. The higher the safety level, the larger the third preset length and the fourth preset length.

[0083] In specific practice, in step S16, "obtaining a lane hazard probability based on the type of lane in which the vehicle is located" includes: if the lane in which the vehicle is located is a ramp or an auxiliary road, the lane hazard probability is 1, otherwise the lane hazard probability is 0.

[0084] In specific practice, in step S17, "obtaining a lane change probability value according to the target lane traffic speed, the lane dynamic obstacle speed, the front vehicle turning blocking probability, the obstacle blocking probability, the intersection lane change danger probability and the lane danger probability" includes: obtaining a lane change probability value through a lane change probability formula according to the target lane traffic speed, the lane dynamic obstacle speed, the front vehicle turning blocking probability, the obstacle blocking probability, the intersection lane change danger probability and the lane danger probability, and the lane change probability formula is: P = [(p1×a)+ (p2×b)]-[(p3×c)+(p4×d)+(p5×e)+(p6×f)]; where P is the lane change probability value; a is the ratio of the traffic speed in the target lane to the traffic speed in the own lane; b is the ratio of the speed of the dynamic obstacle in the own lane to the speed of the own vehicle; c is the probability of blocking by the preceding vehicle turning; d is the probability of blocking by an obstacle; e is the probability of lane change danger at the intersection; f is the probability of lane danger; p1, p2, p3, p4, p5 and p6 are the weights of a, b, c, d, e and f respectively.

[0085] It should be noted that p1, p2, p3, p4, p5 and p6 are the weights of a, b, c, d, e and f respectively, and p1, p2, p3, p4, p5 and p6 are obtained through multiple experimental calibrations, and p1, p2, p3, p4, p5 and p6 are all less than 1.

[0086] It can be understood that the technical solution provided in this embodiment comprehensively considers factors such as traffic speed, dynamic obstacles, turning of the vehicle in front, obstacle blocking, the intersection ahead and the lane in which the vehicle is located to arrive at the best lane change decision.

[0087] In specific practice, it also includes: if the lane change probability value is less than or equal to a preset value, the strategy state is reset to not triggered, and the strategy state is locked as not triggered until a preset time period.

[0088] See also Figure 2 , Figure 2 is a schematic block diagram of an assisted driving overtaking lane change control device according to an exemplary embodiment of the present invention, see Figure 2 The auxiliary driving overtaking lane changing control device 100 includes:

[0089] The trigger module 101 is used to determine the strategy state of the lane change strategy according to the traffic speed of the target lane and the speed of the dynamic obstacle in the lane; the strategy state includes triggered and not triggered;

[0090] The lane change probability value module 102 is used to, if the strategy state of the lane change strategy is triggered,

[0091] Obtain the probability of the vehicle ahead turning blocked according to the state of the vehicle ahead’s turn signal;

[0092] Obstacle blocking probability is obtained based on the lane change space between the vehicle and surrounding obstacles;

[0093] The probability of lane change danger at the intersection is obtained based on the distance between the vehicle and the intersection ahead;

[0094] The lane hazard probability is obtained according to the lane type of the vehicle;

[0095] The lane change probability value is obtained according to the traffic speed of the target lane, the speed of the dynamic obstacle of the lane, the blocking probability of the preceding vehicle turning, the blocking probability of the obstacle, the lane change danger probability at the intersection and the lane danger probability;

[0096] The execution module 103 is used to control the vehicle to execute a lane change operation if the lane change probability value is greater than a preset value.

[0097] It should be noted that the technical solution provided in this embodiment can be applied in specific practice to scenarios including but not limited to: assisted driving lane change and overtaking.

[0098] It can be understood that the device provided in this embodiment first determines whether overtaking is required through triggering conditions. When changing lanes to overtake is required, it will comprehensively consider factors such as traffic speed, dynamic obstacles, turning of the vehicle in front, obstacle blocking, intersection ahead and the lane in which the vehicle is located, and make the best lane change decision, which effectively avoids unnecessary lane change actions and improves the riding experience of passengers.

[0099] See also Figure 3 , Figure 3 is a schematic block diagram of an electronic device according to an exemplary embodiment of the present invention, see Figure 3 , an electronic device 200, comprising:

[0100] at least one processor 202; and

[0101] A memory 201 is communicatively connected to at least one processor 202; wherein,

[0102] The memory 201 stores instructions that can be executed by at least one processor 202, and the instructions are executed by at least one processor 202 so that at least one processor 202 can execute any of the above-mentioned assisted driving overtaking lane change control methods.

[0103] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

[0104] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0105] The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0106] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. An assisted driving overtaking lane change control method, characterized in that: include: Determine the strategy state of the lane change strategy according to the traffic speed of the target lane and the speed of the dynamic obstacle in the lane; the strategy state includes triggered and not triggered; If the strategy status of the lane change strategy is triggered, Obtain the probability of the vehicle ahead turning blocked according to the state of the vehicle ahead’s turn signal; Obstacle blocking probability is obtained based on the lane change space between the vehicle and surrounding obstacles; The probability of lane change danger at the intersection is obtained based on the distance between the vehicle and the intersection ahead; The lane hazard probability is obtained according to the lane type of the vehicle; Obtaining a lane change probability value according to the target lane traffic speed, the lane dynamic obstacle speed, the preceding vehicle turning blocking probability, the obstacle blocking probability, the intersection lane change danger probability and the lane danger probability; If the lane change probability value is greater than a preset value, the vehicle is controlled to perform a lane change operation.

2. The control method according to claim 1, characterized in that: The lane change probability value is obtained according to the target lane traffic speed, the dynamic obstacle speed of the lane, the blocking probability of the preceding vehicle turning, the blocking probability of the obstacle, the lane change danger probability at the intersection and the lane danger probability, including: According to the target lane traffic speed, the dynamic obstacle speed of the lane, the blocking probability of the preceding vehicle turning, the blocking probability of the obstacle, the lane change danger probability at the intersection and the lane danger probability, the lane change probability value is obtained by the lane change probability formula, and the lane change probability formula is: P=[(p1×a)+(p2×b)]-[(p3×c)+(p4×d)+(p5×e)+(p6×f)]; Among them, P is the lane change probability value; a is the ratio of the traffic speed of the target lane to the traffic speed of the own lane; b is the ratio of the speed of the dynamic obstacle in the own lane to the speed of the own vehicle; c is the probability of blocking by the preceding vehicle turning; d is the probability of blocking by an obstacle; e is the probability of lane change danger at the intersection; f is the probability of lane danger; p1, p2, p3, p4, p5 and p6 are the weights of a, b, c, d, e and f respectively.

3. The control method according to claim 1, characterized in that: The method of obtaining the blocking probability of the front vehicle turning according to the state of the front vehicle turning light includes: If the left turn signal of the vehicle in front is on, the blocking probability of the vehicle in front is obtained through the existing motion collision algorithm according to the speed of the vehicle in front, the acceleration of the vehicle in front, the speed of the vehicle, the acceleration of the vehicle in front and the distance to the vehicle in front.

4. The control method according to claim 1, characterized in that: The lane change space is the distance between the vehicle and the nearest obstacle; the obstacle blocking probability is obtained based on the lane change space between the vehicle and the surrounding obstacles, including: If the lane change space is smaller than the sum of the vehicle body length and the first preset length, the obstacle blocking probability is 1; If the lane change space is greater than the sum of the vehicle body length and the second preset length, the obstacle blocking probability is 0; If the lane change space is greater than the sum of the vehicle body length and the first preset length, and less than the sum of the vehicle body length and the second preset length, the obstacle blocking probability is obtained by the obstacle blocking formula, which is: d=(L 车 +j1-L 变 ) / (i1-j1)+1; Where d is the probability of obstacle blocking; L 车 is the length of the vehicle; L 变 is the lane change space; j1 is the first preset length; i1 is the second preset length; L 变 ∈L 车 +[j1,i1].

5. The control method according to claim 1, characterized in that: The method of obtaining the lane change danger probability at the intersection according to the distance between the vehicle and the intersection ahead includes: If the vehicle needs to turn right at the intersection ahead, the distance between the vehicle and the intersection ahead is obtained as the road clearance; When the distance from the road is less than the third preset length, the probability of lane change danger at the intersection is 1; When the distance from the road is greater than a fourth preset length, the probability of lane change danger at the intersection is 0; If the lane change space is greater than the third preset length and less than the fourth preset length, the lane change hazard probability at the intersection is obtained by using the lane change formula at the intersection, and the lane change formula at the intersection is: e=(j2-L 路口 ) / (i2-j2)+1; Where e is the probability of lane change danger at the intersection; L 路口 is the distance from the road; j2 is the third preset length; i2 is the fourth preset length; L 路口 ∈[j2,i2].

6. The control method according to claim 1, characterized in that: The lane hazard probability is obtained according to the lane type of the vehicle, including: If the lane where the vehicle is located is a ramp or an auxiliary road, the lane hazard probability is 1, otherwise the lane hazard probability is 0.

7. The control method according to claim 1, characterized in that: The strategy state of the lane change strategy is determined according to the target lane traffic speed and the dynamic obstacle speed of the lane, including: If the ratio of the target lane traffic speed to the own lane traffic speed is greater than a first preset ratio, and the ratio of the own vehicle speed to the dynamic obstacle speed in the own lane is greater than a second preset ratio, the strategy state of the lane change strategy is set to triggered.

8. The control method according to claim 1, characterized in that: The method further comprises: If the lane change probability value is less than or equal to the preset value, the strategy state is reset to not triggered, and the strategy state is locked as not triggered until a preset time period.

9. An auxiliary driving overtaking lane change control device, characterized in that: The device comprises: A trigger module, used to determine the strategy state of the lane change strategy according to the traffic speed of the target lane and the speed of the dynamic obstacle in the lane; the strategy state includes triggered and not triggered; A lane change probability value module is used to, if the strategy state of the lane change strategy is triggered, Obtain the probability of the vehicle ahead turning blocked according to the state of the vehicle ahead’s turn signal; Obstacle blocking probability is obtained based on the lane change space between the vehicle and surrounding obstacles; The probability of lane change danger at the intersection is obtained based on the distance between the vehicle and the intersection ahead; The lane hazard probability is obtained according to the lane type of the vehicle; Obtaining a lane change probability value according to the target lane traffic speed, the lane dynamic obstacle speed, the preceding vehicle turning blocking probability, the obstacle blocking probability, the intersection lane change danger probability and the lane danger probability; The execution module is used to control the vehicle to execute a lane change operation if the lane change probability value is greater than a preset value.

10. An electronic device, characterized in that: include: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the assisted driving overtaking lane change control method as described in any one of claims 1-8.

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