An assisted driving overtaking lane changing control method, device and electronic equipment

Abstract

The application relates to an assisted driving overtaking and lane changing control method and device and electronic equipment, and belongs to the technical field of assisted driving. The method comprises the following steps: determining the strategy state of a lane changing strategy according to the traffic flow speed of a target lane and the dynamic obstacle speed of the current lane; if the strategy state of the lane changing strategy is triggered, obtaining a lane changing probability value according to the traffic flow speed of the target lane, the dynamic obstacle speed of the current lane, the front vehicle steering blockage probability, the obstacle blockage probability, the intersection lane changing danger probability and the lane danger probability; and if the lane changing probability value is greater than a preset value, controlling the current vehicle to perform a lane changing operation. According to the application, the assisted driving first determines whether overtaking is needed through a triggering condition; when lane changing and overtaking are needed, the factors such as the traffic flow speed, the dynamic obstacle, the front vehicle steering, the obstacle blockage, the front intersection and the lane where the current vehicle is located are comprehensively considered to obtain the best lane changing decision, so that redundant lane changing actions are effectively avoided, and the riding experience of the passengers and drivers 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 increasing adoption of intelligent vehicles, various assisted driving features, such as automatic emergency braking, adaptive cruise control, and automated parking, are increasingly being installed. These features can automatically adjust vehicle speed to maintain a safe distance from the vehicle ahead, accelerating and decelerating based on the vehicle ahead's movements to maintain a preset safe distance and keep the vehicle safely in the center of its lane, thus providing assisted driving throughout the driving process.

[0003] When controlling a vehicle to overtake and change lanes, existing assisted driving systems generally predict the motion trajectory and behavior of surrounding vehicles based on their position, speed, and acceleration to decide whether to initiate overtaking and lane changes. This method of judging whether to overtake and change lanes based on motion trajectory can generally meet the needs. However, when using existing assisted driving technology to decide whether to overtake in complex scenarios such as when the vehicle in front changes lanes or the vehicle in front needs to turn right, the incomplete consideration of factors can easily lead to unnecessary lane changes, 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 changing actions, affecting the driving experience.

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

[0006] Determining the lane change strategy state based on the target lane traffic speed and the speed of the dynamic obstacle in the lane; the strategy state includes triggered and not triggered;

[0007] If the lane change strategy is in the triggered state,

[0008] Obtain the blocking probability of the vehicle ahead based on the turn signal status of the vehicle ahead;

[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] Obtain the lane hazard probability based on the lane type the vehicle is in;

[0012] Obtaining a lane change probability value based on the target lane traffic speed, the dynamic obstacle speed of the lane, the preceding vehicle turning blocking probability, the obstacle blocking probability, the intersection lane change hazard probability, and the lane hazard 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 based on the target lane traffic speed, the dynamic obstacle speed of the lane, the preceding vehicle turning blocking probability, the obstacle blocking probability, the intersection lane change hazard probability, and the lane hazard probability, including:

[0015] The lane change probability value is obtained by the lane change probability formula based on the target lane traffic speed, the dynamic obstacle speed of the lane, the preceding vehicle turning blocking probability, the obstacle blocking probability, the intersection lane change danger probability, and the lane danger probability. 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; 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 preceding vehicle according to the state of the preceding vehicle's turn signal 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 based on the speed of the vehicle in front, the acceleration of the vehicle in front, the speed of the vehicle in front, 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 based on 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's 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's 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's body length and a first preset length, and less than the sum of the vehicle's body length and a second preset length, the obstacle blocking probability is obtained using 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 vehicle body length; 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 lane change risk probability at the intersection based on the distance between the vehicle and the intersection ahead 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 roadside distance;

[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 using the lane change formula at the intersection, which 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 based on 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 based on the target lane traffic speed and the speed of the dynamic obstacle in 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 is used to determine the strategy state of the lane change strategy based on 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 blocking probability of the vehicle ahead based on the turn signal status of the vehicle ahead;

[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] Obtain the lane hazard probability based on the lane type the vehicle is in;

[0046] Obtaining a lane change probability value based on the target lane traffic speed, the dynamic obstacle speed of the lane, the preceding vehicle turning blocking probability, the obstacle blocking probability, the intersection lane change hazard probability, and the lane hazard 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] According to 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 and 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 and lane change control method, device, and electronic device. The method determines the strategy state of a lane change strategy based on the target lane traffic speed and the speed of dynamic obstacles in the own lane. If the strategy state of the lane change strategy is triggered, the probability of a leading vehicle turning and blocking is obtained based on the turn signal state of the leading vehicle. The probability of an obstacle blocking is obtained based on the lane change space between the own vehicle and surrounding obstacles. The probability of a lane change hazard at the intersection is obtained based on the distance between the own vehicle and the preceding intersection. The probability of a lane hazard is obtained based on the type of lane in which the own vehicle is located. A lane change probability value is obtained based on the target lane traffic speed, the speed of dynamic obstacles in the own lane, the probability of a leading vehicle turning and blocking, the probability of an obstacle blocking, the probability of a lane change hazard at the intersection, and the probability of a lane hazard. If the lane change probability value is greater than a preset value, the own vehicle is controlled to execute a lane change operation. The assisted driving of the present application first determines whether overtaking is required based on triggering conditions. When lane change and overtaking are required, the method comprehensively considers factors such as traffic speed, dynamic obstacles, the leading vehicle turning, the obstacle blocking, the preceding intersection, and the lane in which the own vehicle is located to arrive at the optimal lane change decision, effectively avoiding unnecessary lane changes 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 following briefly introduces the drawings required for use in the embodiments or the description of the prior art. 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 any creative work.

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

[0057] 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;

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

[0059] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0060] Currently, when controlling a vehicle's overtaking and lane change, assisted driving systems typically use physical parameters such as the position, speed, and acceleration of surrounding vehicles to predict their trajectory and behavior, and then decide whether to initiate an overtaking or lane change. This strategy is not smart enough. In complex scenarios, such as when the vehicle ahead changes lanes or the vehicle ahead needs to turn right, using existing assisted driving technology to decide whether to overtake can lead to unnecessary lane changes due to incomplete considerations, which can affect the driving experience.

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

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

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

[0064] Step S11: determining the strategy state of the lane change strategy based on the traffic speed of the target lane and the speed of the dynamic obstacle in the lane;

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

[0066] Step S13: Obtaining a probability of a vehicle turning in front being blocked according to the state of the vehicle's turn signal;

[0067] Step S14: Obtaining an obstacle blocking probability based on the lane change space between the vehicle and surrounding obstacles;

[0068] Step S15: Obtaining a lane change risk probability at the intersection based on the distance between the vehicle and the intersection ahead;

[0069] Step S16: Obtaining a lane hazard probability based on the lane type of the vehicle;

[0070] Step S17: Obtain a lane change probability value based on the target lane traffic speed, the dynamic obstacle speed in the current lane, the preceding vehicle turning blocking probability, the obstacle blocking probability, the intersection lane change hazard probability, and the lane hazard probability;

[0071] Step S18: If the lane change probability value is greater than a preset value, control the vehicle 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 it can be provided as an independent application to the outside world with an interface 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 change 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 change strategy is triggered, the lane change 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 preceding vehicle turning, the obstacle blocking probability, the lane change danger probability at the intersection and the lane danger probability. If the lane change probability value is greater than the preset value, the vehicle is controlled to perform the lane change operation; the assisted driving of this application first determines whether overtaking is required through triggering conditions. When lane change is required to overtake, it will comprehensively consider factors such as traffic speed, dynamic obstacles, preceding vehicle turning, obstacle blocking, the intersection ahead and the lane in which the vehicle is located to obtain the best lane change decision, effectively avoiding unnecessary lane change actions and improving the riding experience of passengers.

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

[0076] It should be noted that the lane change strategy triggering conditions include the traffic speed in the target lane being higher than the traffic speed in the current lane, and the vehicle speed being higher than the dynamic obstacle speed in the current lane. The specific speed at which the lane change strategy is triggered is controlled by a first preset ratio and a second preset ratio. Both the first preset ratio and the second preset ratio are 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 and blocking 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 and blocking 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 in front, the acceleration of the vehicle in front and the distance from the vehicle in front.

[0079] In specific practice, the step S14 of "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, which 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 vehicle body length; 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, the step S15 of "obtaining the lane change hazard probability 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 lane change hazard probability at the intersection is 1; when the road departure distance is greater than the fourth preset length, the lane change hazard probability 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 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].

[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 will 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 based on 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 hazard probability at the intersection, and the lane hazard probability" includes: obtaining a lane change probability value through a lane change probability formula based on 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 hazard probability at the intersection, and the lane hazard probability. 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; 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 based on 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 preceding vehicle, 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, resetting the strategy state to not triggered, and locking the strategy state as not triggered until a preset time length.

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

[0089] The trigger module 101 is used to determine the strategy state of the lane change strategy based on 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 blocking probability of the vehicle ahead based on the turn signal status of the vehicle ahead;

[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] Obtain the lane hazard probability based on the lane type the vehicle is in;

[0095] The lane change probability value is obtained based on the traffic speed of the target lane, the speed of the dynamic obstacle in the lane, the blocking probability of the preceding vehicle, 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 configured 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 lane changing is required to overtake, it will comprehensively consider 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 make the best lane changing decision, effectively avoiding unnecessary lane changing actions and improving 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 , the electronic device 200 includes:

[0100] at least one processor 202; and

[0101] A memory 201 in communication with at least one processor 202; wherein,

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

[0103] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

[0104] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. 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. By way of illustration and not limitation, RAM is available in various 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 can be combined arbitrarily. 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-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A method for assisting driving in overtaking and lane changing, characterized in that: include: Determining the lane change strategy state based on the target lane traffic speed and the speed of the dynamic obstacle in the lane; the strategy state includes triggered and not triggered; If the lane change strategy is in the triggered state, Obtain the blocking probability of the vehicle ahead based on the turn signal status of the vehicle ahead; 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; Obtain the lane hazard probability based on the lane type the vehicle is in; Obtaining a lane change probability value based on the target lane traffic speed, the dynamic obstacle speed of the lane, the preceding vehicle turning blocking probability, the obstacle blocking probability, the intersection lane change hazard probability, and the lane hazard probability; If the lane change probability value is greater than a preset value, controlling the vehicle to perform a lane change operation; The lane change probability value is obtained based on the target lane traffic speed, the dynamic obstacle speed of the lane, the preceding vehicle turning blocking probability, the obstacle blocking probability, the intersection lane change hazard probability, and the lane hazard probability, including: The lane change probability value is obtained by the lane change probability formula based on the target lane traffic speed, the dynamic obstacle speed of the lane, the preceding vehicle turning blocking probability, the obstacle blocking probability, the intersection lane change danger probability, and the lane danger probability. 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; 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.

2. The control method according to claim 1, characterized in that: Obtaining the blocking probability of the preceding vehicle according to the state of the preceding vehicle's turn signal 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 based on the speed of the vehicle in front, the acceleration of the vehicle in front, the speed of the vehicle in front, the acceleration of the vehicle in front, and the distance to the vehicle in front.

3. The control method according to claim 1, wherein: The lane change space is the distance between the vehicle and the nearest obstacle. Obstacle blocking probability is obtained based on the lane change space between the vehicle and surrounding obstacles, including: If the lane change space is smaller than the sum of the vehicle's 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's 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's body length and a first preset length, and less than the sum of the vehicle's body length and a second preset length, the obstacle blocking probability is obtained using 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 vehicle body length; 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].

4. The control method according to claim 1, wherein: The method of obtaining the lane change risk probability 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, the distance between the vehicle and the intersection ahead is obtained as the roadside distance; 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 using the lane change formula at the intersection, which 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].

5. The control method according to claim 1, characterized in that: Obtaining the lane hazard probability based on the lane type of the vehicle includes: 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.

6. The control method according to claim 1, characterized in that: The strategy state of the lane change strategy is determined based on the target lane traffic speed and the speed of the dynamic obstacle in 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.

7. 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.

8. An assisted driving overtaking lane change control device, characterized in that: The device comprises: A trigger module is used to determine the strategy state of the lane change strategy based on 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 blocking probability of the vehicle ahead based on the turn signal status of the vehicle ahead; 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; Obtain the lane hazard probability based on the lane type the vehicle is in; A lane change probability value is obtained based on the target lane traffic speed, the dynamic obstacle speed of the current lane, the probability of the preceding vehicle turning and blocking, the probability of the obstacle blocking, the probability of the lane change hazard at the intersection, and the probability of the lane hazard. A lane change probability value is obtained based on the target lane traffic speed, the dynamic obstacle speed of the current lane, the probability of the preceding vehicle turning and blocking, the probability of the obstacle blocking, the probability of the lane change hazard at the intersection, and the probability of the lane hazard using a lane change probability formula. 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 target lane traffic speed to the own lane traffic speed; b is the ratio of the own lane dynamic obstacle speed to the own vehicle speed; c is the probability of the preceding vehicle turning and blocking; d is the probability of the obstacle blocking; 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. 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.

9. 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 according to any one of claims 1 to 7.

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