Methods, apparatus, equipment, and computer-readable storage media for determining lane change space.

Abstract

This application discloses a method, apparatus, device, and computer-readable storage medium for determining lane change space, belonging to the field of intelligent driving technology. The method includes: acquiring spatial information of multiple optional lane change spaces, wherein the spatial information of any optional lane change space includes vehicle information of vehicles adjacent to that optional lane change space; determining key information of each optional lane change space based on the spatial information of each optional lane change space; determining reference values ​​for each optional lane change space based on the key information of each optional lane change space, wherein the reference value of any optional lane change space is used to measure the quality of any optional lane change space; and determining a target lane change space among the multiple optional lane change spaces based on the reference values ​​of each optional lane change space, wherein the target lane change space is the space to which the target vehicle needs to change lanes. This method determines the target lane change space with higher accuracy, thereby increasing the success rate of lane changes for the target vehicle.

Description

Technical Field

[0001] This application relates to the field of intelligent driving technology, and in particular to a method, apparatus, device, and computer-readable storage medium for determining lane change space. Background Technology

[0002] With the continuous development of intelligent driving technology, the demand for intelligent lane change decision-making systems is also increasing. These systems aim to mimic the decision-making process of experienced drivers when changing lanes in busy traffic. An efficient and accurate intelligent lane change decision-making system can significantly improve vehicle safety, optimize traffic flow, and increase road capacity.

[0003] However, when changing lanes, it is necessary to determine the target lane change space from the available lane change space. How to determine the target lane change space is a technical problem that urgently needs to be solved. Summary of the Invention

[0004] This application provides a method, apparatus, device, and computer-readable storage medium for determining lane change space, which improves the accuracy of the determined target lane change space, thereby enhancing the lane change success rate, lane change safety, and lane change comfort of the target vehicle. The technical solution is as follows:

[0005] On one hand, embodiments of this application provide a method for determining lane change space, the method comprising:

[0006] Acquire spatial information of multiple optional lane change spaces. The spatial information of any optional lane change space includes vehicle information of vehicles adjacent to the optional lane change space. The vehicles adjacent to the optional lane change space include at least one of a first vehicle located in front of the optional lane change space or a second vehicle located behind the optional lane change space.

[0007] Based on the spatial information of each optional lane change space, the key information of each optional lane change space is determined. The key information of any optional lane change space includes at least one of the time distance, target distance, or target speed of the optional lane change space. The time distance of any optional lane change space is used to indicate the size of the optional lane change space. The target distance of any optional lane change space is used to indicate the distance required to change lanes to the optional lane change space. The target speed of any optional lane change space is used to indicate the speed required to change lanes to the optional lane change space.

[0008] Based on the key information of each optional lane change space, a reference value for each optional lane change space is determined, and the reference value of any optional lane change space is used to measure the quality of any optional lane change space.

[0009] Based on the reference values ​​of each optional lane change space, a target lane change space is determined among the multiple optional lane change spaces, and the target lane change space is the space to which the target vehicle needs to change lanes.

[0010] In one possible implementation, the key information of any optional lane change space includes the time distance of the optional lane change space, and the vehicles adjacent to the optional lane change space include the first vehicle and the second vehicle. The vehicle information includes the position information of the first vehicle, the position information of the second vehicle, and the driving speed of the second vehicle.

[0011] The step of determining the key information of each optional lane change space based on the spatial information of each optional lane change space includes:

[0012] For any of the optional lane change spaces, the distance between the first vehicle and the second vehicle is determined based on the position information of the first vehicle and the position information of the second vehicle.

[0013] The time interval for any optional lane change space is determined based on the distance between the first vehicle and the second vehicle and the speed of the second vehicle.

[0014] In one possible implementation, the key information of any optional lane change space includes the target distance and target speed of the optional lane change space, and the vehicles adjacent to the optional lane change space include the first vehicle and the second vehicle. The vehicle information includes the position information of the first vehicle and the position information of the second vehicle.

[0015] The step of determining the key information of each optional lane change space based on the spatial information of each optional lane change space includes:

[0016] For any of the optional lane change spaces, a first distance between the target vehicle and the first vehicle is determined based on the position information of the first vehicle;

[0017] Based on the location information of the second vehicle, a second distance between the target vehicle and the second vehicle is determined;

[0018] Based on the first distance and the second distance, determine the target distance of any optional lane change space;

[0019] The target speed of any optional lane change space is determined based on the target distance of any optional lane change space.

[0020] In one possible implementation, the method further includes:

[0021] Obtain the current speed of the target vehicle;

[0022] Determining the target speed of any selectable lane change space based on the target distance of any selectable lane change space includes:

[0023] The target speed of the target lane change space is determined based on the target distance of the target lane change space and the current speed of the target vehicle.

[0024] In one possible implementation, the key information of any optional lane change space includes the target distance and target speed of the optional lane change space, and the vehicle adjacent to the optional lane change space includes the first vehicle. The vehicle information includes the position information and driving speed of the first vehicle.

[0025] The step of determining the key information of each optional lane change space based on the spatial information of each optional lane change space includes:

[0026] For any of the optional lane change spaces, a first distance between the target vehicle and the first vehicle is determined based on the position information of the first vehicle;

[0027] Based on the first distance and the speed of the first vehicle, determine the target distance of any selectable lane change space;

[0028] The target speed of any optional lane change space is determined based on the target distance of any optional lane change space.

[0029] In one possible implementation, the key information of any optional lane change space includes the target distance and target speed of the optional lane change space, and the vehicle adjacent to the optional lane change space includes the second vehicle. The vehicle information includes the position information and driving speed of the second vehicle.

[0030] The step of determining the key information of each optional lane change space based on the spatial information of each optional lane change space includes:

[0031] For any of the optional lane change spaces, a second distance between the target vehicle and the second vehicle is determined based on the position information of the second vehicle;

[0032] Based on the second distance and the speed of the second vehicle, determine the target distance of any selectable lane change space;

[0033] The target speed of any optional lane change space is determined based on the target distance of any optional lane change space.

[0034] In one possible implementation, the key information of any optional lane change space includes the time distance, target distance, and target vehicle speed of the optional lane change space;

[0035] The step of determining the reference value of each optional lane change space based on the key information of each optional lane change space includes:

[0036] For any one of the optional lane change spaces, a first value corresponding to the time distance of the optional lane change space is determined. The first value is used to evaluate the time distance of the optional lane change space.

[0037] Determine a second value corresponding to the target distance of any of the optional lane change spaces, the second value being used to evaluate the target distance of any of the optional lane change spaces;

[0038] Based on the target vehicle speed in any of the selectable lane change spaces and the current driving speed of the target vehicle, a first speed jump variable is determined, and a third value corresponding to the first speed jump variable is determined. The third value is used to evaluate the first speed jump variable.

[0039] Based on the target vehicle speed in any of the selectable lane change spaces and the vehicle speed of the target vehicle during the last lane change, a second speed jump variable is determined, and a fourth value corresponding to the second speed jump variable is determined. The fourth value is used to evaluate the second speed jump variable.

[0040] The reference value for any selectable lane change space is determined based on the first value, the second value, the third value, and the fourth value.

[0041] In one possible implementation, determining the reference value of any selectable lane change space based on the first value, the second value, the third value, and the fourth value includes:

[0042] Determine the sum of the first value, the second value, the third value, and the fourth value;

[0043] Based on the sum, a reference value for the optional lane change space is determined.

[0044] In one possible implementation, determining the reference value for any optional lane change space based on the sum value includes:

[0045] The sum is determined to be a reference value for any of the optional lane change spaces; or,

[0046] If a vehicle of the target type is present in the vehicle adjacent to any of the optional lane change spaces, a reference value for the optional lane change space is determined based on the sum and a reference weight, wherein the reference weight is the weight for avoiding vehicles of the target type.

[0047] In one possible implementation, after determining the key information of each optional lane change space based on the spatial information of each optional lane change space, the method further includes:

[0048] Based on the key information of each optional lane change space, the feasibility of each optional lane change space is determined. The feasibility of any optional lane change space is used to indicate whether the target vehicle can change lanes to any optional lane change space.

[0049] After determining the target lane change space from the plurality of optional lane change spaces based on the reference values ​​of each optional lane change space, the method further includes:

[0050] If the feasibility of the target lane change space indicates that the target vehicle can change lanes to the target lane change space, the target vehicle is controlled to change lanes to the target lane change space according to the target distance and target speed of the target lane change space.

[0051] On the other hand, embodiments of this application provide a device for determining lane change space, the device comprising:

[0052] The acquisition module is used to acquire spatial information of multiple optional lane change spaces. The spatial information of any optional lane change space includes vehicle information of vehicles adjacent to the optional lane change space. The vehicles adjacent to the optional lane change space include at least one of a first vehicle located in front of the optional lane change space or a second vehicle located behind the optional lane change space.

[0053] The determining module is used to determine key information of each optional lane change space based on the spatial information of each optional lane change space. The key information of any optional lane change space includes at least one of the time distance, target distance, or target speed of the optional lane change space. The time distance of any optional lane change space is used to indicate the size of the optional lane change space. The target distance of any optional lane change space is used to indicate the distance required to change lanes to the optional lane change space. The target speed of any optional lane change space is used to indicate the speed required to change lanes to the optional lane change space.

[0054] The determining module is further configured to determine a reference value for each optional lane change space based on the key information of each optional lane change space, wherein the reference value of any optional lane change space is used to measure the quality of any optional lane change space.

[0055] The determining module is further configured to determine a target lane change space among the multiple selectable lane change spaces based on the reference values ​​of each selectable lane change space, wherein the target lane change space is the space to which the target vehicle needs to change lanes.

[0056] In one possible implementation, the key information of any optional lane change space includes the time distance of the optional lane change space, and the vehicles adjacent to the optional lane change space include the first vehicle and the second vehicle. The vehicle information includes the position information of the first vehicle, the position information of the second vehicle, and the driving speed of the second vehicle.

[0057] The determining module is used to determine the distance between the first vehicle and the second vehicle based on the position information of the first vehicle and the position information of the second vehicle for any of the optional lane change spaces; and to determine the time distance of any optional lane change space based on the distance between the first vehicle and the second vehicle and the driving speed of the second vehicle.

[0058] In one possible implementation, the key information of any optional lane change space includes the target distance and target speed of the optional lane change space, and the vehicles adjacent to the optional lane change space include the first vehicle and the second vehicle. The vehicle information includes the position information of the first vehicle and the position information of the second vehicle.

[0059] The determining module is configured to, for any one of the optional lane change spaces, determine a first distance between the target vehicle and the first vehicle based on the position information of the first vehicle; determine a second distance between the target vehicle and the second vehicle based on the position information of the second vehicle; determine a target distance for any one optional lane change space based on the first distance and the second distance; and determine a target speed for any one optional lane change space based on the target distance for any one optional lane change space.

[0060] In one possible implementation, the acquisition module is further configured to acquire the current driving speed of the target vehicle;

[0061] The determining module is used to determine the target speed of the optional lane change space based on the target distance of the optional lane change space and the current driving speed of the target vehicle.

[0062] In one possible implementation, the key information of any optional lane change space includes the target distance and target speed of the optional lane change space, and the vehicle adjacent to the optional lane change space includes the first vehicle. The vehicle information includes the position information and driving speed of the first vehicle.

[0063] The determining module is configured to, for any of the optional lane change spaces, determine a first distance between the target vehicle and the first vehicle based on the position information of the first vehicle; determine a target distance for any optional lane change space based on the first distance and the driving speed of the first vehicle; and determine a target speed for any optional lane change space based on the target distance for any optional lane change space.

[0064] In one possible implementation, the key information of any optional lane change space includes the target distance and target speed of the optional lane change space, and the vehicle adjacent to the optional lane change space includes the second vehicle. The vehicle information includes the position information and driving speed of the second vehicle.

[0065] The determining module is configured to, for any one of the optional lane change spaces, determine a second distance between the target vehicle and the second vehicle based on the position information of the second vehicle; determine a target distance for any one optional lane change space based on the second distance and the driving speed of the second vehicle; and determine a target speed for any one optional lane change space based on the target distance for any one optional lane change space.

[0066] In one possible implementation, the key information of any optional lane change space includes the time distance, target distance, and target vehicle speed of the optional lane change space;

[0067] The determining module is configured to: determine a first value corresponding to the time distance of any one of the optional lane change spaces, wherein the first value is used to evaluate the time distance of the optional lane change space; determine a second value corresponding to the target distance of the optional lane change space, wherein the second value is used to evaluate the target distance of the optional lane change space; determine a first speed jump variable based on the target vehicle speed of the optional lane change space and the current driving speed of the target vehicle, and determine a third value corresponding to the first speed jump variable, wherein the third value is used to evaluate the first speed jump variable; determine a second speed jump variable based on the target vehicle speed of the optional lane change space and the speed of the target vehicle during the last lane change, and determine a fourth value corresponding to the second speed jump variable, wherein the fourth value is used to evaluate the second speed jump variable; and determine a reference value for the optional lane change space based on the first value, the second value, the third value, and the fourth value.

[0068] In one possible implementation, the determining module is configured to determine the sum of the first value, the second value, the third value, and the fourth value; and determine a reference value for the optional lane change space based on the sum.

[0069] In one possible implementation, the determining module is configured to determine the sum as a reference value for any optional lane change space; or, if there is a target type vehicle adjacent to any optional lane change space, the reference value for any optional lane change space is determined based on the sum and a reference weight, wherein the reference weight is a weight for avoiding the target type vehicle.

[0070] In one possible implementation, the determining module is further configured to determine the feasibility of each optional lane change space based on the key information of each optional lane change space, wherein the feasibility of any optional lane change space is used to indicate whether the target vehicle can change lanes to any optional lane change space.

[0071] The device further includes:

[0072] The control module is used to control the target vehicle to change lanes to the target lane change space according to the target distance and target speed of the target lane change space, when the feasibility of the target lane change space indicates that the target vehicle can change lanes to the target lane change space.

[0073] On the other hand, embodiments of this application provide a computer device, the computer device including a processor and a memory, the memory storing at least one piece of program code, the at least one piece of program code being loaded and executed by the processor, so that the computer device implements any of the lane change space determination methods described above.

[0074] On the other hand, a computer-readable storage medium is also provided, wherein at least one piece of program code is stored in the computer-readable storage medium, the at least one piece of program code being loaded and executed by a processor to enable a computer to implement any of the above-described methods for determining lane change space.

[0075] On the other hand, a computer program or computer program product is also provided, wherein the computer program or computer program product stores at least one computer instruction, which is loaded and executed by a processor to enable the computer to implement any of the above-mentioned methods for determining lane change space.

[0076] The technical solution provided in this application has at least the following beneficial effects:

[0077] The technical solution provided in this application requires that before a target vehicle changes lanes, it first needs to determine which lane-changing space it will change to. This is done by determining the reference value for each available lane-changing space using its spatial information, and then determining the target lane-changing space based on these reference values. The target lane-changing space is the lane-changing space to which the target vehicle will change lanes. Because the surrounding information of each available lane-changing space is considered when determining its reference values, the accuracy of these reference values ​​is higher, resulting in a more accurate target lane-changing space. Since the target lane-changing space is the lane-changing space the target vehicle needs to change to, this improves the success rate, safety, and comfort of lane-changing. Attached Figure Description

[0078] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0079] Figure 1 This is a schematic diagram illustrating the implementation environment of a method for determining lane change space provided in an embodiment of this application;

[0080] Figure 2 This is a flowchart of a method for determining lane change space provided in an embodiment of this application;

[0081] Figure 3 This is a schematic diagram of an optional lane change space provided in an embodiment of this application;

[0082] Figure 4 This is a schematic diagram of the structure of a lane change space determination device provided in an embodiment of this application;

[0083] Figure 5 This is a schematic diagram of the structure of a terminal device provided in an embodiment of this application;

[0084] Figure 6 This is a schematic diagram of the structure of a server provided in an embodiment of this application. Detailed Implementation

[0085] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0086] It should be noted that the terms "first," "second," etc., used in this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0087] With the continuous development of intelligent driving technology, the demand for intelligent lane change decision-making systems is also increasing. Intelligent lane change decision-making systems aim to mimic the decision-making process of experienced drivers when changing lanes in busy traffic. An efficient and accurate intelligent lane change decision-making system can significantly improve vehicle driving safety while optimizing traffic flow and increasing road capacity. Intelligent lane changing involves a series of complex actions, including lane selection, speed adjustment, timing judgment, and precise control during execution. Among these, lane selection is the primary information that needs to be determined when a vehicle changes lanes. To ensure the success rate, safety, and comfort of lane changes, the intelligent driving system needs to comprehensively analyze surrounding environmental information, such as the speed and position of nearby vehicles, as well as road signs and traffic signals, to determine the target lane change space. Current intelligent lane change decision-making technologies mainly determine the target lane change space based on two methods: rule-based methods and learning-based methods. Rule-based methods rely on predefined vehicle dynamics or kinematic models, approximating the target position by configuring fixed time or acceleration. This type of method is relatively simple, does not consider the impact of dynamic environmental changes, has a low level of intelligence, and results in lower lane change safety. Learning-based methods utilize large datasets to train neural networks to identify appropriate lane-changing opportunities and generate corresponding driving strategies. However, these methods typically require significant amounts of data and computational resources, which limits their practicality and adoption.

[0088] This application provides a method for determining lane change space. This method comprehensively considers the spatial information of various optional lane change spaces, so that the determined target lane change space is highly accurate. Since the target lane change space is the lane change space that the target vehicle needs to change to, it can improve the success rate, safety and comfort of lane change for the target vehicle.

[0089] Figure 1 This is a schematic diagram illustrating the implementation environment of a method for determining lane change space provided in an embodiment of this application, as shown below. Figure 1 As shown, the implementation environment includes a computer device 101, which can be a terminal device or a server; this embodiment does not limit the specific type of device. The computer device 101 can be a device installed in the target vehicle or a device connected to the target vehicle; this embodiment does not limit the specific type of device either. The computer device 101 is used to execute the lane change space determination method provided in this embodiment.

[0090] Optionally, computer device 101 is a terminal device. A terminal device can be any electronic device that allows human-computer interaction with a user through one or more methods such as a keyboard, touchpad, remote control, voice interaction, or handwriting device. Examples include PCs (Personal Computers), mobile phones, smartphones, PDAs (Personal Digital Assistants), wearable devices, PPCs (Pocket PCs), tablets, smart car systems, smart TVs, smart speakers, and smartwatches.

[0091] A terminal device can refer to one of multiple terminal devices; this embodiment uses only one terminal device as an example. Those skilled in the art will understand that the number of terminal devices can be more or less. For example, there may be only one terminal device, or there may be dozens or hundreds, or even more. This application embodiment does not limit the number or type of terminal devices.

[0092] When computer device 101 is a server, the server can be a single server, a server cluster consisting of multiple servers, or any of the following: a cloud computing platform or a virtualization center. This application embodiment does not limit this. The server and terminal devices communicate via a wired or wireless network. The server has data receiving, data processing, and data sending functions. Of course, the server may also have other functions, which this application embodiment does not limit.

[0093] When computer device 101 is a device connected to the target vehicle, computer device 101 and the target vehicle communicate with each other through a wired network or a wireless network.

[0094] Those skilled in the art should understand that the above-described terminal devices and servers are merely illustrative examples. Other existing or future terminal devices or servers that are applicable to this application should also be included within the scope of protection of this application, and are hereby incorporated by reference.

[0095] This application provides a method for determining lane change space, which can be applied to the above-mentioned... Figure 1 The implementation environment shown is as follows: Figure 2 The flowchart shown in this embodiment of the present application illustrates a method for determining lane change space. This method can be implemented by... Figure 1 The computer device 101 in the middle performs the operation. For example... Figure 2 As shown, the method includes the following steps:

[0096] In step 201, spatial information of multiple optional lane change spaces is obtained. The spatial information of any optional lane change space includes vehicle information of vehicles adjacent to any optional lane change space. Vehicles adjacent to any optional lane change space include at least one of a first vehicle located in front of any optional lane change space or a second vehicle located behind any optional lane change space.

[0097] Specifically, if the vehicles adjacent to any optional lane change space include the first vehicle and the second vehicle, then the optional lane change space is considered a closed lane change space. If the vehicles adjacent to any optional lane change space include either the first vehicle or the second vehicle, then the optional lane change space is considered an open lane change space.

[0098] This application does not limit the method for determining the spatial information of each optional lane-changing space in its embodiments. Optionally, the target vehicle is equipped with sensors and radar to monitor the lane-changing space and its spatial information in lanes adjacent to the target lane where the target vehicle is located.

[0099] like Figure 3 This is a schematic diagram of an optional lane change space provided in an embodiment of this application. Figure 3 In this diagram, 301 represents the target vehicle, 302 represents the target lane where the target vehicle is located, and 303 represents the lane adjacent to the target lane. The space between vehicles 304 and 305 is a lane change option; vehicles exist both in front of and behind this option, making it a closed lane change space. The space in front of vehicle 304 is another lane change option; there are no vehicles in front of this option, but vehicles are behind it, making it an open lane change space. The space behind vehicle 305 is yet another lane change option; there are vehicles in front of this option, but no vehicles are behind it, making it an open lane change space.

[0100] In step 202, based on the spatial information of each optional lane change space, the key information of each optional lane change space is determined. The key information of any optional lane change space includes at least one of the time distance, target distance, or target speed of any optional lane change space.

[0101] Among them, the time distance of any optional lane change space is used to indicate the size of any optional lane change space; the target distance of any optional lane change space is used to indicate the distance required to change lanes to any optional lane change space; and the target speed of any optional lane change space is used to indicate the speed required to change lanes to any optional lane change space.

[0102] In one possible implementation, where the key information of any optional lane change space includes the time distance of any optional lane change space, the vehicles adjacent to any optional lane change space include a first vehicle and a second vehicle, and the vehicle information includes the position information of the first vehicle, the position information of the second vehicle, and the driving speed of the second vehicle, the process of determining the time distance of any optional lane change space based on the spatial information of any optional lane change space includes: determining the distance between the first vehicle and the second vehicle based on the position information of the first vehicle and the second vehicle; and determining the time distance of any optional lane change space based on the distance between the first vehicle and the second vehicle and the driving speed of the second vehicle.

[0103] The location information of the first vehicle is the location information of the rear bumper of the first vehicle, and the location information of the second vehicle is the location information of the front bumper of the second vehicle.

[0104] Optionally, the time interval for any optional lane change space is determined according to the following formula (1) based on the distance between the first vehicle and the second vehicle and the speed of the second vehicle.

[0105]

[0106] In the above formula (1), TTF is the time interval of any selectable lane change space, and S obj V is the distance between the first vehicle ahead of any lane change space and the second vehicle behind any lane change space. objR This represents the speed of the second vehicle.

[0107] In one possible implementation, if the key information of any optional lane change space includes the time distance of that optional lane change space, and the vehicle adjacent to any optional lane change space includes a first vehicle or a second vehicle, then the default time distance is determined to be the time distance of the optional lane change space. The default time distance is set based on experience or adjusted according to the implementation environment; this application embodiment does not limit this. For example, the default time distance is 1.5.

[0108] In one possible implementation, where the key information of any optional lane change space includes the target distance and target speed of the optional lane change space, and the vehicles adjacent to the optional lane change space include a first vehicle and a second vehicle, and the vehicle information includes the position information of the first vehicle and the position information of the second vehicle, the process of determining the target distance and target speed of any optional lane change space based on the spatial information of the optional lane change space includes: determining a first distance between the target vehicle and the first vehicle based on the position information of the first vehicle; determining a second distance between the target vehicle and the second vehicle based on the position information of the second vehicle; determining the target distance of the optional lane change space based on the first distance and the second distance; and determining the target speed of the optional lane change space based on the target distance of the optional lane change space.

[0109] Optionally, the target distance of any optional lane change space is determined according to the following formula (2) based on the first distance and the second distance.

[0110]

[0111] In the above formula (2), S tar S1 represents the target distance for any selectable lane change space, S2 represents the second distance, and S1 represents the first distance.

[0112] In one possible implementation, it is also necessary to obtain the current driving speed of the target vehicle. This application embodiment does not limit the method for obtaining the current driving speed of the target vehicle. Optionally, the target vehicle includes a speed sensor, which is used to obtain the driving speed of the target vehicle in real time. After the speed sensor obtains the current driving speed of the target vehicle, it sends the current driving speed of the target vehicle to a computer device, so that the computer device can obtain the current driving speed of the target vehicle.

[0113] Optionally, the process of determining the target speed of any optional lane change space based on the target distance of any optional lane change space includes: determining the target speed of any optional lane change space based on the target distance of any optional lane change space and the current driving speed of the target vehicle.

[0114] Optionally, the target speed of any optional lane change space is determined according to the target distance of any optional lane change space and the current driving speed of the target vehicle, according to the following formula (3).

[0115] V tar =V ego +S tar *P (3)

[0116] In the above formula (3), V tar For any available lane change space, S tarV represents the target distance for any selectable lane change space. ego Let P be the current speed of the target vehicle and P be a preset parameter. The preset parameter is set based on experience or adjusted according to the implementation environment, and this application embodiment does not limit this. For example, the preset parameter is any value between 1 and 2.

[0117] In one possible implementation, where the key information of any optional lane change space includes the target distance and target speed of the optional lane change space, and the vehicle adjacent to any optional lane change space includes a first vehicle, and the vehicle information includes the position information and speed of the first vehicle, the process of determining the target distance and target speed of any optional lane change space based on the spatial information of the optional lane change space includes: determining a first distance between the target vehicle and the first vehicle based on the position information of the first vehicle; determining the target distance of the optional lane change space based on the first distance and the speed of the first vehicle; and determining the target speed of the optional lane change space based on the target distance of the optional lane change space.

[0118] The target distance of any selectable lane change space is determined according to the following formula (4) based on the first distance and the speed of the first vehicle.

[0119] S tar =S2-V2*t0 (4)

[0120] In the above formula (4), S tar S2 represents the target distance for any selectable lane change space, V2 represents the first distance, V2 represents the speed of the first vehicle, and t0 represents the preset following distance. The preset following distance is set based on experience or adjusted according to the implementation environment; this embodiment does not limit this setting. For example, the preset following distance is any value between 1 and 2.5.

[0121] It should be noted that the process of determining the target speed of any optional lane change space based on the target distance of any optional lane change space has been described in the above process and will not be repeated here.

[0122] In one possible implementation, where the key information of any optional lane change space includes the target distance and target speed of the optional lane change space, and the vehicle adjacent to any optional lane change space includes a second vehicle, and the vehicle information includes the position information and driving speed of the second vehicle, the process of determining the target distance and target speed of any optional lane change space based on the spatial information of the optional lane change space includes: determining a second distance between the target vehicle and the second vehicle based on the position information of the second vehicle; determining the target distance of the optional lane change space based on the second distance and the driving speed of the second vehicle; and determining the target speed of the optional lane change space based on the target distance of the optional lane change space.

[0123] The target distance for any selectable lane change space is determined according to the following formula (5) based on the second distance and the speed of the second vehicle.

[0124] S tar =S1+V1*t0 (5)

[0125] In the above formula (5), S tar S1 is the target distance for any selectable lane change space, V1 is the second distance, V1 is the speed of the second vehicle, and t0 is the preset following distance.

[0126] It should be noted that the process of determining the target speed of any optional lane change space based on the target distance of any optional lane change space has been described in the above process and will not be repeated here.

[0127] In step 203, reference values ​​for each optional lane change space are determined based on the key information of each optional lane change space. The reference value of any optional lane change space is used to measure the quality of any optional lane change space.

[0128] In one possible implementation, after determining the key information of each optional lane change space in step 202 above, the process of determining the reference value of each optional lane change space based on the key information of each optional lane change space has the following seven cases.

[0129] Scenario 1: For any optional lane change space among the various optional lane change spaces, the key information of any optional lane change space includes the time distance, target distance, and target speed of the optional lane change space. Determine the first value corresponding to the time distance of the optional lane change space; determine the second value corresponding to the target distance of the optional lane change space; determine the first speed jump variable based on the target speed of the optional lane change space and the current speed of the target vehicle; determine the third value corresponding to the first speed jump variable; determine the second speed jump variable based on the target speed of the optional lane change space and the speed of the target vehicle during the last lane change; determine the fourth value corresponding to the second speed jump variable; determine the reference value of any optional lane change space based on the first, second, third, and fourth values.

[0130] The first value is used to evaluate the time distance of any optional lane change space, the second value is used to evaluate the target distance of any optional lane change space, the third value is used to evaluate the first speed jump variable, and the fourth value is used to evaluate the second speed jump variable.

[0131] In one possible implementation, the process of determining the first value corresponding to the time interval of any optional lane change space includes: when the time interval of any optional lane change space is less than or equal to the minimum time interval, the first value is 0; when the time interval of any optional lane change space is greater than or equal to the maximum time interval, the first value is 1; when the time interval of any optional lane change space is between the minimum time interval and the maximum time interval, the first value is a linear value between 0 and 1. The minimum and maximum time intervals are set based on experience or adjusted according to the implementation environment; this application embodiment does not limit this. The minimum time interval simply needs to be less than the maximum time interval.

[0132] Optionally, since the first value corresponding to the minimum time interval is 0 and the first value corresponding to the maximum time interval is 1, the time interval function can be determined based on the minimum time interval, 0, the maximum time interval, and 1. When the time interval of any optional lane change space is between the minimum time interval and the maximum time interval, the time interval of any optional lane change space is substituted into the time interval function to obtain the first value.

[0133] In one possible implementation, the process of determining the second value corresponding to the target distance of any optional lane change space includes: when the target distance of any optional lane change space is less than or equal to the minimum distance, or greater than or equal to the maximum distance, the second value is 0; when the target distance of any optional lane change space is 0, the second value is 1; when the target distance of any optional lane change space is between the minimum distance and 0, the second value is a linear value between 0 and 1; when the target distance of any optional lane change space is between 0 and the maximum distance, the second value is a linear value between 0 and 1. Wherein, the minimum distance is a preset maximum backward distance, and the maximum distance is a preset maximum forward distance. The minimum distance and maximum distance are set based on experience or adjusted according to the implementation environment; this application embodiment does not limit this. The minimum distance only needs to be less than the maximum distance.

[0134] Optionally, since the second value corresponding to the minimum distance is 0, and the second value corresponding to 0 is 1, the first distance function can be determined based on the minimum distance, 0, and 1. When the target distance of any optional lane change space is between the minimum distance and 0, the target distance of any optional lane change space is substituted into the first distance function to obtain the second value. Similarly, since the second value corresponding to the maximum distance is 0, and the second value corresponding to 0 is 1, the second distance function can be determined based on the maximum distance, 0, and 1. When the target distance of any optional lane change space is between the maximum distance and 0, the target distance of any optional lane change space is substituted into the second distance function to obtain the second value.

[0135] In one possible implementation, the first speed jump variable is determined according to the target speed of the target vehicle in any available lane change space and the current speed of the target vehicle, according to the following formula (6).

[0136] V gap =V tar -V ego (6)

[0137] In the above formula (6), V gap V is the first velocity jump variable. tar For any available lane change space, V ego The target vehicle's current speed.

[0138] After determining the first speed jump variable, the process of determining the corresponding third value includes: when the first speed jump variable is less than or equal to the minimum speed jump variable, or greater than or equal to the maximum speed jump variable, the third value is 0; when the first speed jump variable is equal to 0, the third value is 1; when the first speed jump variable is between the minimum speed jump variable and 0, the third value is a linear value between 0 and 1; when the first speed jump variable is between 0 and the maximum speed jump variable, the third value is a linear value between 0 and 1. The minimum and maximum speed jump variables are set based on experience or adjusted according to the implementation environment; this application embodiment does not limit this. The minimum speed jump variable simply needs to be less than the maximum speed jump variable.

[0139] Optionally, since the third value corresponding to the minimum speed jump variable is 0, and the third value corresponding to 0 is 1, the first speed jump variable function can be determined based on the minimum speed jump variable, 0, and 1. When the first speed jump variable is between the minimum speed jump variable and 0, the first speed jump variable is substituted into the first speed jump variable function to obtain the third value. Similarly, since the third value corresponding to the maximum speed jump variable is 0, and the third value corresponding to 0 is 1, the second speed jump variable function can be determined based on the maximum speed jump variable, 0, and 1. When the first speed jump variable is between the maximum speed jump variable and 0, the first speed jump variable is substituted into the second speed jump variable function to obtain the third value.

[0140] In one possible implementation, the second speed jump variable is determined according to the following formula (7) based on the target vehicle speed in any available lane change space and the speed of the target vehicle during its last lane change.

[0141] V err =V tar -V tark1 (7)

[0142] In the above formula (7), V err V is the second-degree jump variable. tar For any available lane change space, V tark1 The speed of the target vehicle during its last lane change.

[0143] After determining the second speed jump variable, the process of determining the corresponding fourth value includes: when the second speed jump variable is less than or equal to the first reference value, or when the second speed jump variable is greater than or equal to the second reference value, the fourth value is 0; when the second speed jump variable is equal to 0, the fourth value is 1; when the second speed jump variable is between the first reference value and 0, the fourth value is a linear value between 0 and 1; when the second speed jump variable is between 0 and the second reference value, the fourth value is a linear value between 0 and 1. The first and second reference values ​​are set based on experience or adjusted according to the implementation environment; this embodiment does not limit this. The first reference value only needs to be less than the second reference value.

[0144] Optionally, since the fourth value corresponding to the first reference value is 0, and the fourth value corresponding to 0 is 1, the first function can be determined based on the first reference value, 0, and 1. When the second speed jump variable is between the first reference value and 0, the second speed jump variable is substituted into the first function to obtain the fourth value. Since the fourth value corresponding to the second reference value is 0, and the fourth value corresponding to 0 is 1, the second function can be determined based on the second reference value, 0, and 1. When the second speed jump variable is between the second reference value and 0, the second speed jump variable is substituted into the second function to obtain the fourth value.

[0145] After determining the first, second, third, and fourth values ​​in the above process, the process of determining the reference value for any optional lane change space based on the first, second, third, and fourth values ​​includes: determining the sum of the first, second, third, and fourth values; and determining the reference value for any optional lane change space based on the sum.

[0146] Optionally, the sum of the first, second, third and fourth values ​​can be determined according to the following formula (8).

[0147] S sum =S1+S2+S3+S4 (8)

[0148] In the above formula (8), S sum S1 is the sum, S2 is the first value, S3 is the second value, and S4 is the fourth value.

[0149] In one possible implementation, after determining the sum, the process of determining a reference value for any optional lane change space based on the sum includes: determining the sum as a reference value for any optional lane change space; or, if there is a target type vehicle adjacent to any optional lane change space, determining the reference value for any optional lane change space based on the sum and a reference weight, where the reference weight is the weight for avoiding the target type vehicle. The target type vehicle can be a truck or other types of vehicles, and this application embodiment does not limit this.

[0150] The process of determining the reference value of any optional lane change space based on the sum and the reference weight includes: determining the product between the sum and the reference weight as the reference value of any optional lane change space.

[0151] Optionally, the reference value for any optional lane change space can be determined according to the following formula (9) based on the sum and reference weight.

[0152] S tol =S sum *K (9)

[0153] In the above formula (9), S tol S is a reference value for any selectable lane change space. sum Let K be the sum, and K be the reference weight.

[0154] Scenario 2: For any optional lane change space among the various optional lane change spaces, the key information of any optional lane change space includes the time distance of any optional lane change space. Determine the first value corresponding to the time distance of any optional lane change space; based on the first value, determine the reference value of any optional lane change space.

[0155] In one possible implementation, the process of determining the first value corresponding to the time distance of any optional lane change space has been described in Case 1 above and will not be repeated here. The process of determining the reference value of any optional lane change space based on the first value includes: determining the first value as the reference value of any optional lane change space; or, if there are vehicles of the target type adjacent to any optional lane change space, determining the reference value of any optional lane change space based on the first value and the reference weight.

[0156] Optionally, the process of determining the reference value of any optional lane change space based on the first numerical value and the reference weight is similar to the process of determining the reference value of any optional lane change space based on the sum value and the reference weight, and will not be described again in the embodiments of this application.

[0157] Scenario 3: For any optional lane change space among all the optional lane change spaces, the key information of any optional lane change space includes the target distance of any optional lane change space, determine the second value corresponding to the target distance of any optional lane change space; based on the second value, determine the reference value of any optional lane change space.

[0158] In one possible implementation, the process of determining the second value corresponding to the target distance of any optional lane change space has been described in Case 1 above and will not be repeated here. The process of determining the reference value of any optional lane change space based on the second value includes: determining the second value as the reference value of any optional lane change space; or, if there are vehicles of the target type adjacent to any optional lane change space, determining the reference value of any optional lane change space based on the second value and the reference weight.

[0159] Optionally, the process of determining the reference value of any optional lane change space based on the second numerical value and the reference weight is similar to the process of determining the reference value of any optional lane change space based on the sum value and the reference weight described above, and will not be repeated here in the embodiments of this application.

[0160] Scenario 4: For any lane change space among the various optional lane change spaces, the key information of any optional lane change space includes the target speed of the target vehicle in the target lane change space. Based on the target speed of the target vehicle in the target lane change space and the current speed of the target vehicle, a first speed jump variable is determined, and a third value corresponding to the first speed jump variable is determined. Based on the target speed of the target vehicle in the target lane change space and the speed of the target vehicle during the last lane change, a second speed jump variable is determined, and a fourth value corresponding to the second speed jump variable is determined. Based on the third and fourth values, a reference value for any optional lane change space is determined.

[0161] In one possible implementation, the process of determining the third value corresponding to the first speed jump variable and the process of determining the fourth value corresponding to the second speed jump variable have both been described in Case 1 above, and will not be repeated here. The process of determining the reference value of any optional lane change space based on the third and fourth values ​​includes: determining the sum of the third and fourth values; and determining the reference value of any optional lane change space based on the sum of the third and fourth values.

[0162] Optionally, the process of determining the reference value of any optional lane change space based on the sum of the third and fourth values ​​is similar to the process of determining the reference value of any optional lane change space based on the sum as described above, and will not be repeated here in the embodiments of this application.

[0163] Scenario 5: For any optional lane change space among the various optional lane change spaces, the key information of any optional lane change space includes the time distance and target distance of any optional lane change space. Determine the first value corresponding to the time distance of any optional lane change space; determine the second value corresponding to the target distance of any optional lane change space; and determine the reference value of any optional lane change space based on the first value and the second value.

[0164] In one possible implementation, the process of determining the first value corresponding to the time distance of any optional lane change space, and the process of determining the second value corresponding to the target distance of any optional lane change space, have both been described in Case 1 above and will not be repeated here. The process of determining the reference value of any optional lane change space based on the first and second values ​​includes: determining the sum of the first and second values; and determining the reference value of any optional lane change space based on the sum of the first and second values.

[0165] Optionally, the process of determining the reference value of any optional lane change space based on the sum of the first and second values ​​is similar to the process of determining the reference value of any optional lane change space based on the sum as described above, and will not be repeated here in the embodiments of this application.

[0166] Scenario 6: For any optional lane change space among the various optional lane change spaces, the key information of any optional lane change space includes the time distance and target speed of the optional lane change space. Determine the first value corresponding to the time distance of the optional lane change space; determine the first speed jump variable based on the target speed of the optional lane change space and the current speed of the target vehicle; determine the third value corresponding to the first speed jump variable; determine the second speed jump variable based on the target speed of the optional lane change space and the speed of the target vehicle when it last changed lanes; determine the fourth value corresponding to the second speed jump variable; determine the reference value of any optional lane change space based on the first, third, and fourth values.

[0167] In one possible implementation, the processes for determining the first value corresponding to the time interval of any optional lane change space, the third value corresponding to the first speed jump variable, and the fourth value corresponding to the second speed jump variable have all been described in Case 1 above and will not be repeated here. The process of determining the reference value of any optional lane change space based on the first, third, and fourth values ​​includes: determining the sum of the first, third, and fourth values; and determining the reference value of any optional lane change space based on the sum of the first, third, and fourth values.

[0168] Optionally, the process of determining the reference value of any optional lane change space based on the sum of the first, third, and fourth values ​​is similar to the process of determining the reference value of any optional lane change space based on the sum as described above, and will not be repeated here in the embodiments of this application.

[0169] Scenario 7: For any optional lane change space among all available lane change spaces, the key information for any optional lane change space includes the target distance and target speed of the optional lane change space. Determine the second value corresponding to the target distance of the optional lane change space; determine the first speed jump variable based on the target speed of the optional lane change space and the current speed of the target vehicle; determine the third value corresponding to the first speed jump variable; determine the second speed jump variable based on the target speed of the optional lane change space and the speed of the target vehicle during the last lane change; determine the fourth value corresponding to the second speed jump variable; determine the reference value for any optional lane change space based on the second, third, and fourth values.

[0170] In one possible implementation, the processes for determining the second value corresponding to the target distance of any optional lane change space, the third value corresponding to the first speed jump variable, and the fourth value corresponding to the second speed jump variable have all been described in Case 1 above and will not be repeated here. The process of determining the reference value of any optional lane change space based on the second, third, and fourth values ​​includes: determining the sum of the second, third, and fourth values; and determining the reference value of any optional lane change space based on the sum of the second, third, and fourth values.

[0171] Optionally, the process of determining the reference value of any optional lane change space based on the sum of the second, third, and fourth values ​​is similar to the process of determining the reference value of any optional lane change space based on the sum as described above, and will not be repeated here in the embodiments of this application.

[0172] In step 204, based on the reference values ​​of each optional lane change space, a target lane change space is determined among multiple optional lane change spaces. The target lane change space is the space to which the target vehicle needs to change lanes.

[0173] In one possible implementation, after determining the reference values ​​for each optional lane change space in step 204 above, the process of determining the target lane change space among multiple optional lane change spaces based on the reference values ​​of each optional lane change space includes: determining the optional lane change space whose reference value meets the reference requirements as the target lane change space. Here, "meeting the reference requirements" means that the reference value is the highest.

[0174] Optionally, after determining the available lane change space, the computer equipment can also control the target vehicle to change lanes to the target lane change space according to the target distance and target speed of the target lane change space, so as to complete the lane change of the target vehicle.

[0175] In one possible implementation, after determining the key information of each optional lane-changing space in step 202 above, the feasibility of each optional lane-changing space can be determined based on the key information. The feasibility of any optional lane-changing space is used to indicate whether the target vehicle can change lanes to any optional lane-changing space. Optionally, if the feasibility of any optional lane-changing space is feasible, it means that the target vehicle can change lanes to any optional lane-changing space; if the feasibility of any optional lane-changing space is infeasible, it means that the target vehicle cannot change lanes to any optional lane-changing space.

[0176] The process of determining the feasibility of each optional lane change space based on the key information of each optional lane change space can be divided into the following seven cases.

[0177] In the first scenario, where the key information for any optional lane change space includes the time distance of that optional lane change space, the process of determining the feasibility of any optional lane change space based on the key information includes: if the time distance of any optional lane change space is greater than or equal to the minimum time distance, the feasibility of any optional lane change space is determined to be feasible; conversely, if the time distance of any optional lane change space is less than the minimum time distance, the feasibility of any optional lane change space is determined to be infeasible.

[0178] The reason for determining the feasibility of any optional lane change space as feasible when the time distance of any optional lane change space is greater than or equal to the minimum time distance is to ensure that any optional lane change space is large enough so that the target vehicle can change lanes to any optional lane change space.

[0179] In the second scenario, where the key information for any optional lane change space includes the target distance of that optional lane change space, the process of determining the feasibility of any optional lane change space based on the key information includes: if the target distance of any optional lane change space is less than or equal to the maximum distance and greater than or equal to the minimum distance, the feasibility of any optional lane change space is determined to be feasible; conversely, if the target distance of any optional lane change space is greater than the maximum distance, or if the target distance of any optional lane change space is less than the minimum distance, the feasibility of any optional lane change space is determined to be infeasible.

[0180] The reason for determining the feasibility of any optional lane change space as feasible when the target distance of any optional lane change space is less than or equal to the maximum distance and greater than or equal to the minimum distance is to ensure that the distance between any optional lane change space and the target vehicle is not too far.

[0181] In the third scenario, where the key information for any optional lane-changing space includes the target speed of that optional lane-changing space, the process of determining the feasibility of any optional lane-changing space based on the key information includes: if the target speed of any optional lane-changing space is less than or equal to the maximum speed and greater than or equal to the minimum speed, the feasibility of any optional lane-changing space is determined to be feasible; conversely, if the target speed of any optional lane-changing space is greater than the maximum speed, or if the target distance of any optional lane-changing space is less than the minimum speed, the feasibility of any optional lane-changing space is determined to be infeasible.

[0182] The minimum speed is set based on experience or adjusted according to the implementation environment; this embodiment does not limit this. The maximum speed is the smaller of the preset speed and the speed of the second vehicle behind any available lane change space. The minimum speed is greater than the maximum speed. When there is a second vehicle behind any available lane change space, the maximum speed is the smaller of the preset speed and the speed of the second vehicle behind any available lane change space. When there is no second vehicle behind any available lane change space, the maximum speed is the preset speed. The preset speed is set based on experience or adjusted according to the implementation environment; this embodiment does not limit this. The preset speed is greater than the minimum speed.

[0183] The reason for determining the feasibility of any lane-changing space as feasible when the target vehicle speed is less than or equal to the maximum speed and greater than or equal to the minimum speed is to avoid a situation where the target vehicle accelerates aggressively due to a vehicle in front of it in the lane it is in, resulting in a collision between the target vehicle and the vehicle in front of it in the lane it is in.

[0184] In the fourth scenario, where the key information for any optional lane change space includes the time distance and target distance of that optional lane change space, the process of determining the feasibility of any optional lane change space based on this key information includes: if the time distance of any optional lane change space is greater than or equal to the minimum time distance, and the target distance of any optional lane change space is less than or equal to the maximum distance, but greater than or equal to the minimum distance, then the feasibility of any optional lane change space is determined to be feasible; conversely, if the time distance of any optional lane change space is less than the minimum time distance, and / or if the target distance of any optional lane change space is greater than the maximum distance, and / or if the target distance of any optional lane change space is less than the minimum distance, then the feasibility of any optional lane change space is determined to be infeasible.

[0185] In the fifth scenario, where the key information for any optional lane change space includes the time distance and target speed of that optional lane change space, the process of determining the feasibility of any optional lane change space based on this key information includes: if the time distance of any optional lane change space is greater than or equal to the minimum time distance, and the target speed of any optional lane change space is less than or equal to the maximum speed, but greater than or equal to the minimum speed, then the feasibility of any optional lane change space is determined to be feasible; conversely, if the time distance of any optional lane change space is less than the minimum time distance, and / or if the target speed of any optional lane change space is greater than the maximum speed, and / or if the target speed of any optional lane change space is less than the minimum speed, then the feasibility of any optional lane change space is determined to be infeasible.

[0186] In the sixth scenario, where the key information for any optional lane-changing space includes the target distance and target speed of that space, the process of determining the feasibility of any optional lane-changing space based on this key information includes: if the target distance of any optional lane-changing space is less than or equal to the maximum distance, or greater than or equal to the minimum distance, and the target speed of any optional lane-changing space is less than or equal to the maximum speed, and greater than or equal to the minimum speed, then the feasibility of any optional lane-changing space is determined to be feasible; conversely, if the target distance of any optional lane-changing space is greater than the maximum distance, and / or if the target distance of any optional lane-changing space is less than the minimum distance, and / or if the target speed of any optional lane-changing space is greater than the maximum speed, and / or if the target speed of any optional lane-changing space is less than the minimum speed, then the feasibility of any optional lane-changing space is determined to be infeasible.

[0187] In the seventh scenario, where the key information for any optional lane change space includes the time distance, target distance, and target speed of that optional lane change space, the process of determining the feasibility of any optional lane change space based on this key information includes: if the time distance of any optional lane change space is greater than or equal to the minimum time distance, the target distance of any optional lane change space is less than or equal to the maximum distance, greater than or equal to the minimum distance, and the target speed of any optional lane change space is less than or equal to the maximum speed and greater than or equal to the minimum speed, then the feasibility of any optional lane change space is determined to be feasible; conversely, if the time distance of any optional lane change space is less than the minimum time distance, and / or if the target distance of any optional lane change space is greater than the maximum distance, and / or if the target distance of any optional lane change space is less than the minimum distance, and / or if the target speed of any optional lane change space is greater than the maximum speed, and / or if the target speed of any optional lane change space is less than the minimum speed, then the feasibility of any optional lane change space is determined to be infeasible.

[0188] In one possible implementation, the feasibility of each optional lane-changing space is determined, and after the target lane-changing space is determined among multiple optional lane-changing spaces, the target vehicle can be controlled to change lanes to the target lane-changing space according to the target distance and target speed of the target lane-changing space, provided that the feasibility of the target lane-changing space indicates that the target vehicle can change lanes to the target lane-changing space.

[0189] In one possible implementation, the feasibility of each optional lane-changing space is determined, and after the target lane-changing space is determined among multiple optional lane-changing spaces, if the feasibility of the target lane-changing space indicates that the target vehicle cannot change lanes to the target lane-changing space, a reference lane-changing space can also be determined among each optional lane-changing space. The reference lane-changing space is the optional lane-changing space with the largest reference value among the feasible optional lane-changing spaces, and then the target vehicle is controlled to change lanes to the reference lane-changing space according to the target distance and target speed of the reference lane-changing space.

[0190] The above method requires the target vehicle to determine which lane-changing space it needs to move to before changing lanes. This is done by using spatial information from various available lane-changing spaces to determine reference values ​​for each. Based on these reference values, the target lane-changing space is then determined, which is the space where the target vehicle will move to. Because the surrounding information of each available lane-changing space is considered when determining its reference values, the accuracy of these reference values ​​is higher, leading to a more accurate target lane-changing space. Since the target lane-changing space is the space the target vehicle needs to move to, this method improves the success rate, safety, and comfort of lane changes.

[0191] Figure 4 The diagram shown is a structural schematic of a lane change space determination device provided in an embodiment of this application. Figure 4 As shown, the device includes:

[0192] The acquisition module 401 is used to acquire spatial information of multiple optional lane change spaces. The spatial information of any optional lane change space includes vehicle information of vehicles adjacent to any optional lane change space. The vehicles adjacent to any optional lane change space include at least one of a first vehicle located in front of any optional lane change space or a second vehicle located behind any optional lane change space.

[0193] The determining module 402 is used to determine the key information of each optional lane change space based on the spatial information of each optional lane change space. The key information of any optional lane change space includes at least one of the time distance, target distance or target speed of any optional lane change space. The time distance of any optional lane change space is used to indicate the size of any optional lane change space. The target distance of any optional lane change space is used to indicate the distance required to change lanes to any optional lane change space. The target speed of any optional lane change space is used to indicate the speed required to change lanes to any optional lane change space.

[0194] The determining module 402 is also used to determine the reference value of each optional lane change space based on the key information of each optional lane change space. The reference value of any optional lane change space is used to measure the quality of any optional lane change space.

[0195] The determining module 402 is also used to determine the target lane change space among multiple optional lane change spaces based on the reference values ​​of each optional lane change space. The target lane change space is the space to which the target vehicle needs to change lanes.

[0196] In one possible implementation, the key information of any optional lane change space includes the time distance of any optional lane change space, and the vehicles adjacent to any optional lane change space include a first vehicle and a second vehicle. The vehicle information includes the position information of the first vehicle, the position information of the second vehicle, and the driving speed of the second vehicle.

[0197] The determining module 402 is used to determine the distance between the first vehicle and the second vehicle for any optional lane change space in each optional lane change space, based on the position information of the first vehicle and the position information of the second vehicle; and to determine the time distance of any optional lane change space based on the distance between the first vehicle and the second vehicle and the driving speed of the second vehicle.

[0198] In one possible implementation, the key information of any optional lane change space includes the target distance and target speed of any optional lane change space, and the vehicles adjacent to any optional lane change space include a first vehicle and a second vehicle. The vehicle information includes the position information of the first vehicle and the position information of the second vehicle.

[0199] The determining module 402 is used to determine, for any optional lane change space in each optional lane change space, a first distance between the target vehicle and the first vehicle based on the position information of the first vehicle; a second distance between the target vehicle and the second vehicle based on the position information of the second vehicle; a target distance for any optional lane change space based on the first distance and the second distance; and a target speed for any optional lane change space based on the target distance for any optional lane change space.

[0200] In one possible implementation, the acquisition module 401 is also used to acquire the current driving speed of the target vehicle;

[0201] The determination module 402 is used to determine the target speed of any optional lane change space based on the target distance of any optional lane change space and the current driving speed of the target vehicle.

[0202] In one possible implementation, the key information of any optional lane change space includes the target distance and target speed of any optional lane change space, and the vehicle adjacent to any optional lane change space includes a first vehicle, and the vehicle information includes the position information and driving speed of the first vehicle.

[0203] The determining module 402 is used to determine, for any one of the optional lane change spaces, a first distance between the target vehicle and the first vehicle based on the position information of the first vehicle; a target distance for any one optional lane change space based on the first distance and the driving speed of the first vehicle; and a target speed for any one optional lane change space based on the target distance for any one optional lane change space.

[0204] In one possible implementation, the key information of any optional lane change space includes the target distance and target speed of any optional lane change space, and the vehicle adjacent to any optional lane change space includes a second vehicle. The vehicle information includes the position information of the second vehicle and the driving speed of the second vehicle.

[0205] The determining module 402 is used to determine, for any one of the optional lane change spaces, a second distance between the target vehicle and the second vehicle based on the position information of the second vehicle; a target distance for any one optional lane change space based on the second distance and the driving speed of the second vehicle; and a target speed for any one optional lane change space based on the target distance for any one optional lane change space.

[0206] In one possible implementation, key information about any available lane change space includes the time distance, target distance, and target speed of any available lane change space;

[0207] The determining module 402 is used to: determine a first value corresponding to the time distance of any optional lane change space among the various optional lane change spaces, the first value being used to evaluate the time distance of any optional lane change space; determine a second value corresponding to the target distance of any optional lane change space, the second value being used to evaluate the target distance of any optional lane change space; determine a first speed jump variable based on the target vehicle speed of any optional lane change space and the current driving speed of the target vehicle, determine a third value corresponding to the first speed jump variable, the third value being used to evaluate the first speed jump variable; determine a second speed jump variable based on the target vehicle speed of any optional lane change space and the speed of the target vehicle during the last lane change, determine a fourth value corresponding to the second speed jump variable, the fourth value being used to evaluate the second speed jump variable; and determine a reference value for any optional lane change space based on the first, second, third, and fourth values.

[0208] In one possible implementation, the determining module 402 is used to determine the sum of the first value, the second value, the third value, and the fourth value; and based on the sum, to determine a reference value for any optional lane change space.

[0209] In one possible implementation, the determining module 402 is used to determine the sum as a reference value for any optional lane change space; or, if there is a target type vehicle adjacent to any optional lane change space, the reference value for any optional lane change space is determined based on the sum and a reference weight, where the reference weight is the weight for avoiding the target type vehicle.

[0210] In one possible implementation, the determining module 402 is further configured to determine the feasibility of each optional lane change space based on the key information of each optional lane change space, wherein the feasibility of any optional lane change space is used to indicate whether the target vehicle can change lanes to any optional lane change space.

[0211] The device also includes:

[0212] The control module is used to control the target vehicle to change lanes to the target lane space according to the target distance and target speed, when the feasibility of the target lane space indicates that the target vehicle can change lanes to the target lane space.

[0213] Before a target vehicle changes lanes, the aforementioned device first determines which lane-changing space it will move to. This is done by using spatial information from various available lane-changing spaces to determine reference values ​​for each. Based on these reference values, the target lane-changing space is then determined – the space where the target vehicle will move to. Because the surrounding information of each available lane-changing space is considered when determining its reference values, the accuracy of these reference values ​​is higher, leading to a more accurate target lane-changing space. Since the target lane-changing space is the space the target vehicle needs to move to, this improves the success rate, safety, and comfort of lane changes.

[0214] It should be understood that the above-described apparatus is only illustrated by the division of the functional modules described above when implementing its functions. In practical applications, the functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the apparatus and method embodiments provided in the above embodiments belong to the same concept, and their specific implementation process can be found in the method embodiments, which will not be repeated here.

[0215] Figure 5 This illustration shows a structural block diagram of a terminal device 500 provided in an exemplary embodiment of this application. The terminal device 500 can be any electronic device product capable of human-computer interaction with a user through one or more methods such as a keyboard, touchpad, remote control, voice interaction, or handwriting device. Examples include PCs (Personal Computers), mobile phones, smartphones, PDAs (Personal Digital Assistants), wearable devices, PPCs (Pocket PCs), tablet computers, smart car systems, smart TVs, smart speakers, and smartwatches.

[0216] Typically, terminal device 500 includes a processor 501 and a memory 502.

[0217] Processor 501 may include one or more processing cores, such as a quad-core processor, an octa-core processor, etc. Processor 501 may be implemented using at least one hardware form selected from DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). Processor 501 may also include a main processor and a coprocessor. The main processor, also known as a CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, processor 501 may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, processor 501 may also include an AI (Artificial Intelligence) processor, which is used to handle computational operations related to machine learning.

[0218] Memory 502 may include one or more computer-readable storage media, which may be non-transitory. Memory 502 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In some embodiments, the non-transitory computer-readable storage media in memory 502 is used to store at least one instruction, which is executed by processor 501 to implement the lane change space determination method provided in the method embodiments of this application.

[0219] In some embodiments, the terminal device 500 may also optionally include a peripheral device interface 503 and at least one peripheral device. The processor 501, memory 502, and peripheral device interface 503 can be connected via a bus or signal line. Each peripheral device can be connected to the peripheral device interface 503 via a bus, signal line, or circuit board. Specifically, the peripheral device includes at least one of the following: a radio frequency circuit 504, a display screen 505, a camera assembly 506, an audio circuit 507, and a power supply 508.

[0220] Peripheral device interface 503 can be used to connect at least one I / O (Input / Output) related peripheral device to processor 501 and memory 502. In some embodiments, processor 501, memory 502 and peripheral device interface 503 are integrated on the same chip or circuit board; in some other embodiments, any one or two of processor 501, memory 502 and peripheral device interface 503 can be implemented on separate chips or circuit boards, which is not limited in this embodiment.

[0221] The radio frequency (RF) circuit 504 is used to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The RF circuit 504 communicates with communication networks and other communication devices via electromagnetic signals. The RF circuit 504 converts electrical signals into electromagnetic signals for transmission, or converts received electromagnetic signals back into electrical signals. Optionally, the RF circuit 504 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a user identity module card, etc. The RF circuit 504 can communicate with other terminal devices through at least one wireless communication protocol. This wireless communication protocol includes, but is not limited to: the World Wide Web, metropolitan area networks, intranets, various generations of mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks, and / or WiFi (Wireless Fidelity) networks. In some embodiments, the RF circuit 504 may also include circuitry related to NFC (Near Field Communication), which is not limited in this application.

[0222] Display screen 505 is used to display a UI (User Interface). This UI may include graphics, text, icons, videos, and any combination thereof. When display screen 505 is a touch display screen, it also has the ability to collect touch signals on or above its surface. These touch signals can be input as control signals to processor 501 for processing. In this case, display screen 505 can also be used to provide virtual buttons and / or a virtual keyboard, also known as soft buttons and / or a soft keyboard. In some embodiments, there may be one display screen 505, disposed on the front panel of terminal device 500; in other embodiments, there may be at least two display screens, disposed on different surfaces of terminal device 500 or in a folded design; in other embodiments, display screen 505 may be a flexible display screen, disposed on a curved or folded surface of terminal device 500. Furthermore, display screen 505 may be configured as a non-rectangular irregular shape, i.e., a non-rectangular screen. Display screen 505 may be made of materials such as LCD (Liquid Crystal Display) or OLED (Organic Light-Emitting Diode).

[0223] The camera assembly 506 is used to acquire images or videos. Optionally, the camera assembly 506 includes a front-facing camera and a rear-facing camera. Typically, the front-facing camera is located on the front panel of the terminal device 500, and the rear-facing camera is located on the back of the terminal device 500. In some embodiments, there are at least two rear-facing cameras, which are any one of a main camera, a depth-sensing camera, a wide-angle camera, and a telephoto camera, to achieve background blurring by fusion of the main camera and the depth-sensing camera, panoramic shooting by fusion of the main camera and the wide-angle camera, VR (Virtual Reality) shooting, or other fusion shooting functions. In some embodiments, the camera assembly 506 may also include a flash. The flash can be a single-color temperature flash or a dual-color temperature flash. A dual-color temperature flash refers to a combination of a warm light flash and a cool light flash, which can be used for light compensation at different color temperatures.

[0224] The audio circuit 507 may include a microphone and a speaker. The microphone is used to collect sound waves from the user and the environment, converting the sound waves into electrical signals that are input to the processor 501 for processing, or input to the radio frequency circuit 504 to achieve voice communication. For stereo sound acquisition or noise reduction purposes, there may be multiple microphones, each located at a different part of the terminal device 500. The microphone may also be an array microphone or an omnidirectional microphone. The speaker is used to convert the electrical signals from the processor 501 or the radio frequency circuit 504 into sound waves. The speaker may be a conventional diaphragm speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, it can convert electrical signals not only into audible sound waves but also into inaudible sound waves for purposes such as distance measurement. In some embodiments, the audio circuit 507 may also include a headphone jack.

[0225] Power supply 508 is used to power the various components in terminal device 500. Power supply 508 can be AC ​​power, DC power, a disposable battery, or a rechargeable battery. When power supply 508 includes a rechargeable battery, the rechargeable battery can be a wired rechargeable battery or a wireless rechargeable battery. A wired rechargeable battery is a battery that is charged via a wired line, and a wireless rechargeable battery is a battery that is charged via a wireless coil. The rechargeable battery can also be used to support fast charging technology.

[0226] In some embodiments, the terminal device 500 further includes one or more sensors 509. The one or more sensors 509 include, but are not limited to, an accelerometer 510, a gyroscope 511, a pressure sensor 512, an optical sensor 513, and a proximity sensor 514.

[0227] Accelerometer 510 can detect the magnitude of acceleration along the three coordinate axes of a coordinate system established by terminal device 500. For example, accelerometer 510 can be used to detect the components of gravitational acceleration along the three coordinate axes. Processor 501 can control display screen 505 to display the user interface in either a landscape or portrait view based on the gravitational acceleration signal acquired by accelerometer 510. Accelerometer 510 can also be used for games or for acquiring user motion data.

[0228] The gyroscope sensor 511 can detect the orientation and rotation angle of the terminal device 500. The gyroscope sensor 511, in conjunction with the accelerometer sensor 510, can collect 3D motion data from the user on the terminal device 500. Based on the data collected by the gyroscope sensor 511, the processor 501 can perform the following functions: motion sensing (e.g., changing the UI based on the user's tilt), image stabilization during shooting, game control, and inertial navigation.

[0229] The pressure sensor 512 can be disposed on the side bezel of the terminal device 500 and / or the lower layer of the display screen 505. When the pressure sensor 512 is disposed on the side bezel of the terminal device 500, it can detect the user's grip signal on the terminal device 500, and the processor 501 can perform left / right hand recognition or quick operation based on the grip signal collected by the pressure sensor 512. When the pressure sensor 512 is disposed on the lower layer of the display screen 505, the processor 501 can control the operable controls on the UI interface based on the user's pressure operation on the display screen 505. The operable controls include at least one of button controls, scroll bar controls, icon controls, and menu controls.

[0230] An optical sensor 513 is used to collect ambient light intensity. In one embodiment, the processor 501 can control the display brightness of the display screen 505 based on the ambient light intensity collected by the optical sensor 513. Specifically, when the ambient light intensity is high, the display brightness of the display screen 505 is increased; when the ambient light intensity is low, the display brightness of the display screen 505 is decreased. In another embodiment, the processor 501 can also dynamically adjust the shooting parameters of the camera assembly 506 based on the ambient light intensity collected by the optical sensor 513.

[0231] The proximity sensor 514, also known as a distance sensor, is typically located on the front panel of the terminal device 500. The proximity sensor 514 is used to detect the distance between the user and the front of the terminal device 500. In one embodiment, when the proximity sensor 514 detects that the distance between the user and the front of the terminal device 500 is gradually decreasing, the processor 501 controls the display screen 505 to switch from a screen-on state to a screen-off state; when the proximity sensor 514 detects that the distance between the user and the front of the terminal device 500 is gradually increasing, the processor 501 controls the display screen 505 to switch from a screen-off state to a screen-on state.

[0232] Those skilled in the art will understand that Figure 5 The structure shown does not constitute a limitation on the terminal device 500, and may include more or fewer components than shown, or combine certain components, or use different component arrangements.

[0233] Figure 6This is a schematic diagram of the server structure provided in the embodiments of this application. The server 600 can vary considerably due to different configurations or performance. It may include one or more Central Processing Units (CPUs) 601 and one or more memories 602. The one or more memories 602 store at least one line of program code, which is loaded and executed by the one or more processors 601 to implement the lane change space determination method provided in the various method embodiments described above. Of course, the server 600 may also have wired or wireless network interfaces, a keyboard, and input / output interfaces for input and output. The server 600 may also include other components for implementing device functions, which will not be elaborated here.

[0234] In an exemplary embodiment, a computer-readable storage medium is also provided, which stores at least one piece of program code that is loaded and executed by a processor to enable a computer to implement any of the above-described methods for determining lane change space.

[0235] Optionally, the aforementioned computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc read-only memory (CD-ROM), magnetic tape, floppy disk, and optical data storage device, etc.

[0236] In an exemplary embodiment, a computer program or computer program product is also provided, which stores at least one computer instruction, which is loaded and executed by a processor to enable the computer to implement any of the above-described methods for determining lane change space.

[0237] It should be noted that all information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data used for analysis, stored data, displayed data, etc.), and signals involved in this application have been authorized by the user or fully authorized by all parties, and the collection, use, and processing of related data must comply with the relevant laws, regulations, and standards of the relevant countries and regions. For example, the spatial information on optional lane change space involved in this application was obtained with full authorization.

[0238] It should be understood that "multiple" as used in this article refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0239] The above description is merely an exemplary embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the principles of this application should be included within the protection scope of this application.

Claims

1. A method for determining lane change space, characterized in that, The method includes: Acquire spatial information of multiple optional lane change spaces. The spatial information of any optional lane change space includes vehicle information of vehicles adjacent to the optional lane change space. The vehicles adjacent to the optional lane change space include at least one of a first vehicle located in front of the optional lane change space or a second vehicle located behind the optional lane change space. Based on the spatial information of each optional lane change space, the key information of each optional lane change space is determined. The key information of any optional lane change space includes at least one of the time distance, target distance, or target speed of the optional lane change space. The time distance of any optional lane change space is used to indicate the size of the optional lane change space. The target distance of any optional lane change space is used to indicate the distance required to change lanes to the optional lane change space. The target speed of any optional lane change space is used to indicate the speed required to change lanes to the optional lane change space. For any one of the optional lane change spaces, a first value corresponding to the time distance of the optional lane change space is determined. The first value is used to evaluate the time distance of the optional lane change space. Determine a second value corresponding to the target distance of any of the optional lane change spaces, the second value being used to evaluate the target distance of any of the optional lane change spaces; Based on the target vehicle speed and the current driving speed of the target vehicle in any of the selectable lane change spaces, a first speed jump variable is determined, and a third value corresponding to the first speed jump variable is determined. The third value is used to evaluate the first speed jump variable. Based on the target vehicle speed in any of the selectable lane change spaces and the vehicle speed of the target vehicle during the last lane change, a second speed jump variable is determined, and a fourth value corresponding to the second speed jump variable is determined. The fourth value is used to evaluate the second speed jump variable. Based on the first value, the second value, the third value, and the fourth value, a reference value for any optional lane change space is determined, and the reference value for any optional lane change space is used to measure the quality of the any optional lane change space. Based on the reference values ​​of each optional lane change space, a target lane change space is determined among the multiple optional lane change spaces, and the target lane change space is the space to which the target vehicle needs to change lanes.

2. The method according to claim 1, characterized in that, The key information of any optional lane change space includes the time distance of the optional lane change space, and the vehicles adjacent to the optional lane change space include the first vehicle and the second vehicle. The vehicle information includes the position information of the first vehicle, the position information of the second vehicle, and the driving speed of the second vehicle. The step of determining the key information of each optional lane change space based on the spatial information of each optional lane change space includes: For any of the optional lane change spaces, the distance between the first vehicle and the second vehicle is determined based on the position information of the first vehicle and the position information of the second vehicle. The time interval for any optional lane change space is determined based on the distance between the first vehicle and the second vehicle and the speed of the second vehicle.

3. The method according to claim 1, characterized in that, The key information of any optional lane change space includes the target distance and target speed of the optional lane change space. The vehicles adjacent to the optional lane change space include the first vehicle and the second vehicle. The vehicle information includes the position information of the first vehicle and the position information of the second vehicle. The step of determining the key information of each optional lane change space based on the spatial information of each optional lane change space includes: For any of the optional lane change spaces, a first distance between the target vehicle and the first vehicle is determined based on the position information of the first vehicle; Based on the location information of the second vehicle, a second distance between the target vehicle and the second vehicle is determined; Based on the first distance and the second distance, determine the target distance of any optional lane change space; The target speed of any optional lane change space is determined based on the target distance of any optional lane change space.

4. The method according to claim 3, characterized in that, The method further includes: Obtain the current speed of the target vehicle; Determining the target speed of any selectable lane change space based on the target distance of any selectable lane change space includes: The target speed of the target lane change space is determined based on the target distance of the target lane change space and the current speed of the target vehicle.

5. The method according to claim 1, characterized in that, The key information of any optional lane change space includes the target distance and target speed of the optional lane change space, and the vehicle adjacent to the optional lane change space includes the first vehicle. The vehicle information includes the position information and driving speed of the first vehicle. The step of determining the key information of each optional lane change space based on the spatial information of each optional lane change space includes: For any of the optional lane change spaces, a first distance between the target vehicle and the first vehicle is determined based on the position information of the first vehicle; Based on the first distance and the speed of the first vehicle, determine the target distance of any selectable lane change space; The target speed of any optional lane change space is determined based on the target distance of any optional lane change space.

6. The method according to claim 1, characterized in that, The key information of any optional lane change space includes the target distance and target speed of the optional lane change space, and the vehicle adjacent to the optional lane change space includes the second vehicle. The vehicle information includes the position information and driving speed of the second vehicle. The step of determining the key information of each optional lane change space based on the spatial information of each optional lane change space includes: For any of the optional lane change spaces, a second distance between the target vehicle and the second vehicle is determined based on the position information of the second vehicle; Based on the second distance and the speed of the second vehicle, determine the target distance of any selectable lane change space; The target speed of any optional lane change space is determined based on the target distance of any optional lane change space.

7. The method according to claim 1, characterized in that, Determining the reference value for any selectable lane change space based on the first value, the second value, the third value, and the fourth value includes: Determine the sum of the first value, the second value, the third value, and the fourth value; Based on the sum, a reference value for the optional lane change space is determined.

8. The method according to claim 7, characterized in that, Determining the reference value for any optional lane change space based on the sum value includes: The sum is determined to be a reference value for any of the optional lane change spaces; or, If a vehicle of the target type is present in the vehicle adjacent to any of the optional lane change spaces, a reference value for the optional lane change space is determined based on the sum and a reference weight, wherein the reference weight is the weight for avoiding vehicles of the target type.

9. The method according to any one of claims 1 to 6, characterized in that, After determining the key information of each optional lane change space based on the spatial information of each optional lane change space, the method further includes: Based on the key information of each optional lane change space, the feasibility of each optional lane change space is determined. The feasibility of any optional lane change space is used to indicate whether the target vehicle can change lanes to any optional lane change space. After determining the target lane change space from the plurality of optional lane change spaces based on the reference values ​​of each optional lane change space, the method further includes: If the feasibility of the target lane change space indicates that the target vehicle can change lanes to the target lane change space, the target vehicle is controlled to change lanes to the target lane change space according to the target distance and target speed of the target lane change space.

10. A device for determining lane change space, characterized in that, The device includes: The acquisition module is used to acquire spatial information of multiple optional lane change spaces. The spatial information of any optional lane change space includes vehicle information of vehicles adjacent to the optional lane change space. The vehicles adjacent to the optional lane change space include at least one of a first vehicle located in front of the optional lane change space or a second vehicle located behind the optional lane change space. The determining module is used to determine key information of each optional lane change space based on the spatial information of each optional lane change space. The key information of any optional lane change space includes at least one of the time distance, target distance, or target speed of the optional lane change space. The time distance of any optional lane change space is used to indicate the size of the optional lane change space. The target distance of any optional lane change space is used to indicate the distance required to change lanes to the optional lane change space. The target speed of any optional lane change space is used to indicate the speed required to change lanes to the optional lane change space. The determining module is further configured to: determine a first value corresponding to the time distance of any optional lane change space among the various optional lane change spaces, wherein the first value is used to evaluate the time distance of any optional lane change space; determine a second value corresponding to the target distance of any optional lane change space, wherein the second value is used to evaluate the target distance of any optional lane change space; determine a first speed jump variable based on the target vehicle speed of any optional lane change space and the current driving speed of the target vehicle, and determine a third value corresponding to the first speed jump variable, wherein the third value is used to evaluate the first speed jump variable; determine a second speed jump variable based on the target vehicle speed of any optional lane change space and the speed of the target vehicle during the last lane change, and determine a fourth value corresponding to the second speed jump variable, wherein the fourth value is used to evaluate the second speed jump variable; and determine a reference value for any optional lane change space based on the first value, the second value, the third value, and the fourth value, wherein the reference value for any optional lane change space is used to measure the quality of any optional lane change space. The determining module is further configured to determine a target lane change space among the multiple selectable lane change spaces based on the reference values ​​of each selectable lane change space, wherein the target lane change space is the space to which the target vehicle needs to change lanes.

11. A computer device, characterized in that, The computer device includes a processor and a memory, the memory storing at least one piece of program code, the at least one piece of program code being loaded and executed by the processor to enable the computer device to implement the method for determining lane change space as described in any one of claims 1 to 9.

12. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores at least one piece of program code, which is loaded and executed by a processor to enable the computer to implement the method for determining lane change space as described in any one of claims 1 to 9.

13. A computer program product, characterized in that, The computer program product stores at least one computer instruction, which is loaded and executed by a processor to enable the computer to implement the method for determining lane change space as described in any one of claims 1 to 9.

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