Lane changing characteristic evaluation method and device and storage medium

Abstract

The invention discloses a lane changing characteristic evaluation method and device and a storage medium, and belongs to the technical field of vehicle control. The method comprises the steps of obtaining a driving track and a driving speed of a vehicle, a steering angle of a steering wheel and a distance between the vehicle and a front vehicle; determining a speed condition of the vehicle based on the driving speed; the speed working condition of the front vehicle is determined based on the change condition of the distance between the vehicle and the front vehicle within the first duration; in response to the steering angle of the steering wheel being greater than an angle threshold, determining an emergency degree of lane change based on a distance between the vehicle and the preceding vehicle; determining the driving condition of the vehicle according to the speed condition of the vehicle, the speed condition of the front vehicle and the emergency degree of lane changing; and fitting a driver characteristic curve under the driving condition based on the driving track of the vehicle and the steering angle of the steering wheel. Quantitative evaluation of the driving characteristics of the driver under the driving condition is realized, and the accuracy of evaluation of the driving characteristics of the driver is improved, so that the accuracy and success rate of intelligent lane changing are improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of vehicle control technology, and in particular to a method, device and storage medium for evaluating lane change characteristics. Background Art

[0002] With the development of intelligent vehicle technology, assisted driving technology has also been improved. This includes intelligent lane changing technology, which makes it easier for drivers to control vehicle lane changes. In related technologies, drivers are divided into conservative and aggressive types according to their driving characteristics, and different control parameters are selected for different types to control the vehicle to complete lane changes. In related technologies, only a simple classification of the driver's driving characteristics is performed, and the evaluation of the driver's driving characteristics is not accurate enough. Therefore, how to improve the accuracy of the evaluation of the driver's driving characteristics, thereby improving the accuracy and success rate of intelligent lane changing, is a problem that needs to be solved. Summary of the invention

[0003] The embodiment of the present application provides a method, device and storage medium for evaluating lane change characteristics, which can be used to improve the accuracy and success rate of intelligent lane change. The technical solution is as follows:

[0004] In one aspect, an embodiment of the present application provides a method for evaluating lane change characteristics, the method comprising:

[0005] Obtaining the vehicle's driving trajectory, driving speed, steering angle of the steering wheel, and the distance between the vehicle and a preceding vehicle, where the preceding vehicle is the vehicle closest to the vehicle in front of the current road;

[0006] Determine a speed condition of the vehicle based on the driving speed, wherein the speed condition of the vehicle includes a low speed condition, a medium speed condition, and a high speed condition;

[0007] Determining a speed condition of the preceding vehicle based on a change in the distance between the vehicle and the preceding vehicle within a first time period, wherein the speed condition of the preceding vehicle includes a relatively low speed condition and a normal condition;

[0008] In response to the steering angle of the steering wheel being greater than an angle threshold, determining an urgency of lane change based on a distance between the vehicle and a preceding vehicle, the urgency including an emergency lane change and a normal lane change;

[0009] Determining the driving condition of the vehicle according to the speed condition of the vehicle, the speed condition of the preceding vehicle, and the urgency of the lane change;

[0010] A driver characteristic curve under the driving condition is fitted based on the driving trajectory of the vehicle and the steering angle of the steering wheel, and the driver characteristic curve is used to evaluate the lane changing characteristics of the driver.

[0011] In another aspect, a lane change characteristic evaluation device is provided, the device comprising:

[0012] An acquisition module, used to acquire the driving trajectory, driving speed, steering angle of the steering wheel and the distance between the vehicle and a preceding vehicle, wherein the preceding vehicle is the vehicle closest to the vehicle in front of the current road;

[0013] A first determining module, configured to determine a speed condition of the vehicle based on the driving speed, wherein the speed condition of the vehicle includes a low speed condition, a medium speed condition, and a high speed condition;

[0014] A second determination module is used to determine a speed condition of the preceding vehicle based on a change in the distance between the vehicle and the preceding vehicle within a first time period, wherein the speed condition of the preceding vehicle includes a relatively low speed condition and a normal condition;

[0015] a third determination module, configured to determine, in response to a steering angle of the steering wheel being greater than an angle threshold, an urgency of lane change based on a distance between the vehicle and a preceding vehicle, the urgency including an emergency lane change and a normal lane change;

[0016] a fourth determination module, configured to determine a driving condition of the vehicle according to a speed condition of the vehicle, a speed condition of the preceding vehicle, and an urgency of the lane change;

[0017] A fitting module is used to fit a driver characteristic curve under the driving condition based on the driving trajectory of the vehicle and the steering angle of the steering wheel, wherein the driver characteristic curve is used to evaluate the lane changing characteristics of the driver.

[0018] On the other hand, a non-temporary computer-readable storage medium is also provided, characterized in that a computer program is stored in the computer-readable storage medium, and the computer program is loaded and executed by a processor to implement any of the above-mentioned lane change characteristic evaluation methods.

[0019] On the other hand, a computer program product is also provided, the computer program product comprising computer instructions, and when the computer instructions are executed by a processor, the steps of any of the above-mentioned methods for evaluating lane change characteristics are implemented.

[0020] The technical solution provided by this application brings at least the following beneficial effects:

[0021] The present application determines the speed condition of the vehicle by acquiring the vehicle's driving speed; determines the speed condition of the vehicle in front by acquiring the distance between the vehicle and the vehicle in front and calculating the change in the distance between the vehicle and the vehicle in front within a first time period; determines the urgency of lane change based on the distance between the vehicle and the vehicle in front by acquiring the steering angle of the steering wheel and when the steering angle of the steering wheel is greater than an angle threshold; and determines the driving condition of the vehicle according to the speed condition of the vehicle, the speed condition of the vehicle in front and the urgency of lane change; and obtains the driving trajectory of the vehicle and fits the driver characteristic curve under the driving condition based on the driving trajectory of the vehicle and the steering angle of the steering wheel, thereby achieving quantitative evaluation of the driver's driving characteristics under the driving condition, improving the accuracy of the evaluation of the driver's driving characteristics, and thus improving the accuracy and success rate of intelligent lane change. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 It is a schematic diagram of an implementation environment provided by an embodiment of the present application;

[0024] Figure 2 is a flow chart of a method for evaluating lane change characteristics provided in an embodiment of the present application;

[0025] Figure 3 It is a structural schematic diagram of a lane change characteristic evaluation device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0026] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0027] This application embodiment provides a method for evaluating lane change characteristics. Please refer to Figure 1 , which shows a schematic diagram of the implementation environment of the method provided in the embodiment of the present application. The implementation environment may include: an ECU (Electronic Control Unit) 11, an EPS (Electronic Power Steering) 12, a radar device 13 and a Kalman filter 14.

[0028] Optionally, EPS12 is used to obtain the steering angle of the steering wheel and send it to ECU11. Radar device 13 is used to detect whether there is a vehicle in the reference range ahead of the current road, and after detecting the front vehicle, measure the distance between the vehicle and the front vehicle and send it to ECU11. Kalman filter is used to filter the driving trajectory of the vehicle and the steering angle of the steering wheel, and then send the filtered driving trajectory of the vehicle and the filtered steering angle of the steering wheel to ECU11. Among them, ECU11, EPS12, radar device 13 and Kalman filter 14 establish a communication connection through a wired or wireless network.

[0029] Based on the above Figure 1 In the implementation environment shown in FIG. 1 , the present application embodiment provides a method for evaluating lane change characteristics. Figure 2 As shown, taking the method applied to ECU as an example, the method includes steps 201 to 206.

[0030] In step 201, the ECU obtains the vehicle's driving trajectory, driving speed, steering angle of the steering wheel, and the distance between the vehicle and the preceding vehicle, where the preceding vehicle is the vehicle closest to the vehicle in front of the current road.

[0031] In a possible implementation, an example is given of how the ECU obtains the vehicle's driving trajectory, driving speed, steering angle of the steering wheel, and the distance between the vehicle and the vehicle ahead.

[0032] (1) Obtain the vehicle’s driving trajectory and speed

[0033] Exemplarily, the ECU can obtain the driving track and driving speed of the vehicle through the vehicle-mounted navigation device. Optionally, the vehicle-mounted navigation device is installed on the vehicle and can monitor the driving track and driving speed of the vehicle in real time.

[0034] (2) Get the steering angle of the steering wheel

[0035] In a possible implementation, the ECU may obtain the steering angle of the steering wheel through an EPS (Electronic Power Steering). Optionally, the EPS may monitor the steering angle of the steering wheel in real time through a steering angle sensor included therein.

[0036] (3) Obtain the distance between the vehicle and the vehicle in front

[0037] Optionally, the front vehicle is the vehicle closest to the vehicle in front of the current road. The ECU can detect whether there is a vehicle in the reference range in front of the current road through a radar device. If a vehicle is detected in the reference range in front of the current road, the distance between the vehicle and the front vehicle is calculated based on the duration of radar propagation. In one possible implementation, the distance between the vehicle and the front vehicle is calculated based on the duration of radar propagation, including: counting the time from the emission of the electromagnetic wave of the radar to the reception of the reflected electromagnetic wave, calculating the product of the time and the speed of light, and then taking half of the obtained product as the distance between the vehicle and the front vehicle. Among them, the reference distance can be set based on experience.

[0038] In step 202, the ECU determines the speed condition of the vehicle based on the driving speed, and the speed condition of the vehicle includes a low speed condition, a medium speed condition and a high speed condition.

[0039] Exemplarily, after acquiring the driving speed of the vehicle, the ECU determines the speed operating condition of the vehicle based on the driving speed, wherein the speed operating condition of the vehicle includes a low-speed operating condition, a medium-speed operating condition, and a high-speed operating condition.

[0040] In a possible implementation, after obtaining the driving speed of the vehicle, the ECU compares the driving speed with the first speed threshold, the second speed threshold, and the third speed threshold. If the driving speed is greater than or equal to the first speed threshold and less than the second speed threshold, the speed condition of the vehicle is determined to be a low-speed condition; if the driving speed is greater than or equal to the second speed threshold and less than the third speed threshold, the speed condition of the vehicle is determined to be a medium-speed condition; if the driving speed is greater than or equal to the third speed threshold, the speed condition of the vehicle is determined to be a high-speed condition.

[0041] Optionally, the first speed threshold, the second speed threshold and the third speed threshold can be set based on experience, and it is necessary to satisfy that the first speed threshold is less than the second speed threshold, and the second speed threshold is less than the third speed threshold. For example, the first speed threshold can be 0 kilometers per hour, the second speed threshold can be 40 kilometers per hour, and the third speed threshold can be 80 kilometers per hour.

[0042] In step 203, the ECU determines the speed condition of the leading vehicle based on the change in the distance between the vehicle and the leading vehicle within the first time period, where the speed condition of the leading vehicle includes a relatively low speed condition and a normal condition.

[0043] In a possible implementation, after determining the speed condition of the vehicle, the ECU determines the speed condition of the preceding vehicle based on the change in the distance between the vehicle and the preceding vehicle within a first time period, wherein the speed condition of the preceding vehicle includes a relatively low-speed condition and a normal condition. Exemplarily, determining the speed condition of the preceding vehicle based on the change in the distance between the vehicle and the preceding vehicle within a first time period includes: in response to the distance between the vehicle and the preceding vehicle being shortened by more than a first distance threshold within the first time period, determining that the speed condition of the preceding vehicle is a relatively low-speed condition.

[0044] Optionally, the ECU monitors the distance between the vehicle and the vehicle in front in real time. If it is detected that the distance between the vehicle and the vehicle in front is shortened, the shortened distance between the vehicle and the vehicle in front is compared with the first distance threshold. If the distance between the vehicle and the vehicle in front is shortened by more than the first distance threshold, the ECU determines that the speed condition of the vehicle in front is a relatively low-speed condition; if the distance between the vehicle and the vehicle in front is not shortened, or the distance between the vehicle and the vehicle in front is shortened by less than the first distance threshold, the ECU determines that the speed condition of the vehicle in front is a relatively normal condition. The first duration and the first distance threshold can be set based on experience. For example, the first duration can be two seconds, and the first distance threshold can be 10 meters.

[0045] In step 204 , in response to the steering angle of the steering wheel being greater than an angle threshold, the ECU determines the urgency of lane change based on the distance between the vehicle and the preceding vehicle, the urgency including emergency lane change and normal lane change.

[0046] In a possible implementation, after obtaining the steering angle of the steering wheel, the ECU compares the steering angle of the steering wheel with an angle threshold. If the steering angle of the steering wheel is greater than the angle threshold, the ECU determines the urgency of lane change based on the distance between the vehicle and the preceding vehicle, wherein the urgency includes emergency lane change and normal lane change.

[0047] Exemplarily, the ECU determines the urgency of lane change based on the distance between the vehicle and the vehicle in front, including: in response to the steering angle of the steering wheel being greater than an angle threshold and the distance between the vehicle and the vehicle in front being less than a second distance threshold, determining the urgency to be an emergency lane change; in response to the steering angle of the steering wheel being greater than an angle threshold and the distance between the vehicle and the vehicle in front being less than or equal to the second distance threshold, determining the urgency to be a normal lane change.

[0048] Optionally, if the steering angle of the steering wheel is greater than the angle threshold, the ECU compares the distance between the vehicle and the vehicle in front with the second distance threshold. If the steering angle of the steering wheel is greater than the angle threshold and the distance between the vehicle and the vehicle in front is less than the second distance threshold, the ECU determines the urgency of the lane change as an emergency lane change; if the steering angle of the steering wheel is greater than the angle threshold and the distance between the vehicle and the vehicle in front is less than or equal to the second distance threshold, the ECU determines the urgency as a normal lane change. Exemplarily, the angle threshold and the second distance threshold can be set based on experience, for example, the second distance threshold can be set to 50 meters.

[0049] In step 205, the ECU determines the driving condition of the vehicle according to the speed condition of the vehicle, the speed condition of the preceding vehicle, and the urgency of the lane change.

[0050] In one possible implementation, after determining the speed condition of the vehicle, the speed condition of the preceding vehicle, and the urgency of lane change, the ECU determines the driving condition of the vehicle according to the speed condition of the vehicle, the speed condition of the preceding vehicle, and the urgency of lane change. Optionally, the driving condition of the vehicle includes but is not limited to the following 12 types. Condition 1: Low-speed condition of the vehicle, relatively low-speed condition of the preceding vehicle, and the urgency of lane change is normal lane change; Condition 2: Medium-speed condition of the vehicle, relatively low-speed condition of the preceding vehicle, and the urgency of lane change is normal lane change; Condition 3: High-speed condition of the vehicle, relatively low-speed condition of the preceding vehicle, and the urgency of lane change is normal lane change; Condition 4: Low-speed condition of the vehicle, normal condition of the preceding vehicle, and the urgency of lane change is normal lane change; Condition 5: Medium-speed condition of the vehicle, normal condition of the preceding vehicle, and the urgency of lane change is normal lane change; Condition 6: High-speed condition of the vehicle, normal condition of the preceding vehicle, and the urgency of lane change is normal lane change; Condition 7: The vehicle is operating at a low speed, the vehicle in front is operating at a relatively low speed, and the urgency of lane changing is an emergency lane change; Condition 8: The vehicle is operating at a medium speed, the vehicle in front is operating at a relatively low speed, and the urgency of lane changing is an emergency lane change; Condition 9: The vehicle is operating at a high speed, the vehicle in front is operating at a relatively low speed, and the urgency of lane changing is an emergency lane change; Condition 10: The vehicle is operating at a low speed, the vehicle in front is operating normally, and the urgency of lane changing is an emergency lane change; Condition 11: The vehicle is operating at a medium speed, the vehicle in front is operating normally, and the urgency of lane changing is an emergency lane change; Condition 12: The vehicle is operating at a high speed, the vehicle in front is operating normally, and the urgency of lane changing is an emergency lane change.

[0051] In step 206 , the ECU fits a driver characteristic curve under the driving condition based on the vehicle's driving trajectory and the steering angle of the steering wheel. The driver characteristic curve is used to evaluate the driver's lane change characteristics.

[0052] In one possible implementation, after determining the driving condition of the vehicle, before fitting the driver characteristic curve under the driving condition based on the vehicle's driving trajectory and the steering angle of the steering wheel, the vehicle's driving trajectory is filtered to obtain a filtered vehicle driving trajectory; and the steering angle of the steering wheel is filtered to obtain a filtered steering angle of the steering wheel.

[0053] Optionally, the driving trajectory of the vehicle can be filtered by a Kalman filter to obtain the filtered driving trajectory of the vehicle; and the steering angle of the steering wheel can be filtered by a Kalman filter to obtain the filtered steering angle of the steering wheel. The Kalman filter is installed on the vehicle, which can effectively process the measurement data with noise, remove the abnormal data caused by external noise interference and driver operation errors, and ensure the accuracy and reliability of the data.

[0054] Exemplarily, after completing the filtering of the vehicle's driving trajectory and the steering angle of the steering wheel, the ECU fits the driver characteristic curve under the driving condition based on the filtered vehicle's driving trajectory and the filtered steering angle of the steering wheel, wherein the driver characteristics indicate the driver's habits when changing lanes, including the control habits of the vehicle's driving speed and the control habits of the steering angle of the steering wheel, and the driver characteristic curve is used to evaluate the driver's lane changing characteristics.

[0055] In one possible implementation, the ECU fits a driver characteristic curve under driving conditions based on the vehicle's driving trajectory and the steering angle of the steering wheel, including: fitting a lane change trajectory characteristic curve based on the filtered vehicle's driving trajectory; fitting a steering angle characteristic curve based on the filtered steering angle of the steering wheel; and determining the driver characteristic curve under driving conditions based on the lane change trajectory characteristic curve and the steering angle characteristic curve.

[0056] Exemplarily, the ECU can establish a horizontal coordinate system with the vehicle as the origin, and determine the lateral position coordinates and longitudinal position coordinates of the vehicle on the road based on the filtered vehicle driving trajectory, wherein the direction parallel to the axle and parallel to the road surface can be set as the horizontal axis, and the direction perpendicular to the axle and parallel to the road surface can be set as the vertical axis. According to the driving state of the vehicle, the time period of lane change is identified, the lateral position coordinates and longitudinal position coordinates of the time period of lane change are extracted to form a lane change trajectory cluster, and then the steering wheel angle data of the time period of lane change is extracted to form a steering wheel steering angle cluster.

[0057] Optionally, the lane change trajectory cluster and the steering wheel steering angle cluster are fitted by a polynomial fitting method to generate a lane change trajectory characteristic curve and a steering angle characteristic curve, wherein the lane change trajectory characteristic curve is as follows:

[0058] y * =k1x 3 +k2x2 +k3x+k4

[0059] Among them, y * represents the longitudinal position coordinate of the vehicle, x represents the lateral position coordinate of the vehicle, k1k2k3k4 are the correlation coefficients, which can be calculated through the lane change trajectory cluster.

[0060] The steering angle characteristic curve is shown below:

[0061] θ * =l1x 3 +l2x 2 +l3x+l4

[0062] Among them, θ * represents the steering wheel angle, l1l2l3l4 are correlation coefficients, which can be calculated through the lane change trajectory cluster and the steering wheel steering angle cluster.

[0063] Exemplarily, after completing the fitting of the lane change trajectory characteristic curve and the steering angle characteristic curve, determining the driver characteristic curve under the driving condition based on the lane change trajectory characteristic curve and the steering angle characteristic curve includes: constructing the driver characteristic curve as shown below:

[0064]

[0065] Where E represents the driver characteristic curve, y * (x) is the expression of the lane change trajectory characteristic curve, θ * (x) is the expression of the steering angle characteristic curve, m1m2 is the weight coefficient, and the weight coefficient can be set according to experience.

[0066] Optionally, after completing the fitting of the driver characteristic curve, the driving trajectory of the vehicle under the driving condition and the steering angle of the steering wheel are controlled based on the driver characteristic curve during intelligent lane change. Optionally, the method of controlling the driving trajectory and the steering angle of the steering wheel of the vehicle under the driving condition includes, but is not limited to: intelligently controlling the steering angle of the steering wheel when changing lanes based on the current driving trajectory according to the driver characteristic curve corresponding to the driver in the current driving condition; or intelligently controlling the driving speed of the vehicle based on the steering angle of the steering wheel when changing lanes, so that the intelligent lane change is more in line with the driver's driving habits under the current driving condition, thereby improving the practicality and intelligence of intelligent driving.

[0067] The embodiment of the present application determines the speed condition of the vehicle by acquiring the vehicle's driving speed; determines the speed condition of the vehicle in front by acquiring the distance between the vehicle and the vehicle in front and calculating the change in the distance between the vehicle and the vehicle in front within a first time period; determines the urgency of lane changing based on the distance between the vehicle and the vehicle in front by acquiring the steering angle of the steering wheel and when the steering angle of the steering wheel is greater than an angle threshold; then determines the driving condition of the vehicle according to the speed condition of the vehicle, the speed condition of the vehicle in front and the urgency of lane changing; obtains the driving trajectory of the vehicle and fits the driver characteristic curve under the driving condition based on the driving trajectory of the vehicle and the steering angle of the steering wheel, thereby achieving quantitative evaluation of the driver's driving characteristics under the driving condition, improving the accuracy of the evaluation of the driver's driving characteristics, and thus improving the accuracy and success rate of intelligent lane changing.

[0068] See also Figure 3 , an embodiment of the present application provides a lane change characteristic evaluation device, the device comprising:

[0069] The acquisition module 301 is used to acquire the driving track, driving speed, steering angle of the steering wheel and the distance between the vehicle and the preceding vehicle, where the preceding vehicle is the vehicle closest to the vehicle in front of the current road;

[0070] A first determination module 302 is used to determine a speed condition of the vehicle based on the driving speed, where the speed condition of the vehicle includes a low speed condition, a medium speed condition and a high speed condition;

[0071] A second determination module 303 is used to determine a speed condition of the preceding vehicle based on a change in the distance between the vehicle and the preceding vehicle within a first time period, wherein the speed condition of the preceding vehicle includes a relatively low speed condition and a normal condition;

[0072] A third determination module 304 is used to determine the urgency of lane change based on the distance between the vehicle and the preceding vehicle in response to the steering angle of the steering wheel being greater than the angle threshold, the urgency including emergency lane change and normal lane change;

[0073] A fourth determination module 305 is used to determine the driving condition of the vehicle according to the speed condition of the vehicle, the speed condition of the preceding vehicle, and the urgency of the lane change;

[0074] The fitting module 306 is used to fit the driver characteristic curve under the driving condition based on the driving trajectory of the vehicle and the steering angle of the steering wheel, and the driver characteristic curve is used to evaluate the lane change characteristic of the driver.

[0075] In a possible implementation, the second determination module 303 is configured to determine that the speed condition of the leading vehicle is a relatively low speed condition in response to the distance between the vehicle and the leading vehicle being shortened by more than a first distance threshold within a first time period.

[0076] In one possible implementation, the third determination module 304 is used to determine the urgency of an emergency lane change in response to a steering angle of the steering wheel being greater than an angle threshold and a distance between the vehicle and a leading vehicle being less than a second distance threshold; and to determine the urgency of a normal lane change in response to a steering angle of the steering wheel being greater than an angle threshold and a distance between the vehicle and a leading vehicle being less than or equal to a second distance threshold.

[0077] In a possible implementation, the fitting module 306 is further configured to filter the driving trajectory of the vehicle to obtain a filtered driving trajectory of the vehicle; and filter the steering angle of the steering wheel to obtain a filtered steering angle of the steering wheel.

[0078] In one possible implementation, the fitting module 306 is used to fit a lane change trajectory characteristic curve based on the filtered vehicle driving trajectory; fit a steering angle characteristic curve based on the filtered steering angle of the steering wheel; and determine a driver characteristic curve under driving conditions based on the lane change trajectory characteristic curve and the steering angle characteristic curve.

[0079] In a possible implementation, the fitting module 306 is further configured to control the driving trajectory and the steering angle of the steering wheel of the vehicle under the driving condition during intelligent lane change based on the driver characteristic curve.

[0080] The device determines the speed condition of the vehicle by acquiring the vehicle's driving speed; determines the speed condition of the vehicle in front by acquiring the distance between the vehicle and the vehicle in front and calculating the change in the distance between the vehicle and the vehicle in front within a first time period; determines the urgency of lane change based on the distance between the vehicle and the vehicle in front by acquiring the steering angle of the steering wheel and when the steering angle of the steering wheel is greater than an angle threshold; determines the driving condition of the vehicle according to the speed condition of the vehicle, the speed condition of the vehicle in front and the urgency of lane change; obtains the driving trajectory of the vehicle and fits the driver characteristic curve under the driving condition based on the driving trajectory of the vehicle and the steering angle of the steering wheel, thereby achieving quantitative evaluation of the driver's driving characteristics under the driving condition, improving the accuracy of the evaluation of the driver's driving characteristics, and thus improving the accuracy and success rate of intelligent lane change.

[0081] It should be noted that the device provided in the above embodiment only uses the division of the above functional modules as an example to implement its functions. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the device and method embodiments provided in the above embodiment belong to the same concept, and their specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0082] In an exemplary embodiment, a computer-readable storage medium is also provided, in which at least one computer program is stored. The at least one computer program is loaded and executed by a processor of a computer device to enable the computer to implement any of the above-mentioned methods for evaluating lane change characteristics.

[0083] In one possible implementation, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, etc.

[0084] In an exemplary embodiment, a computer program product or a computer program is also provided, the computer program product or the computer program comprising computer instructions, the computer instructions being stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs any of the above-mentioned methods for evaluating lane change characteristics.

[0085] It should be noted that the 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 are all authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards of relevant countries and regions. For example, the vehicle's driving trajectory, driving speed, steering wheel steering angle and the distance between the vehicle and the vehicle in front involved in this application are all obtained with full authorization.

[0086] It should be understood that the "plurality" mentioned in this article refers to two or more. "And / or" describes the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the associated objects are in an "or" relationship.

[0087] It should be noted that the terms "first", "second", etc. (if any) in the specification and claims of the present application are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0088] The above description is only an exemplary embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method for evaluating lane change characteristics, characterized in that: The method comprises: Obtaining the vehicle's driving trajectory, driving speed, steering angle of the steering wheel, and the distance between the vehicle and a preceding vehicle, where the preceding vehicle is the vehicle closest to the vehicle in front of the current road; Determine a speed condition of the vehicle based on the driving speed, wherein the speed condition of the vehicle includes a low speed condition, a medium speed condition, and a high speed condition; Determining a speed condition of the preceding vehicle based on a change in the distance between the vehicle and the preceding vehicle within a first time period, wherein the speed condition of the preceding vehicle includes a relatively low speed condition and a normal condition; In response to the steering angle of the steering wheel being greater than an angle threshold, determining an urgency of lane change based on a distance between the vehicle and a preceding vehicle, the urgency including an emergency lane change and a normal lane change; Determining a driving condition of the vehicle according to a speed condition of the vehicle, a speed condition of the preceding vehicle, and an urgency of the lane change; A driver characteristic curve under the driving condition is fitted based on the driving trajectory of the vehicle and the steering angle of the steering wheel, and the driver characteristic curve is used to evaluate the lane changing characteristics of the driver.

2. The method according to claim 1, characterized in that The determining the speed condition of the preceding vehicle based on the change in the distance between the vehicle and the preceding vehicle within the first time period includes: In response to the distance between the vehicle and the preceding vehicle being shortened by more than a first distance threshold within the first time period, it is determined that the speed condition of the preceding vehicle is the relatively low-speed condition.

3. The method according to claim 1, characterized in that In response to the steering angle of the steering wheel being greater than an angle threshold, determining the urgency of lane change based on the distance between the vehicle and a preceding vehicle, comprises: In response to the steering angle of the steering wheel being greater than an angle threshold and the distance between the vehicle and a preceding vehicle being less than a second distance threshold, determining that the urgency level is the emergency lane change; In response to the steering angle of the steering wheel being greater than an angle threshold and the distance between the vehicle and a preceding vehicle being less than or equal to a second distance threshold, the urgency level is determined to be the normal lane change.

4. The method according to claim 1, characterized in that: Before fitting the driver characteristic curve under the driving condition based on the driving trajectory of the vehicle and the steering angle of the steering wheel, the method further includes: Performing filtering on the driving trajectory of the vehicle to obtain a filtered driving trajectory of the vehicle; The steering angle of the steering wheel is filtered to obtain a filtered steering angle of the steering wheel.

5. The method according to claim 4, characterized in that The step of fitting the driver characteristic curve under the driving condition based on the driving trajectory of the vehicle and the steering angle of the steering wheel comprises: fitting a lane change trajectory characteristic curve based on the filtered vehicle's driving trajectory; fitting a steering angle characteristic curve based on the steering angle of the steering wheel after filtering; A driver characteristic curve under the driving condition is determined based on the lane change trajectory characteristic curve and the steering angle characteristic curve.

6. The method according to claim 1, characterized in that After fitting the driver characteristic curve under the driving condition based on the driving trajectory of the vehicle and the steering angle of the steering wheel, the method further includes: Based on the driver characteristic curve, the driving trajectory of the vehicle and the steering angle of the steering wheel under the driving condition are controlled during intelligent lane change.

7. A lane change characteristic evaluation device, characterized in that: The device comprises: An acquisition module, used to acquire a vehicle's driving trajectory, driving speed, steering angle of a steering wheel, and a distance between the vehicle and a preceding vehicle, wherein the preceding vehicle is the vehicle closest to the vehicle in front of the current road; A first determination module is used to determine a speed condition of the vehicle based on the driving speed, wherein the speed condition of the vehicle includes a low speed condition, a medium speed condition and a high speed condition; A second determination module is used to determine a speed condition of the preceding vehicle based on a change in the distance between the vehicle and the preceding vehicle within a first time period, wherein the speed condition of the preceding vehicle includes a relatively low speed condition and a normal condition; a third determination module, configured to determine, in response to a steering angle of the steering wheel being greater than an angle threshold, an urgency of lane change based on a distance between the vehicle and a preceding vehicle, the urgency including an emergency lane change and a normal lane change; a fourth determination module, configured to determine a driving condition of the vehicle according to a speed condition of the vehicle, a speed condition of the preceding vehicle, and an urgency of the lane change; A fitting module is used to fit a driver characteristic curve under the driving condition based on the driving trajectory of the vehicle and the steering angle of the steering wheel, wherein the driver characteristic curve is used to evaluate the lane changing characteristics of the driver.

8. The device according to claim 7, characterized in that The second determination module is configured to determine that the speed condition of the leading vehicle is the relatively low speed condition in response to the distance between the vehicle and the leading vehicle being shortened by more than a first distance threshold within the first time period.

9. A computer program product, comprising computer instructions, which, when executed by a processor, implement the steps of the method for evaluating lane change characteristics as claimed in any one of claims 1 to 6.

10. A non-transitory computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which is loaded and executed by a processor to implement the lane change characteristic evaluation method as described in any one of claims 1 to 6.

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