NOA lane changing decision-making method based on navigation foreground lane and related equipment

Abstract

The invention discloses a navigation foreground lane-based NOA lane change decision method and related equipment, and the method comprises the steps: obtaining foreground lane information provided by a navigation system in real time, the foreground lane information comprising an available start lane number, an available stop lane number and the total number of available lanes; the total number of current road lanes provided by the REM system and the number of the lane where the current vehicle is located are obtained; if the lane number of the current vehicle belongs to the range from the available start lane number to the available stop lane number, and the total number of current road lanes is greater than the total number of available lanes, judging that the current vehicle is located in the foreground lane range, and forbidding to trigger the NOA lane change request; when it is judged that the current vehicle is not located in the foreground lane range, if the lane number of the current vehicle is larger than the available stop lane number, a left lane changing request is triggered; and if the lane number of the current vehicle is smaller than the available starting lane number, triggering a right lane changing request. The invention aims to solve the problem that the NOA lane changing decision is easy to cause the vehicle to drive out of the original main road by mistake.

Description

Technical Field

[0001] The present invention belongs to the technical field of assisted driving, and in particular relates to a NOA lane-changing decision method based on a navigation foreground lane and related equipment. Background Art

[0002] The NOA (Navigate on Autopilot) function is an important part of modern intelligent driving systems, and NOA lane-changing decision is a key part of this function. The current NOA lane-changing process mainly relies on navigation maps for triggering. However, in actual applications, there are some obvious problems in the NOA lane-changing decision process, especially when dealing with highways or elevated roads.

[0003] Specifically, there are often roads on highways or elevated roads that require exiting from the right. Although these roads are part of the original main road, they are not additional roads. Since the NOA decision system mainly uses the navigation map for path planning and lane change decisions, when faced with such a complex road structure, vehicles often mistakenly exit from this type of road. This mistaken exit not only affects the user's driving experience, but may also bring potential safety hazards. Summary of the invention

[0004] In view of the problems existing in the prior art, the present invention provides a NOA lane changing decision method and related equipment based on the navigation foreground lane, which aims to solve the problem that NOA lane changing decision may easily cause the vehicle to mistakenly drive out of the original main road.

[0005] In order to solve the above technical problems, the present invention is implemented by the following technical solutions: According to a first aspect of the present invention, a NOA lane change decision method based on a navigation foreground lane is provided, wherein the road lanes are numbered 1, 2, ..., n from left to right; wherein n is a natural number not less than 2; The NOA lane-changing decision method includes: S1. Real-time acquisition of foreground lane information provided by the navigation system, wherein the foreground lane information includes an available starting lane number, an available ending lane number, and a total number of available lanes, and at the same time, the total number of lanes on the current road and the lane number where the current vehicle is located provided by the REM system; S2. If the lane number of the current vehicle is in the range from the available starting lane number to the available ending lane number, and the total number of lanes on the current road is greater than the total number of available lanes, it is determined that the current vehicle is in the foreground lane range, and triggering the NOA lane change request is prohibited; S3. When it is determined that the current vehicle is not within the foreground lane range, if the lane number of the current vehicle is greater than the available end lane number, a lane change request to the left is triggered; if the lane number of the current vehicle is less than the available start lane number, a lane change request to the right is triggered; S4. Perform a direction compliance check on the generated lane change request, and send the verified lane change request to the vehicle actuator.

[0006] In a possible implementation manner of the first aspect, before executing step S2, a validity verification process is further included, specifically: When any parameter among the available starting lane number, the available ending lane number, the total number of available lanes, the total number of lanes on the current road, and the lane number where the current vehicle is located is invalid or NOA is not activated, the lane change decision method is terminated.

[0007] In a possible implementation manner of the first aspect, in step S4, performing direction compliance verification on the generated lane change request includes: When a lane change request to the left is triggered, it is determined whether the target lane number is greater than or equal to the available starting lane number; If the target lane number is less than the available starting lane number, the lane change operation to the left is prohibited; when a lane change request to the right is triggered, determine whether the target lane number is less than or equal to the available ending lane number; if the target lane number is greater than the available ending lane number, the lane change operation to the right is prohibited.

[0008] In a possible implementation manner of the first aspect, in step S2, prohibiting triggering a NOA lane change request includes: When the current vehicle is located in the foreground lane range, the lane change request direction is monitored in real time, and any lane change operation that causes the lane number of the current vehicle to exceed the range from the available starting lane number to the available ending lane number is prohibited.

[0009] In a possible implementation of the first aspect, in step S3, when it is determined that the current vehicle is not located in the foreground lane range, the method further includes: The lane change direction constraint strategy is executed synchronously to prohibit the generation of lane change requests in the opposite direction to the foreground lane. The judgment criteria for the opposite direction are: If the lane number of the current vehicle is greater than the available end lane number, lane change request to the right is prohibited; If the lane number of the current vehicle is smaller than the available starting lane number, lane change requests to the left are prohibited.

[0010] In a possible implementation manner of the first aspect, the lane change decision method further includes: When it is detected that the total number of available lanes or the total number of lanes on the current road has changed, the foreground lane range determination of step S2 is re-executed, and the lane change decision is adjusted according to the updated parameters.

[0011] According to a second aspect of the present invention, a NOA lane change decision device based on a navigation foreground lane is provided, wherein the road lanes are numbered 1, 2, ..., n from left to right; wherein n is a natural number not less than 2; NOA lane change decision device includes: An acquisition module is used to acquire in real time the foreground lane information provided by the navigation system, wherein the foreground lane information includes the available starting lane number, the available ending lane number and the total number of available lanes, and simultaneously acquire the total number of lanes of the current road and the lane number of the current vehicle provided by the REM system; A lane change request prohibition triggering module is used to determine that the current vehicle is located in the foreground lane range and prohibit triggering a NOA lane change request if the lane number of the current vehicle is within the range of the available starting lane number to the available ending lane number, and the total number of lanes on the current road is greater than the total number of available lanes; A lane change request triggering module is used to trigger a lane change request to the left if the lane number of the current vehicle is greater than the available end lane number when it is determined that the current vehicle is not within the foreground lane range; and to trigger a lane change request to the right if the lane number of the current vehicle is less than the available start lane number; The verification module is used to perform direction compliance verification on the generated lane change request, and send the verified lane change request to the vehicle actuator.

[0012] According to a third aspect of the present invention, there is provided a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the NOA lane change decision method based on a navigation foreground lane when executing the computer program.

[0013] According to a fourth aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method for making a NOA lane change decision based on a navigation foreground lane is implemented.

[0014] According to a fifth aspect of the present invention, a computer program product is provided, which, when executed by a processor, implements the NOA lane change decision method based on the navigation foreground lane.

[0015] Compared with the prior art, the present invention has at least the following beneficial effects: The present invention provides a NOA lane change decision method based on the navigation foreground lane. By acquiring the foreground lane information provided by the navigation system in real time, and combining the total number of lanes on the current road and the lane number of the vehicle provided by the REM system, it can accurately determine whether the vehicle is located within the foreground lane range of the navigation plan, effectively avoiding the problem of the vehicle mistakenly driving out of the original main road due to misjudgment of the lane, especially under complex road conditions such as highways or elevated roads, the accuracy of the lane change decision is improved. Specifically, the lane change decision method of the present invention fully considers the complexity of the road structure and the actual situation of vehicle driving. When the vehicle is not within the foreground lane range, according to the comparison result between the lane where the vehicle is located and the available lane number, a lane change request to the left or right is intelligently triggered, and at the same time, compliance verification is performed to avoid the vehicle changing lanes and driving out of the range of the navigation plan, which not only ensures that the vehicle can perform lane change operations safely and efficiently according to the navigation plan, but also avoids unnecessary lane change actions, thereby enhancing driving safety.

[0016] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the specific implementation modes of the present invention, the drawings required for use in the description of the specific implementation modes will be briefly introduced below. Obviously, the drawings described below are some implementation modes of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 A flowchart of a NOA lane change decision method based on a navigation foreground lane according to an embodiment of the present invention; Figure 2 The block diagram of a NOA lane change decision device based on a navigation foreground lane according to an embodiment of the present invention. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] Combination Figure 1As shown, an embodiment of the present invention provides a NOA lane change decision method based on the navigation foreground lane, which is mainly to optimize the lane change behavior of the vehicle under complex road conditions such as highways or elevated roads, and to avoid the problem of the vehicle mistakenly driving out of the original main road. In this embodiment, the road lanes are numbered from left to right as 1, 2, ..., n; wherein n is a natural number not less than 2. Exemplarily, if it is a one-way four-lane road, the road lanes are numbered from left to right as 1, 2, 3 and 4. The NOA lane change decision method based on the navigation foreground lane specifically includes the following steps: S1. Real-time acquisition of foreground lane information provided by the navigation system, wherein the foreground lane information includes an available starting lane number L s , Available end lane number L e and the total number of available lanes N nav , and obtain the total number of lanes N provided by the REM system rem and the lane number L where the vehicle is currently located cur .

[0021] Specifically, the foreground lane information is provided by a high-precision navigation map to ensure that it matches the current road conditions. For example, on a three-lane highway, if the navigation indicates that the vehicle should change lanes from the leftmost lane (number 1) to the middle lane (number 2) to prepare for the next exit, the starting lane number L can be used. s =1, available end lane number L e =2, the total number of available lanes N nav =2.

[0022] It should be noted that the REM (Road Environment Mapping) system uses sensors such as cameras and radars to perceive the surrounding environment in real time, and can accurately identify the number of lanes and the current vehicle position.

[0023] S2: Determine whether the current vehicle is within the foreground lane. If the lane number L of the current vehicle is satisfied, cur Belongs to the available starting lane number L s To available end lane number L e Range, and the total number of lanes on the current road is N rem Greater than the total number of available lanes N nav , it is determined that the current vehicle is located in the foreground lane range, and triggering the NOA lane change request is prohibited.

[0024] Specifically, first check the lane number L where the current vehicle is located cur Is the starting lane number L available? s To available end lane number L e At the same time, confirm the total number of lanes N on the current road remIs it greater than the total number of available lanes N provided by the navigation system? nav , in order to exclude misjudgment caused by road changes (such as temporary construction reducing lanes). If all the above conditions are met, it means that the vehicle is already within the foreground lane range planned by the navigation system. At this time, the NOA lane change request should be prohibited to avoid unnecessary lane change operations interfering with the normal driving path.

[0025] S3. If the current vehicle is not in the foreground lane, the lane number L of the current vehicle is cur With available starting lane number L s and available end lane number L e The size relationship generates the lane change decision: If the lane number of the current vehicle is L cur Greater than the available end lane number L e , triggering a lane change request to the left; If the lane number of the current vehicle is L cur Less than the available starting lane number L s , triggering a lane change request to the right.

[0026] Specifically, when the vehicle is not within the foreground lane, according to the lane number L where the current vehicle is located cur With available starting lane number L s and available end lane number L e The comparison results of the lane change decision are generated intelligently: if L cur >L e , indicating that the vehicle is outside the right side of the navigation-planned lane and should trigger a lane change request to the left to get closer to the lane indicated by the navigation. cur <L s , indicating that the vehicle is outside the left side of the navigation-planned lane and a lane change request to the right should be triggered.

[0027] S4. Perform a direction compliance check on the generated lane change request, and send the verified lane change request to the vehicle actuator.

[0028] The NOA lane-changing decision method based on the navigation foreground lane of this embodiment can intelligently judge the vehicle position and lane-changing requirements by accurately matching navigation information with real-time road environment data, thereby effectively avoiding the problem of accidentally driving off the original main road due to complex road structures and improving the safety of the intelligent driving system.

[0029] In one implementation, before executing step S2, a validity verification process is also included, specifically: when the available starting lane number L s , Available end lane number L e , the total number of available lanes N nav 、The total number of lanes on the current road N remand the lane number L where the vehicle is currently located cur When any parameter is invalid or NOA is not activated, the lane change decision method is terminated.

[0030] That is, first check the available starting lane number L s , Available end lane number L e , the total number of available lanes N nav 、The total number of lanes on the current road N rem and the lane number L where the vehicle is currently located cur The validity of these five parameters. Specifically, the validity judgment criteria include but are not limited to: whether the parameter value is within a reasonable range (such as the lane number should be a positive integer and not greater than the total number of lanes on the road), whether the parameter is missing or abnormal (such as avoiding null values, negative values, or values ​​that clearly exceed actual road conditions).

[0031] At the same time, it is also necessary to verify whether the NOA function has been activated by the user. If NOA is not activated, the lane change decision method should be terminated immediately regardless of other parameters to avoid any unauthorized autonomous driving operation.

[0032] This implementation further improves the reliability of the NOA lane-changing decision method based on the navigation foreground lane by adding a validity verification process, ensuring that all key parameters involved in the lane-changing decision are valid and the NOA function is activated, thereby effectively avoiding the risk of misoperation due to data errors or non-enabled functions.

[0033] In one possible implementation, in step S4, performing direction compliance check on the generated lane change request specifically includes: When a lane change request to the left is triggered, the target lane number L is determined. tar Is it greater than or equal to the available starting lane number L? s ; If the target lane number is L tar Less than the available starting lane number L s , then lane changing to the left is prohibited.

[0034] Specifically, when a lane change request to the left is triggered, the target lane number L is first calculated. tar . Target lane number L tar Usually determined based on the current lane number Lcur of the vehicle and the lane change direction, for example, L tar =L cur- 1, indicating a left turn to the adjacent lane. Next, determine the target lane number L tar Is it greater than or equal to the available starting lane number L? sThis judgment is to ensure that the lane change operation does not cause the vehicle to enter a lane outside the navigation plan, especially to prevent the vehicle from driving out of the navigation plan from the left. tar Less than the available starting lane number L s , then changing lanes to the left is prohibited. Preferably, a warning may be issued to the user or other safety measures may be taken.

[0035] When a lane change request to the right is triggered, the target lane number L is determined. tar Is it less than or equal to the available end lane number L? e ; If the target lane number is L tar Greater than the available end lane number L e , then lane changing to the right is prohibited.

[0036] Specifically, when a lane change request to the right is triggered, the target lane number L is also calculated tar , for example, L tar = L cur + 1, indicating a right turn to the adjacent lane. Then, determine the target lane number, L ta Is it less than or equal to the available end lane number L? e This judgment is to ensure that the lane change operation does not cause the vehicle to exceed the lane range planned by the navigation system, especially to prevent the vehicle from driving out of the road planned by the navigation system from the right. ta Greater than the available end lane number L e , the system prohibits lane changing to the right and also issues a warning to the user or takes other safety measures.

[0037] This implementation can effectively avoid potential safety hazards caused by improper lane changing.

[0038] In one possible implementation, in step S2, the prohibition of triggering a NOA lane change request includes: if the current vehicle is located in the foreground lane range, real-time monitoring of the lane change request direction is prohibited, and any lane number L that causes the current vehicle to be located is prohibited. cur Exceeding the available starting lane number L s and available end lane number L e Range of lane changing operations.

[0039] That is, after confirming that the vehicle is in the foreground lane, monitor the direction of any lane change request in real time, including left or right lane change requests, and possible continuous lane change requests, such as continuous lane change from the current lane to a further lane. Any lane change that causes the current vehicle to be in the lane number L is prohibited. cur Exceeding the available starting lane number L s and available end lane number L eThe vehicle can perform lane-changing operations within a certain range to ensure that the vehicle always stays within the lane planned by the navigation system and avoids driving off the original route by mistake.

[0040] Specifically, if a lane change request is detected, it will cause L cur Less than L s , that is, changing lanes to the left to a lane outside the navigation plan, the lane change request is prohibited. cur Greater than L e , that is, changing lanes to the right to a lane outside the navigation plan, the lane change request is also prohibited.

[0041] In one possible implementation, in step S3, if the current vehicle is not located within the foreground lane range, the process further includes: The lane change direction constraint strategy is executed synchronously to prohibit the generation of lane change requests in the opposite direction of the foreground lane, so as to prevent the vehicle from further deviating from the original route due to the wrong lane change direction. The judgment criteria for the opposite direction are: If the lane number of the current vehicle is L cur Greater than the available end lane number L e , it indicates that the vehicle is at the right edge or outside the navigation-planned lane. At this time, lane change requests to the right are prohibited to prevent the vehicle from further deviating to the right.

[0042] If the lane number of the current vehicle is L cur Less than the available starting lane number L s , it indicates that the vehicle is at the left edge or outside the navigation-planned lane. At this time, lane change requests to the left are prohibited to prevent the vehicle from further deviating to the left.

[0043] This implementation ensures that the vehicle will not deviate further from the original route due to the wrong lane change direction under any circumstances, effectively avoiding potential safety hazards.

[0044] In an achievable manner, the lane change decision method further includes: when the total number of available lanes N is detected nav Or the total number of lanes on the current road N rem When a change occurs, the foreground lane range determination of step S2 is re-executed, and the lane change decision is adjusted according to the updated parameters.

[0045] That is to say, the latest navigation foreground lane information and road lane information are re-acquired, and the foreground lane range determination of step S2 is performed again to ensure that the vehicle can accurately determine the degree of match between its own position and the navigation planned lane when the number of lanes changes.

[0046] In yet another embodiment of the present invention, a NOA lane change decision device based on a navigation foreground lane is provided, and the road lanes are numbered 1, 2, ..., n from left to right; wherein n is a natural number not less than 2.

[0047] The NOA lane change decision device is used to implement a NOA lane change decision method based on a navigation foreground lane in the above embodiment, and specifically includes an acquisition module, a lane change request prohibition trigger module, a lane change request trigger module and a verification module, and each module is configured as follows: The acquisition module is used to acquire the foreground lane information provided by the navigation system in real time. The foreground lane information includes the available starting lane number L s , Available end lane number L e and the total number of available lanes N nav , and obtain the total number of lanes N provided by the REM system rem and the lane number L where the vehicle is currently located cur .

[0048] Lane change request prohibition trigger module, used for the current vehicle lane number L cur Belongs to the available starting lane number L s To available end lane number L e Range, and the total number of lanes on the current road is N rem Greater than the total number of available lanes N nav , it is determined that the current vehicle is located in the foreground lane range, and triggering the NOA lane change request is prohibited.

[0049] Lane change request trigger module, used to determine that the current vehicle is not in the foreground lane range, if the lane number of the current vehicle is L cur Greater than the available end lane number L e , triggering a lane change request to the left; if the current vehicle is in lane number L cur Less than the available starting lane number L s , triggering a lane change request to the right.

[0050] The verification module is used to verify the direction compliance of the generated lane change request, and send the verified lane change request to the vehicle actuator. Specifically, when a lane change request to the left is triggered, the target lane number L is determined. tar Is it greater than or equal to the available starting lane number L? s ; If the target lane number is L tar Less than the available starting lane number L s , then the lane change operation to the left is prohibited. When the lane change request to the right is triggered, the target lane number L is determined. tar Is it less than or equal to the available end lane number L? e ; If the target lane number is Ltar Greater than the available end lane number L e , then lane changing to the right is prohibited.

[0051] All relevant contents of each step involved in the aforementioned embodiment of a NOA lane change decision method based on a navigation foreground lane can be referred to the functional description of the functional module corresponding to a NOA lane change decision device based on a navigation foreground lane in the embodiment of the present invention, and will not be repeated here. The division of modules in the embodiment of the present invention is schematic, which is only a logical function division. There may be other division methods in actual implementation. In addition, each functional module in each embodiment of the present invention can be integrated into a processor, or it can exist physically separately, or two or more modules can be integrated into one module. The above-mentioned integrated modules can be implemented in the form of hardware or in the form of software functional modules.

[0052] In another embodiment of the present invention, a computer device is provided, the computer device including a processor and a memory, the memory is used to store a computer program, the computer program includes program instructions, and the processor is used to execute the program instructions stored in the computer storage medium. The processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc., which is the computing core and control core of the terminal, which is suitable for implementing one or more instructions, and is specifically suitable for loading and executing one or more instructions in the computer storage medium to implement the corresponding method flow or corresponding function; the processor described in the embodiment of the present invention can be used for the operation of a NOA lane change decision method based on a navigation foreground lane.

[0053] In another embodiment of the present invention, the present invention further provides a storage medium, specifically a computer-readable storage medium (Memory), which is a memory device in a computer device for storing programs and data. It is understandable that the computer-readable storage medium here can include both built-in storage media in the computer device and, of course, extended storage media supported by the computer device. The computer-readable storage medium provides a storage space, which stores the operating system of the terminal. In addition, one or more instructions suitable for being loaded and executed by the processor are also stored in the storage space, and these instructions can be one or more computer programs (including program codes). It should be noted that the computer-readable storage medium here can be a high-speed RAM memory or a non-volatile memory, such as at least one disk memory. The processor can load and execute one or more instructions stored in the computer-readable storage medium to implement the corresponding steps of the above-mentioned embodiment regarding a NOA lane change decision method based on a navigation foreground lane.

[0054] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0055] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0056] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0057] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0058] The present invention also provides a computer program product, which is used to execute any of the above-mentioned NOA lane change decision methods based on the navigation foreground lane. Since the computer program product provided by the present invention and the above-mentioned NOA lane change decision method based on the navigation foreground lane belong to the same inventive concept, the computer program product provided by the present invention has all the advantages of the above-mentioned NOA lane change decision method based on the navigation foreground lane, so the beneficial effects of the computer program product provided by the present invention will not be described one by one here.

[0059] In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0060] Finally, it should be noted that the above-described embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The protection scope of the present invention is not limited thereto. Although the present invention is described in detail with reference to the above-described embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-described embodiments within the technical scope disclosed by the present invention, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A NOA lane-changing decision method based on a navigation foreground lane, characterized in that: The road lanes are numbered from left to right as 1, 2, ..., n; where n is a natural number not less than 2; The NOA lane-changing decision method includes: S1. Real-time acquisition of foreground lane information provided by the navigation system, wherein the foreground lane information includes an available starting lane number, an available ending lane number, and a total number of available lanes, and at the same time, the total number of lanes on the current road and the lane number where the current vehicle is located provided by the REM system; S2. If the lane number of the current vehicle is in the range from the available starting lane number to the available ending lane number, and the total number of lanes on the current road is greater than the total number of available lanes, it is determined that the current vehicle is in the foreground lane range, and triggering the NOA lane change request is prohibited; S3. When it is determined that the current vehicle is not within the foreground lane range, if the lane number of the current vehicle is greater than the available end lane number, a lane change request to the left is triggered; if the lane number of the current vehicle is less than the available start lane number, a lane change request to the right is triggered; S4. Perform a direction compliance check on the generated lane change request, and send the verified lane change request to the vehicle actuator.

2. The NOA lane change decision method based on the navigation foreground lane according to claim 1, characterized in that: Before executing step S2, a validity verification process is also included, specifically: When any parameter among the available starting lane number, the available ending lane number, the total number of available lanes, the total number of lanes on the current road, and the lane number where the current vehicle is located is invalid or NOA is not activated, the lane change decision method is terminated.

3. The NOA lane change decision method based on the navigation foreground lane according to claim 1, characterized in that: In step S4, the direction compliance check of the generated lane change request includes: When a lane change request to the left is triggered, it is determined whether the target lane number is greater than or equal to the available starting lane number; If the target lane number is less than the available starting lane number, the lane change operation to the left is prohibited; when a lane change request to the right is triggered, determine whether the target lane number is less than or equal to the available ending lane number; if the target lane number is greater than the available ending lane number, the lane change operation to the right is prohibited.

4. The NOA lane change decision method based on the navigation foreground lane according to claim 1, characterized in that: In step S2, the prohibition of triggering the NOA lane change request includes: When the current vehicle is located in the foreground lane range, the lane change request direction is monitored in real time, and any lane change operation that causes the lane number of the current vehicle to exceed the range from the available starting lane number to the available ending lane number is prohibited.

5. The NOA lane change decision method based on the navigation foreground lane according to claim 1, characterized in that: In step S3, when it is determined that the current vehicle is not within the foreground lane range, the process further includes: The lane change direction constraint strategy is executed synchronously to prohibit the generation of lane change requests in the opposite direction to the foreground lane. The judgment criteria for the opposite direction are: If the lane number of the current vehicle is greater than the available end lane number, lane change request to the right is prohibited; If the lane number of the current vehicle is smaller than the available starting lane number, lane change requests to the left are prohibited.

6. The NOA lane change decision method based on the navigation foreground lane according to claim 1, characterized in that: The lane change decision method also includes: When it is detected that the total number of available lanes or the total number of lanes on the current road has changed, the foreground lane range determination of step S2 is re-executed, and the lane change decision is adjusted according to the updated parameters.

7. A NOA lane-changing decision device based on a navigation foreground lane, characterized in that: The road lanes are numbered from left to right as 1, 2, ..., n; where n is a natural number not less than 2; NOA lane change decision device includes: An acquisition module is used to acquire in real time the foreground lane information provided by the navigation system, wherein the foreground lane information includes the available starting lane number, the available ending lane number and the total number of available lanes, and simultaneously acquire the total number of lanes of the current road and the lane number of the current vehicle provided by the REM system; A lane change request prohibition triggering module is used to determine that the current vehicle is located in the foreground lane range and prohibit triggering a NOA lane change request if the lane number of the current vehicle is within the range of the available starting lane number to the available ending lane number, and the total number of lanes on the current road is greater than the total number of available lanes; A lane change request triggering module is used to trigger a lane change request to the left if the lane number of the current vehicle is greater than the available end lane number when it is determined that the current vehicle is not within the foreground lane range; and to trigger a lane change request to the right if the lane number of the current vehicle is less than the available start lane number; The verification module is used to perform direction compliance verification on the generated lane change request, and send the verified lane change request to the vehicle actuator.

8. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the NOA lane change decision method based on the navigation foreground lane is implemented as described in any one of claims 1 to 6.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method for making a NOA lane change decision based on a navigation foreground lane as described in any one of claims 1 to 6 is implemented.

10. A computer program product, characterized in that When the computer program product is executed by a processor, it implements a NOA lane change decision method based on a navigation foreground lane as described in any one of claims 1 to 6.

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