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

Abstract

This invention discloses a NOA lane-changing decision method and related equipment based on the navigation foreground lane. It acquires foreground lane information provided by the navigation system in real time, including the available starting lane number, available ending lane number, and the total number of available lanes. Simultaneously, it acquires the total number of lanes on the current road and the lane number of the current vehicle provided by the REM system. 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, then the current vehicle is determined to be within the foreground lane range, and a NOA lane-changing request is prohibited. When the current vehicle is determined not to be within the foreground lane range, if the lane number of the current vehicle is greater than the available ending lane number, a left-side lane-changing request is triggered; if the lane number of the current vehicle is less than the available starting lane number, a right-side lane-changing request is triggered. The purpose of this invention is to solve the problem that NOA lane-changing decisions can easily lead to vehicles mistakenly driving off the original main road.

Description

Technical Field

[0001] This invention belongs to the field of driver assistance technology, specifically relating to a NOA lane-changing decision method and related equipment based on the navigation prospect lane. Background Technology

[0002] NOA (Navigate on Autopilot) is an important component of modern intelligent driving systems, with lane changing decision-making being a crucial element. Currently, NOA lane changing primarily relies on navigation maps for triggering. However, in practical applications, the NOA lane changing decision-making process exhibits some significant problems, particularly when dealing with highways or elevated roads.

[0003] Specifically, highways or elevated roads often have exit lanes that require exiting from the right. While these lanes are part of the original main road, they are not considered additional lanes. Because the NOA (Navigation Assignment) system primarily relies on navigation maps for route planning and lane-changing decisions, vehicles often mistakenly exit from these types of lanes when faced with such complex road structures. This mis-exit not only affects the user's driving experience but may also pose potential safety hazards. Summary of the Invention

[0004] To address the problems existing in the prior art, this invention provides a NOA lane-changing decision method and related equipment based on the navigation prospect lane, aiming to solve the problem that NOA lane-changing decisions can easily lead to vehicles mistakenly driving off the original main road.

[0005] To solve the above-mentioned technical problems, the present invention is achieved through the following technical solution:

[0006] According to a first aspect of the present invention, a NOA lane-changing decision method based on navigation prospect lanes is provided, wherein road lanes are numbered sequentially from left to right as 1, 2, ..., n; where n is a natural number not less than 2;

[0007] NOA lane-changing decision-making methods include:

[0008] S1. Real-time acquisition of foreground lane information provided by the navigation system, the foreground lane information including available start lane number, available end lane number and total number of available lanes, and simultaneously acquisition of the total number of current road lanes and the lane number where the current vehicle is located provided by the REM system;

[0009] S2. If the lane number where the current vehicle is located is within the range of available starting lane number to available ending lane number, and the total number of lanes on the current road is greater than the total number of available lanes, then it is determined that the current vehicle is in the foreground lane range, and NOA lane change request is prohibited.

[0010] S3. When it is determined that the current vehicle is not within the range of the foreground lane, 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.

[0011] S4. Perform directional compliance verification on the generated lane change request, and send the lane change request that passes the verification to the vehicle actuator.

[0012] In one possible implementation of the first aspect, a validity verification process is included before executing step S2, specifically as follows:

[0013] The lane-changing decision method terminates when any of the following parameters is invalid or NOA is not activated: available starting lane number, available ending lane number, total number of available lanes, total number of lanes on the current road, or the lane number of the current vehicle.

[0014] In one possible implementation of the first aspect, step S4, which involves verifying the direction compliance of the generated lane change request, includes:

[0015] When a request to change lanes to the left is triggered, it is determined whether the target lane number is greater than or equal to the available starting lane number.

[0016] If the target lane number is less than the available starting lane number, changing lanes to the left is prohibited. When a request to change lanes to the right is triggered, it is determined 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, changing lanes to the right is prohibited.

[0017] In one possible implementation of the first aspect, step S2, prohibiting the triggering of NOA lane change requests, includes:

[0018] When the current vehicle is within the range of the foreground lane, the direction of the lane change request is monitored in real time, and any lane change operation that would cause the current vehicle's lane number to exceed the range of available starting lane number to available ending lane number is prohibited.

[0019] In one possible implementation of the first aspect, step S3, when determining that the current vehicle is not located within the foreground lane range, further includes:

[0020] A lane-change direction constraint strategy is executed synchronously, prohibiting the generation of lane-change requests that are opposite to the direction of the foreground lane. The criterion for determining the opposite direction is:

[0021] If the lane number of the current vehicle is greater than the available end lane number, the request to change lanes to the right is prohibited;

[0022] If the lane number of the current vehicle is less than the available starting lane number, a request to change lanes to the left is prohibited.

[0023] In one possible implementation of the first aspect, the lane-changing decision method also includes:

[0024] When a change is detected in the total number of available lanes or the total number of lanes on the current road, the foreground lane range determination in step S2 is re-executed, and the lane-changing decision is adjusted according to the updated parameters.

[0025] According to a second aspect of the present invention, a NOA lane-changing decision device based on navigation prospect lanes is provided, wherein road lanes are numbered sequentially from left to right as 1, 2, ..., n; where n is a natural number not less than 2;

[0026] The NOA lane-changing decision-making device includes:

[0027] The acquisition module is used to acquire foreground lane information provided by the navigation system in real time. The foreground lane information includes available starting lane number, available ending lane number and total number of available lanes. At the same time, it acquires the total number of lanes on the current road and the lane number where the current vehicle is located provided by the REM system.

[0028] The lane change request prohibition module is used to determine that the current vehicle is in the foreground lane range and prohibit the triggering of the NOA lane change request if the lane number of the current vehicle is within the range of the available start lane number to the available end lane number, and the total number of lanes on the current road is greater than the total number of available lanes.

[0029] The 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, and a lane change request to the right if the lane number of the current vehicle is less than the available start lane number.

[0030] The verification module is used to verify the directional compliance of the generated lane change requests. Lane change requests that pass the verification are sent to the vehicle actuator.

[0031] According to a third aspect of the present invention, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the aforementioned NOA lane-changing decision method based on a navigation prospect lane.

[0032] According to a fourth aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing a computer program that, when executed by a processor, implements the aforementioned NOA lane-changing decision method based on a navigation foreground lane.

[0033] According to a fifth aspect of the present invention, a computer program product is provided that, when executed by a processor, implements the aforementioned NOA lane-changing decision method based on a navigation prospect lane.

[0034] Compared with the prior art, the present invention has at least the following beneficial effects:

[0035] This invention provides a NOA lane-changing decision-making method based on the navigation foreground lane. By acquiring foreground lane information provided by the navigation system in real time and combining it with the current total number of lanes and the vehicle's lane number provided by the REM system, it can accurately determine whether the vehicle is within the navigation-planned foreground lane range. This effectively avoids the problem of vehicles mistakenly leaving the original main road due to lane misjudgment, especially in complex road conditions such as highways or elevated roads, improving the accuracy of lane-changing decisions. Specifically, the lane-changing decision-making method of this invention fully considers the complexity of the road structure and the actual driving situation of the vehicle. When the vehicle is not within the foreground lane range, based on the comparison result between the vehicle's lane and the available lane number, a lane-changing request to the left or right is intelligently triggered. At the same time, compliance verification is carried out to prevent the vehicle from changing lanes outside the navigation-planned range. This not only ensures that the vehicle can safely and efficiently perform lane-changing operations according to the navigation plan, but also avoids unnecessary lane-changing actions, thereby enhancing driving safety.

[0036] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the specific embodiments of the present invention, the drawings used in the description of the specific embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0038] Figure 1 This is a flowchart of a NOA lane-changing decision method based on the navigation foreground lane, according to an embodiment of the present invention.

[0039] Figure 2 This is a block diagram of a NOA lane-changing decision device based on the navigation prospect lane according to an embodiment of the present invention. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0041] Combination Figure 1 As shown, this invention provides a NOA lane-changing decision method based on navigation foreground lanes, primarily to optimize vehicle lane-changing behavior in complex road conditions such as highways or elevated roads, and to prevent vehicles from accidentally leaving the original main road. In this embodiment, road lanes are numbered sequentially from left to right as 1, 2, ..., n; where n is a natural number not less than 2. For example, if it is a one-way four-lane road, the road lanes are numbered sequentially from left to right as 1, 2, 3, and 4. The NOA lane-changing decision method based on navigation foreground lanes specifically includes the following steps:

[0042] S1. Obtain foreground lane information provided by the navigation system in real time. The foreground lane information includes the available starting lane number L. s Available termination lane number L e And the total number of available lanes N nav Simultaneously, obtain the total number N of current road lanes provided by the REM system. rem and the lane number L where the vehicle is currently located cur .

[0043] Specifically, the foreground lane information is provided by a high-precision navigation map to ensure it matches the current road conditions. For example, on a three-lane highway, if the navigation instructs a vehicle to 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 termination lane number L e =2, Total number of available lanes N nav =2.

[0044] It should be noted that the REM (Road Environment Mapping) system uses sensors such as cameras and radar to perceive the surrounding environment in real time, and can accurately identify the number of lanes and the current vehicle position.

[0045] S2. Determine whether the current vehicle is within the foreground lane. If the current vehicle's lane number L is satisfied... cur It belongs to the available starting lane number L s To the available termination lane number L e The range, and the current total number of road lanes N remGreater than the total number of available lanes N nav When the current vehicle is determined to be within the foreground lane, a NOA lane change request is prohibited.

[0046] Specifically, first check the lane number L where the current vehicle is located. cur Is it in the available starting lane number L? s To the available termination lane number L e Within the specified range. Simultaneously, confirm the total number of lanes N on the current road. rem Is it greater than the total number of available lanes N provided by the navigation? nav This is to eliminate misjudgments 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 planned by the navigation system. At this time, NOA lane change requests should be prohibited to avoid unnecessary lane change operations interfering with the normal driving path.

[0047] S3. If the current vehicle is not located in the foreground lane, then the lane number L of the current vehicle is used. cur With available starting lane number L s and available termination lane number L e The size relationship generates lane-changing decisions:

[0048] If the current vehicle is in lane number L cur Greater than the available termination lane number L e This triggers a request to change lanes to the left.

[0049] If the current vehicle is in lane number L cur Less than the available starting lane number L s This triggers a request to change lanes to the right.

[0050] Specifically, when a vehicle is not located within the foreground lane, the lane number L of the current vehicle is used as the reference. cur With available starting lane number L s and available termination lane number L e Based on the comparison results, intelligent lane-changing decisions are generated: if L cur >L e This indicates that the vehicle is outside the right side of the navigation-planned lane and should trigger a request to change lanes to the left to move closer to the navigation-indicated lane. If L cur <L s This indicates that the vehicle is outside the left side of the navigation lane and should trigger a request to change lanes to the right.

[0051] S4. Perform directional compliance verification on the generated lane change request, and send the lane change request that passes the verification to the vehicle actuator.

[0052] The NOA lane-changing decision method based on the navigation foreground lane in this embodiment accurately matches navigation information with real-time road environment data to intelligently determine the vehicle's position and lane-changing needs. This effectively avoids the problem of accidentally driving off the original main road due to complex road structures and improves the safety of the intelligent driving system.

[0053] In one possible implementation, a validity verification process is included before executing step S2, specifically: when the available starting lane number L... s Available termination lane number L e Total number of available lanes N nav The current total number of road lanes N rem and the lane number L where the vehicle is currently located cur If any parameter is invalid or NOA is not activated, the lane-changing decision method is terminated.

[0054] In other words, first check the available starting lane number L s Available termination lane number L e Total number of available lanes N nav The current total number of road lanes N rem and the lane number L where the vehicle is currently located cur The validity of these five parameters. Specifically, the validity criteria include, but are not limited to: whether the parameter value is within a reasonable range (e.g., the lane number should be a positive integer and not greater than the total number of lanes on the road), and whether the parameter is missing or abnormal (e.g., avoid empty values, negative values, or values ​​that are significantly beyond the actual road conditions).

[0055] Simultaneously, it is necessary to verify whether the NOA function has been activated by the user. If the NOA is not activated, the lane-changing decision-making method should be terminated immediately regardless of other parameters to avoid any unauthorized autonomous driving operations.

[0056] This implementation method further improves the reliability of the NOA lane-changing decision method based on the navigation prospect lane by adding a validity verification process. It ensures 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 the function not being enabled.

[0057] In one possible implementation, step S4, which involves verifying the direction compliance of the generated lane-change request, specifically includes:

[0058] When a request to change lanes 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 ;

[0059] If the target lane number is L tar Less than the available starting lane number Ls Changing lanes to the left is prohibited.

[0060] Specifically, when a request to change lanes to the left is triggered, the target lane number L is first calculated. tar Target lane number L tar It is usually determined based on the lane number Lcur of the current vehicle and the direction of lane changing, for example, L tar =L cur- 1 indicates a leftward shift 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? s This judgment is to ensure that lane-changing operations do not cause the vehicle to enter a lane outside the navigation plan, especially to prevent the vehicle from leaving the navigation plan from the left. If the target lane number is L tar Less than the available starting lane number L s If the signal is given, changing lanes to the left is prohibited. Ideally, a warning should be issued to the user or other safety measures should be taken.

[0061] When a right lane change request is triggered, the target lane number L is determined. tar Is it less than or equal to the available termination lane number L? e If the target lane number is L tar Greater than the available termination lane number L e Changing lanes to the right is prohibited if the lane is already in use.

[0062] Specifically, when a right lane change request is triggered, the target lane number L is also calculated. tar For example, L tar = L cur +1 indicates a right turn to the adjacent lane. Then, determine the target lane number, L. ta Is it less than or equal to the available termination lane number L? e This judgment is to ensure that lane-changing operations do not cause the vehicle to exceed the navigation-planned lane range, especially to prevent the vehicle from exiting the navigation-planned road from the right. If the target lane number is L... ta Greater than the available termination lane number L e If the system fails to allow the user to change lanes to the right, it will issue a warning or take other safety measures.

[0063] This implementation method can effectively avoid potential safety hazards caused by improper lane changing.

[0064] In one possible implementation, step S2, prohibiting the triggering of a NOA lane change request, includes: if the current vehicle is within the range of the foreground lane, monitoring the direction of the lane change request in real time, and prohibiting any actions that would cause the current vehicle to be in lane number L... cur Exceeding available starting lane number Ls and available termination lane number L e Lane changing operation within a range.

[0065] In other words, after confirming that the vehicle is within the foreground lane, the system monitors in real time the direction of any lane-changing requests, including left or right lane-changing requests, as well as possible consecutive lane-changing requests, such as changing lanes consecutively from the current lane to a further lane. Any lane change that would cause the vehicle to be in lane number L to be blocked is prohibited. cur Exceeding available starting lane number L s and available termination lane number L e The system allows for lane-changing maneuvers within a specified range, ensuring that the vehicle always stays within the lane planned by the navigation system and avoids accidentally deviating from the original route.

[0066] In detail, if a lane change request is detected, it will cause L cur Less than L s If the system detects a lane change request to move left into a lane outside the navigation plan, the lane change request will be prohibited. cur Greater than L e If a lane change is attempted to the right into a lane outside the navigation plan, the lane change request will also be prohibited.

[0067] In one possible implementation, step S3, if the current vehicle is not located within the foreground lane range, further includes:

[0068] A lane-change direction constraint strategy is implemented synchronously to prohibit the generation of lane-change requests that are opposite to the direction of the foreground lane, thus preventing vehicles from further deviating from their original route due to incorrect lane-change direction. The criterion for determining the opposite direction is:

[0069] If the current vehicle is in lane number L cur Greater than the available termination lane number L e When this occurs, it indicates that the vehicle is already at or outside the right edge of the planned navigation lane. At this time, it is prohibited to request a right lane change to avoid the vehicle deviating further to the right.

[0070] If the current vehicle is in lane number L cur Less than the available starting lane number L s When this occurs, it indicates that the vehicle is already at or outside the left edge of the planned navigation lane. At this point, it is prohibited to request a left lane change to avoid further deviation of the vehicle to the left.

[0071] This implementation method ensures that the vehicle will not deviate further from the original route under any circumstances due to incorrect lane changing direction, effectively avoiding potential safety hazards.

[0072] In one feasible implementation, the lane-changing decision method further includes: when the total number of available lanes N is detected... nav Or the current total number of road lanes Nrem When a change occurs, the foreground lane range determination in step S2 is re-executed, and the lane-changing decision is adjusted according to the updated parameters.

[0073] In other words, the latest navigation foreground lane information and road lane information are retrieved again, and the foreground lane range determination in step S2 is performed again to ensure that the vehicle can accurately determine the degree of matching between its own position and the navigation-planned lane when faced with changes in the number of lanes.

[0074] In another embodiment of the present invention, a NOA lane-changing decision device based on navigation foreground lanes is provided, wherein the road lanes are numbered sequentially from left to right as 1, 2, ..., n; where n is a natural number not less than 2.

[0075] The NOA lane change decision device is used to implement a NOA lane change decision method based on the navigation foreground lane in the above embodiments. Specifically, it includes an acquisition module, a lane change request prohibition triggering module, a lane change request triggering module, and a verification module. Each module is configured as follows:

[0076] The acquisition module is used to acquire foreground lane information provided by the navigation system in real time. The foreground lane information includes the available starting lane number L. s Available termination lane number L e And the total number of available lanes N nav Simultaneously, obtain the total number N of current road lanes provided by the REM system. rem and the lane number L where the vehicle is currently located cur .

[0077] The lane change request prohibition module is used to prevent the current vehicle from being triggered in lane number L. cur It belongs to the available starting lane number L s To the available termination lane number L e The range, and the current total number of road lanes N rem Greater than the total number of available lanes N nav When the current vehicle is determined to be within the foreground lane, a NOA lane change request is prohibited.

[0078] The lane change request triggering module is used to, when it is determined that the current vehicle is not within the range of the foreground lane, if the lane number of the current vehicle is L... cur Greater than the available termination lane number L e This triggers a request to change lanes to the left; if the current vehicle is in lane number L... cur Less than the available starting lane number L s This triggers a request to change lanes to the right.

[0079] The verification module is used to verify the directional compliance of the generated lane change requests. Lane change requests that pass the verification are sent to the vehicle actuator. Specifically, when a left-hand lane change request 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 If the specified lane number is not met, then changing lanes to the left is prohibited. When a request to change lanes to the right is triggered, the target lane number L is determined. tar Is it less than or equal to the available termination lane number L? e If the target lane number is L tar Greater than the available termination lane number L e Changing lanes to the right is prohibited if the lane is already in use.

[0080] All relevant content regarding the steps involved in the aforementioned embodiment of the NOA lane-changing decision method based on navigation foreseeable lanes can be referenced from the functional description of the corresponding functional module of the NOA lane-changing decision device based on navigation foreseeable lanes in this embodiment of the invention, and will not be repeated here. The module division in the embodiments of the invention is illustrative and only represents a logical functional division. In actual implementation, there may be other division methods. Furthermore, the functional modules in the various embodiments of the invention can be integrated into a processor, exist as separate physical entities, or two or more modules can be integrated into one module. The integrated modules described above can be implemented in hardware or as software functional modules.

[0081] In another embodiment of the present invention, a computer device is provided, comprising a processor and a memory. The memory stores a computer program, which includes program instructions. The processor executes 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 (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. It is the computing and control core of the terminal, suitable for implementing one or more instructions, specifically suitable for loading and executing one or more instructions in the computer storage medium to achieve a corresponding method flow or corresponding function. The processor described in this embodiment of the present invention can be used in the operation of a NOA lane-changing decision method based on the navigation foreground lane.

[0082] In another embodiment of the present invention, a storage medium is provided, specifically a computer-readable storage medium (Memory), which is a memory device in a computer device used to store programs and data. It is understood that the computer-readable storage medium here can include both the built-in storage medium in the computer device and extended storage media supported by the computer device. The computer-readable storage medium provides storage space that stores the operating system of the terminal. Furthermore, the storage space also stores one or more instructions suitable for loading and execution by a processor. These instructions can be one or more computer programs (including program code). It should be noted that the computer-readable storage medium here can be high-speed RAM or non-volatile memory, such as at least one disk storage device. The processor can load and execute one or more instructions stored in the computer-readable storage medium to implement the corresponding steps of the NOA lane-changing decision method based on the navigation foreground lane in the above embodiments.

[0083] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied 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.

[0084] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0085] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0086] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0087] This invention also provides a computer program product for executing any of the above-described NOA lane-changing decision methods based on navigation foreground lanes. Since the computer program product provided by this invention belongs to the same inventive concept as the above-described NOA lane-changing decision method based on navigation foreground lanes, it possesses all the advantages of the above-described NOA lane-changing decision method based on navigation foreground lanes. Therefore, the beneficial effects of the computer program product provided by this invention will not be elaborated upon here.

[0088] In this invention, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0089] Finally, it should be noted that the above-described embodiments are merely specific implementations of the present invention, used to illustrate the technical solutions of the present invention, and not to limit it. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments within the technical scope disclosed in the present invention, or make equivalent substitutions for some of the technical features; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A NOA lane-changing decision-making method based on the navigation prospect lane, characterized in that, The road lanes are numbered sequentially from left to right as 1, 2, ..., n; where n is a natural number not less than 2. NOA lane-changing decision-making methods include: S1. Real-time acquisition of foreground lane information provided by the navigation system, the foreground lane information including available start lane number, available end lane number and total number of available lanes, and simultaneously acquisition of the total number of current road lanes and the lane number where the current vehicle is located provided by the REM system; S2. If the lane number where the current vehicle is located is within the range of available starting lane number to available ending lane number, and the total number of lanes on the current road is greater than the total number of available lanes, then it is determined that the current vehicle is in the foreground lane range, and NOA lane change request is prohibited. S3. When it is determined that the current vehicle is not within the range of the foreground lane, 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 directional compliance verification on the generated lane change request, and send the lane change request that passes the verification to the vehicle actuator.

2. The NOA lane-changing decision method based on the navigation prospect lane according to claim 1, characterized in that, Before performing step S2, a validity verification process is also included, specifically: The lane-changing decision method terminates when any of the following parameters is invalid or NOA is not activated: available starting lane number, available ending lane number, total number of available lanes, total number of lanes on the current road, or the lane number of the current vehicle.

3. The NOA lane-changing decision method based on the navigation prospect lane according to claim 1, characterized in that, In step S4, the directional compliance verification of the generated lane change request includes: When a request to change lanes 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, changing lanes to the left is prohibited. When a request to change lanes to the right is triggered, it is determined 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, changing lanes to the right is prohibited.

4. The NOA lane-changing decision method based on the navigation prospect lane according to claim 1, characterized in that, In step S2, preventing the triggering of NOA lane change requests includes: When the current vehicle is within the range of the foreground lane, the direction of the lane change request is monitored in real time, and any lane change operation that would cause the current vehicle's lane number to exceed the range of available starting lane number to available ending lane number is prohibited.

5. The NOA lane-changing decision method based on the navigation prospect lane according to claim 1, characterized in that, In step S3, when it is determined that the current vehicle is not located within the foreground lane, the following steps are also included: A lane-change direction constraint strategy is executed synchronously, prohibiting the generation of lane-change requests that are opposite to the direction of the foreground lane. The criterion for determining the opposite direction is: If the lane number of the current vehicle is greater than the available end lane number, the request to change lanes to the right is prohibited; If the lane number of the current vehicle is less than the available starting lane number, a request to change lanes to the left is prohibited.

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

7. A NOA lane-changing decision-making device based on the navigation prospect lane, characterized in that, The road lanes are numbered sequentially from left to right as 1, 2, ..., n; where n is a natural number not less than 2. The NOA lane-changing decision-making device includes: The acquisition module is used to acquire foreground lane information provided by the navigation system in real time. The foreground lane information includes available starting lane number, available ending lane number and total number of available lanes. At the same time, it acquires the total number of lanes on the current road and the lane number where the current vehicle is located provided by the REM system. The lane change request prohibition module is used to determine that the current vehicle is in the foreground lane range and prohibit the triggering of the NOA lane change request if the lane number of the current vehicle is within the range of the available start lane number to the available end lane number, and the total number of lanes on the current road is greater than the total number of available lanes. The 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, and 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 verify the directional compliance of the generated lane change requests. Lane change requests that pass the verification are sent 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, it implements a NOA lane-changing decision method based on the navigation foreground lane 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 the processor, it implements a NOA lane-changing decision method based on the navigation prospect lane as described in any one of claims 1 to 6.

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

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