Method and device for controlling lane changing of vehicle and vehicle

Abstract

The invention provides a method and device for controlling a vehicle and the vehicle. The method comprises the steps that in response to a lane changing request, environment information around a target vehicle is obtained, under the condition that the environment information does not meet the lane changing condition, the latest lane changing point is determined, and under the condition that the target vehicle runs to the latest lane changing point and the environment information does not meet the lane changing condition, the target vehicle is controlled to stop; and controlling the target vehicle to change from the current lane to the target lane under the condition that the acquired environment information meets the lane changing condition after the target vehicle stops. By means of the method, when the surrounding environment does not meet the lane changing condition continuously, the vehicle can be controlled to be parked at the latest lane changing point and wait for the lane changing time, the vehicle is prevented from walking on a wrong lane, and the intelligence of the vehicle is improved.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving, and in particular to a method, device and vehicle for controlling vehicle lane changes. Background Art

[0002] With the advancement of science and technology, autonomous driving has gradually become the focus of fields such as automobiles and artificial intelligence. From the current development trend, it can be foreseen that autonomous driving technology will make important contributions to improving traffic congestion, improving driving safety and reducing air pollution, and is an inevitable trend of future intelligent transportation.

[0003] During the process of automatic driving, it is inevitable that a lane change will be required. After the lane change request is triggered, the automatic driving vehicle will continue to detect the surrounding environment to determine whether the surrounding environment meets the lane change conditions. When the surrounding environment meets the lane change conditions, the lane change will be carried out.

[0004] However, if the surrounding environment does not always meet the conditions for safe lane change, the vehicle may go into the wrong lane. Summary of the invention

[0005] The present application provides a method, device and vehicle for controlling lane change of a vehicle. The method can control the vehicle to stop when the surrounding environment of the vehicle does not always meet the lane change conditions, thereby preventing the vehicle from driving into the wrong lane.

[0006] In a first aspect, a method for controlling a lane change of a vehicle is provided, the method comprising: in response to a lane change request, obtaining environmental information around a target vehicle, the lane change request being used to request that the target vehicle be changed from a current lane to a target lane; in a case where the environmental information does not meet a lane change condition, determining a latest lane change point, the latest lane change point being a position point corresponding to a latest opportunity for changing from the current lane to the target lane; in a case where the target vehicle travels to the latest lane change point and the environmental information does not meet the lane change condition, controlling the target vehicle to stop; in a case where the environmental information obtained after the target vehicle stops meets the lane change condition, controlling the target vehicle to change from the current lane to the target lane.

[0007] In the above technical solution, when a vehicle needs to change lanes during driving, the present application proposes a method for controlling the vehicle to change lanes. First, in response to a lane change instruction, environmental information around the target vehicle is obtained. When the environmental information does not meet the lane change conditions, the latest lane change point is determined. When the target vehicle travels to the latest lane change point and the environmental information does not meet the lane change conditions, the target vehicle is controlled to stop. When the environmental information obtained after the target vehicle stops meets the lane change conditions, the target vehicle is controlled to change from the current lane to the target lane. The above method can control the target vehicle to stop at the latest lane change point when the environment around the target vehicle does not always meet the lane change conditions, thereby avoiding the vehicle from driving in the wrong lane. After stopping, the surrounding environment continues to determine whether it meets the lane change conditions. When the lane change conditions are met, the vehicle is controlled to change lanes, thereby enabling the vehicle to travel along the original route, improving the intelligence of the vehicle and enhancing the user experience.

[0008] In combination with the first aspect, in certain possible implementations, after obtaining environmental information around the target vehicle in response to a lane change request, the method also includes: controlling the target vehicle to decelerate when the environmental information does not meet the lane change conditions and the target vehicle has not traveled to the latest lane change point.

[0009] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, when the environmental information does not meet the lane change conditions and the target vehicle has not traveled to the latest lane change point, the target vehicle is controlled to slow down. The method also includes: when the environmental information does not meet the lane change conditions and the target vehicle has not traveled to the latest lane change point, determining the distance between the target vehicle and the latest lane change point; when the distance between the target vehicle and the latest lane change point is less than or equal to a distance threshold, controlling the target vehicle to slow down.

[0010] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the target vehicle is controlled to decelerate, and the method includes: determining the deceleration amplitude of the target vehicle according to the speed of the obstacle vehicle in the target lane and the current speed of the target vehicle; and controlling the target vehicle to decelerate according to the deceleration amplitude.

[0011] In the above technical solution, a method for controlling the deceleration of a target vehicle is proposed when the surrounding environment information of the target vehicle does not meet the lane change conditions. First, the distance between the target vehicle and the latest lane change point is determined. When the distance between the target vehicle and the latest lane change point is less than a preset threshold, the degree to which the target vehicle should decelerate is determined based on the speed of the target lane obstacle vehicle and the current speed of the target vehicle, and the target vehicle is controlled to decelerate based on the deceleration degree. The above method for controlling the deceleration of the target vehicle takes into account the speed of the target lane obstacle vehicle and the current speed of the target vehicle, making the deceleration of the target vehicle more accurate and increasing the probability of successful lane change.

[0012] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, when the environmental information does not meet the lane changing conditions and the target vehicle travels to the latest lane changing point, before controlling the target vehicle to stop, the method also includes: determining whether the environmental information meets the lane changing conditions; determining the distance between the target vehicle and the latest lane changing point.

[0013] In combination with the first aspect and the above-mentioned implementations, in some possible implementations, determining the distance between the target vehicle and the latest lane change point includes: setting a virtual obstacle at the location of the latest lane change point; and determining the distance between the target vehicle and the virtual obstacle.

[0014] In combination with the first aspect and the above-mentioned implementation methods, in certain possible implementation methods, determining whether environmental information meets the lane changing conditions includes: when the environmental information indicates that the clarity of the lane lines on both sides of the target lane is greater than or equal to the clarity threshold, the lane line between the target lane and the current lane is a dotted line, and there is no collision risk for the target vehicle when changing lanes, determining that the environmental information meets the lane changing conditions; when any one of the following occurs: the clarity of the lane lines on both sides of the target lane is less than the clarity threshold, the lane line between the target lane and the current lane is a solid line, and there is a collision risk for the target vehicle when changing lanes, determining that the environmental information does not meet the lane changing conditions.

[0015] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the method includes: there is no collision risk when the target vehicle changes lanes, including at least one item: the product of a first relative speed and a first preset time length is less than a first relative distance, the first relative speed is the relative speed between the obstacle vehicle in the target lane and the target vehicle, and the first relative distance is the longitudinal distance between the obstacle vehicle in the target lane and the target vehicle; the product of a second relative speed and a second preset time length is less than a second relative distance, the second relative speed is the relative speed between the obstacle vehicle in the current lane of the target vehicle and the target vehicle, and the second relative distance is the longitudinal distance between the obstacle vehicle in the current lane of the target vehicle and the target vehicle.

[0016] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods of the first aspect, when the environmental information does not meet the lane changing conditions and the target vehicle travels to the latest lane changing point, after controlling the target vehicle to stop, the method also includes: when the environmental information obtained after the target vehicle stops does not meet the lane changing conditions and continues for a third preset time period, requesting to enter the manual driving mode.

[0017] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, when the environmental information obtained after the target vehicle stops does not meet the lane changing conditions and continues for a third preset time period, after requesting to enter the manual driving mode, the method also includes: when the target vehicle does not enter the manual driving mode and continues for a fourth preset time period, controlling the target vehicle to continue driving along the current lane.

[0018] In the above technical solution, a method for handling the failure of automatic lane change is provided, which first requests the user to drive manually to avoid wasting time. When the user does not manually drive the target vehicle, the target vehicle is controlled to continue driving along the current lane to avoid the target vehicle stopping for too long to block traffic or cause danger, thereby improving the safety of the vehicle.

[0019] In summary, when a vehicle needs to change lanes during driving, the present application provides a method for controlling vehicle lane changing, in response to a lane change request, obtaining environmental information around the target vehicle, and determining a latest lane change point when the environmental information around the target vehicle does not meet the lane change conditions. When the distance between the target vehicle and the latest lane change point is less than a preset threshold and the surrounding environmental information does not meet the lane change conditions, the target vehicle is controlled to slow down and wait for a lane change opportunity, thereby increasing the probability of the target vehicle successfully changing lanes. When the target vehicle reaches the latest lane change point and the surrounding environmental information still does not meet the lane change conditions, the target vehicle is controlled to stop and wait for a lane change opportunity to avoid the target vehicle driving in the wrong lane. When the surrounding environmental information still does not meet the lane change conditions after the target vehicle stops, the user is requested to drive manually to avoid wasting time. When the user does not manually drive the target vehicle, the target vehicle is controlled to continue driving along the current lane to avoid the target vehicle stopping for too long to block traffic or cause danger, thereby improving the safety of the vehicle and enhancing the user experience.

[0020] In a second aspect, a device for controlling a vehicle to change lanes is provided, the device comprising:

[0021] an acquisition module, configured to acquire environmental information around a target vehicle in response to a lane change request, wherein the lane change request is used to request that the target vehicle be changed from a current lane to a target lane;

[0022] A determination module, used to determine the latest lane change point when the environmental information does not meet the lane change conditions, the latest lane change point being a position point corresponding to the latest time to change from the current lane to the target lane;

[0023] A control module, used for controlling the target vehicle to stop when the target vehicle reaches the latest lane change point and the environmental information does not meet the lane change conditions;

[0024] The control module is also used to control the target vehicle to change from the current lane to the target lane when the environmental information obtained after the target vehicle stops meets the lane change conditions.

[0025] In combination with the second aspect, in some possible implementations, the control module is also used to control the target vehicle to decelerate when the environmental information does not meet the lane change conditions and the target vehicle has not traveled to the latest lane change point.

[0026] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the control module is also used to determine the distance between the target vehicle and the latest lane change point when the environmental information does not meet the lane change conditions and the target vehicle has not traveled to the latest lane change point; when the distance between the target vehicle and the latest lane change point is less than or equal to the distance threshold, control the target vehicle to decelerate.

[0027] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the control module is also used to determine the deceleration amplitude of the target vehicle based on the speed of the obstacle vehicle in the target lane and the current speed of the target vehicle; and control the deceleration of the target vehicle according to the deceleration amplitude.

[0028] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the determination module is also used to, when the environmental information does not meet the lane changing conditions and the target vehicle travels to the latest lane changing point, determine whether the environmental information meets the lane changing conditions before controlling the target vehicle to stop; and determine the distance between the target vehicle and the latest lane changing point.

[0029] In combination with the second aspect and the above implementations, in some possible implementations, the determination module is further used to set a virtual obstacle at the location of the latest lane change point; and determine the distance between the target vehicle and the virtual obstacle.

[0030] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the determination module is also used to determine that the environmental information meets the lane changing conditions when the environmental information indicates that the clarity of the lane lines on both sides of the target lane is greater than or equal to the clarity threshold, the lane line between the target lane and the current lane is a dotted line, and there is no collision risk for the target vehicle when changing lanes; and determine that the environmental information does not meet the lane changing conditions when any of the following conditions exists: the clarity of the lane lines on both sides of the target lane is less than the clarity threshold, the lane line between the target lane and the current lane is a solid line, and there is a collision risk for the target vehicle when changing lanes.

[0031] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the determination module is also used to determine that there is no collision risk for the target vehicle when changing lanes, including at least one item: the product of the first relative speed and the first preset time length is less than the first relative distance, the first relative speed is the relative speed between the obstacle vehicle in the target lane and the target vehicle, and the first relative distance is the longitudinal distance between the obstacle vehicle in the target lane and the target vehicle; the product of the second relative speed and the second preset time length is less than the second relative distance, the second relative speed is the relative speed between the obstacle vehicle in the current lane of the target vehicle and the target vehicle, and the second relative distance is the longitudinal distance between the obstacle vehicle in the current lane of the target vehicle and the target vehicle.

[0032] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the control module is also used to request to enter the manual driving mode when the environmental information obtained after the target vehicle stops does not meet the lane change conditions and continues for a third preset time period.

[0033] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the control module is also used to, when the environmental information obtained after the target vehicle stops does not meet the lane changing conditions and continues for a third preset time period, after requesting to enter the manual driving mode, and when the target vehicle does not enter the manual driving mode and continues for a fourth preset time period, control the target vehicle to continue driving along the current lane.

[0034] In a third aspect, a vehicle is provided, comprising a memory and a processor. The memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, so that the vehicle executes the method in the first aspect or any possible implementation of the first aspect.

[0035] In a fourth aspect, a computer program product is provided, comprising: a computer program code, which, when executed on a computer, enables the computer to execute the method in the first aspect or any possible implementation of the first aspect.

[0036] In a fifth aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the method in the above-mentioned first aspect or any possible implementation manner of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in describing the embodiments of the present application are briefly introduced below.

[0038] Figure 1 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application.

[0039] Figure 2 A flowchart of a method for controlling vehicle lane changing provided in an embodiment of the present application.

[0040] Figure 3 A flowchart of another method for controlling vehicle lane changing provided in an embodiment of the present application.

[0041] Figure 4-9 A schematic diagram of a scenario for controlling a vehicle to change lanes provided in an embodiment of the present application.

[0042] Fig.10 It is a schematic diagram of the structure of a device for controlling vehicle lane changing in an embodiment of the present application.

[0043] Fig.11 A schematic diagram of the structure of another vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0044] The following will be combined with the accompanying drawings to clearly and thoroughly describe the technical solutions in this application. In the description of the embodiments of this application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of 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. In addition, in the description of the embodiments of this application, "multiple" means two or more than two.

[0045] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0046] An embodiment of the present application provides a method for controlling vehicle lane changes, which is used to solve the problem of an autonomous driving vehicle going into the wrong lane when the surrounding environment continues to fail to meet lane change conditions.

[0047] Among them, in the embodiments of the present application, "autonomous driving vehicle" can be understood as: a motor vehicle that can rely on the collaborative cooperation of artificial intelligence, visual computing, radar, monitoring devices and global positioning systems to achieve vehicle-road collaboration without active human operation, operate automatically and safely, and realize autonomous driving.

[0048] Figure 1 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application.

[0049] See also Figure 1, the target vehicle 100 is equipped with an automatic driving system (or intelligent driving system). Among them, the intelligent driving system includes an information collection device 101 and an information processing device 102, the information collection device 101 is used to collect environmental information around the target vehicle 100, and the information processing device 102 is used to process the collected environmental information. In some embodiments, the information collection device 101 includes various sensors, such as visible light cameras (such as monocular cameras, binocular cameras, surround cameras, etc.), millimeter wave radars, laser radars, infrared night vision devices, high-precision positioning (such as global positioning system (Global Positioning System, GPS) devices, inertial measurement units (Inertial Measurement Unit, IMU) and ultrasonic radars. At least one of the above. The information processing device 102 includes a processor and a memory, the memory is used to store information collected by the information collection device, and the processor is used to process the stored information.

[0050] After introducing the implementation environment of the embodiments of the present application, the application scenarios of the embodiments of the present application are introduced below. The technical solutions provided by the embodiments of the present application can be applied to any vehicle with an automatic driving system.

[0051] When a vehicle with an automatic driving system is driving, the automatic driving system will control the vehicle. The user only needs to input the driving destination, and the automatic driving system can complete the route planning from the current position to the destination, and control the vehicle to drive according to the planned route. During the driving process of the vehicle, there is often a need to change lanes, and the automatic driving system can control the vehicle to change lanes according to the actual situation of the road. After adopting the technical solution provided by the embodiment of the present application, when it is necessary to change lanes, the automatic driving system determines whether the current road environment allows lane change. When the current road environment allows lane change, the automatic driving system directly controls the vehicle to change from the current lane to the target lane. When the current road environment does not allow lane change, the automatic driving system determines the latest lane change point in front of the lane and continues to detect whether the current road environment allows lane change. When the vehicle drives to the latest lane change point, the surrounding road environment still does not allow lane change, and the automatic driving system controls the vehicle to stop at the latest lane change point and wait for the opportunity to change lanes. When the surrounding environment allows lane change, the automatic driving system controls the vehicle to change lanes.

[0052] After introducing the structure and application scenario of a vehicle in an embodiment of the present application, the technical solution provided in the embodiment of the present application is introduced below.

[0053] Figure 2 A flow chart of a method for controlling a vehicle lane change provided by an embodiment of the present application is shown. Taking the execution subject as a vehicle-mounted terminal as an example, the method may mainly include the following steps:

[0054] Step 201: In response to a lane change request, the vehicle-mounted terminal obtains environmental information around the target vehicle.

[0055] The lane change request is used to request that the target vehicle be changed from the current lane to the target lane. The target vehicle is the vehicle that needs to change lanes, and may be a hybrid vehicle, an electric vehicle, or a fuel vehicle, which is not limited in the embodiments of the present application. The target lane is the lane that the lane change request indicates the target vehicle needs to enter, which may be the left lane of the current lane where the target vehicle is located, or the right lane of the current lane where the target vehicle is located, which is not limited in the embodiments of the present application.

[0056] In some embodiments, the lane change request may be sent by a navigation system in the target vehicle, and the navigation system in the target vehicle is used to plan the driving path of the target vehicle so that the target vehicle can reach the destination safely and reliably from the starting point. For example, the lane change request is sent by the navigation system when the current lane type of the target vehicle does not conform to the lane type indicated by the driving path. The environmental information around the target vehicle refers to environmental factors that affect the driving of the target vehicle. In some embodiments, the environmental information includes lane line information around the target vehicle and vehicle information of obstacle vehicles around the target vehicle. For example, the vehicle information includes the position and speed of the vehicle. Among them, the obstacle vehicle refers to a vehicle around the target vehicle that affects the driving of the target vehicle. The vehicle can be either a stationary vehicle or a moving vehicle, and the embodiments of the present application do not limit this.

[0057] Step 202: When the environmental information does not meet the lane change conditions, the vehicle-mounted terminal determines the latest lane change point.

[0058] Among them, if the environmental information does not meet the lane change conditions, it means that there is a risk for the target vehicle to change from the current lane to the target lane. The latest lane change point is the position point corresponding to the latest time for the target vehicle to change from the current lane to the target lane. For example, the latest lane change point is the position point corresponding to the shortest distance before the solid line starting point of the target lane that allows the target vehicle to change lanes. When the distance between the target vehicle and the solid line starting point of the target lane is the shortest distance allowed for the target vehicle to change lanes, the current position is the position point corresponding to the latest time for changing from the current lane to the target lane.

[0059] Step 203: When the target vehicle reaches the latest lane change point and the environmental information does not meet the lane change conditions, the vehicle-mounted terminal controls the target vehicle to stop.

[0060] Among them, controlling the target vehicle to stop means controlling the target vehicle to stop at the latest lane change point or controlling the target vehicle to stop at a position before the latest lane change point.

[0061] Step 204: When the environmental information acquired after the target vehicle stops meets the lane change condition, the vehicle-mounted terminal controls the target vehicle to change from the current lane to the target lane.

[0062] Among them, environmental information meeting the lane change condition means that there is no risk for the target vehicle to change from the current lane to the target lane.

[0063] Through the embodiments of the present application, when the environmental information around the target lane does not meet the lane changing conditions, the target vehicle can be controlled to stop at the latest lane changing point and wait for the lane changing opportunity. After the environmental information around the target vehicle meets the lane changing conditions, the target vehicle is controlled to change lanes, which solves the problem of the target vehicle going into the wrong lane when the surrounding environmental information does not meet the lane changing conditions, and improves the user experience while ensuring safe lane changing.

[0064] The above steps 201-204 are a brief introduction to the technical solution provided in the embodiment of the present application. The technical solution provided in the embodiment of the present application will be more clearly explained below with reference to some examples. Figure 3 Taking the execution subject as a vehicle-mounted terminal as an example, the method includes the following steps.

[0065] Step 301: In response to a lane change request, the vehicle-mounted terminal obtains environmental information around the target vehicle.

[0066] Wherein, the lane change request is used to request that the target vehicle be changed from the current lane to the target lane. The target vehicle is a vehicle that needs to change lanes, which may be a hybrid vehicle or an electric vehicle, or a fuel vehicle, and the embodiment of the present application does not limit this. The target lane is the lane that the lane change request indicates that the target vehicle needs to enter, which may be the left lane of the current lane where the target vehicle is located, or the right lane of the current lane where the target vehicle is located, and the embodiment of the present application does not limit this. In some embodiments, the lane change request may be sent by a navigation system in the target vehicle, and the navigation system in the target vehicle is used to plan the driving path of the target vehicle so that the target vehicle can reach the destination safely and reliably from the starting point. For example, the lane change request is sent by the navigation system when the current lane type of the target vehicle does not conform to the lane type indicated by the driving path. The environmental information around the target vehicle refers to the environmental factors that affect the driving of the target vehicle. In some embodiments, the environmental information includes the lane line information around the target vehicle and the vehicle information of the obstacle vehicle around the target vehicle, for example, the vehicle information includes the position and speed of the vehicle. Wherein, the obstacle vehicle refers to the vehicle around the target vehicle that affects the driving of the target vehicle, and the vehicle may be a stationary vehicle or a driving vehicle, and the embodiment of the present application does not limit this.

[0067] In a possible implementation, the vehicle-mounted terminal obtains a lane change request from a navigation system, and in response to the lane change request, the vehicle-mounted terminal obtains environmental information around the target vehicle through an information collection device.

[0068] Among them, the information collection device includes various sensors, such as visible light cameras (such as monocular cameras, binocular cameras, surround-view cameras, etc.), millimeter-wave radars, lidars, infrared night vision devices, which are configured on the target vehicle. For example, the visible light camera can be installed on the top of the vehicle windshield or the top of the vehicle, and the millimeter-wave radar can be installed on the doors or windows around the vehicle.

[0069] In this implementation, the vehicle-mounted terminal can obtain environmental information around the target vehicle through the information collection device, providing a reliable basis for vehicle driving.

[0070] For example, the vehicle terminal obtains a lane change request from the navigation system. In response to the lane change request, the vehicle terminal sends an information acquisition request to the information collection device, and the information acquisition request is used to request to obtain environmental information. In response to the information acquisition request, the information collection device sends the environmental information around the target vehicle to the vehicle terminal. The vehicle terminal obtains the environmental information.

[0071] For example, in the case where the information collection device includes a visible light camera, the environmental information includes an image around the target vehicle, wherein the content of the image is related to the position of the visible light camera on the target vehicle. In the case where the visible light camera is installed in front of the target vehicle, the content of the image captured by the visible light camera is the image in front of the target vehicle. In the case where the visible light camera is installed on both sides of the target vehicle, the content of the image captured by the visible light camera is the image on both sides of the target vehicle. In the case where the visible light camera is installed behind the target vehicle, the content of the image captured by the visible light camera is the image behind the target vehicle. After acquiring the image, the on-board terminal can obtain more fine-grained information by recognizing the image, such as lane line information of the lanes around the target vehicle.

[0072] In the case where the information collection device includes a radar, the environmental information includes radar data, such as point cloud data. The content of the radar data is related to the position where the radar is installed on the vehicle. In the case where the radar is installed on the left side of the vehicle, the content obtained by the radar is the radar data on the left side of the vehicle. After obtaining the radar data, the vehicle-mounted terminal analyzes the radar data to obtain more fine-grained information, such as vehicle information of obstacle vehicles around the target vehicle.

[0073] It should be noted that the above is explained using the example of the vehicle-mounted terminal obtaining environmental information through the information collection device after responding to the lane change request. In other possible implementations, the information collection device can also send environmental information to the vehicle-mounted terminal in real time, and the embodiments of the present application are not limited to this.

[0074] In a possible implementation, the vehicle terminal obtains a lane change request from the navigation system, and in response to the navigation request, the vehicle terminal determines the current position of the target vehicle. The vehicle terminal queries the high-precision map based on the current position of the target vehicle to obtain the static environment information around the target vehicle. The static environment information is used to represent the static and unchanging environment information around the vehicle, such as at least one of the lane line type and continuous straight line length around the vehicle. The vehicle terminal obtains the dynamic environment information around the target vehicle through the information collection device. The dynamic environment information is used to represent the obstacle vehicle information around the vehicle, such as the location and speed information of the obstacle vehicle.

[0075] In this implementation mode, the vehicle-mounted terminal combines the high-precision map and the information collection device to determine the environmental information around the target vehicle, providing a reliable basis for the target vehicle to travel.

[0076] The method for the navigation system to generate the lane change request is described below.

[0077] In a possible implementation, when the target vehicle travels according to the target path planned by the navigation system, the navigation system determines the position of the target vehicle in real time. The navigation system determines the type of lane the target vehicle is currently in based on the position of the target vehicle. When the type of lane the target vehicle is currently in is different from the type of the target lane, the navigation system generates a lane change request, requesting the target vehicle to enter the target lane, the target lane type being the lane type indicated by the target path planned by the navigation system.

[0078] For example, when the target vehicle is traveling according to the target path planned by the navigation system, the navigation system determines the lane where the target vehicle is located in real time through the positioning unit of the target vehicle. The navigation system performs a query based on the lane where the target vehicle is located to obtain the lane type of the lane where the target vehicle is located. The navigation system compares the lane type of the lane where the target vehicle is located with the target lane type. When the lane type of the lane where the target vehicle is located is different from the target lane type, the navigation system generates a lane change request. Correspondingly, when the lane type of the lane where the target vehicle is located is the same as the target lane type, it means that the target vehicle does not need to change lanes, and the navigation system will not generate a lane change request.

[0079] For example, when the target vehicle is traveling along the target path, if the target path planned by the navigation system instructs the target vehicle to turn right or go straight, and the target vehicle is currently in a left turn lane, the navigation system generates a lane change request, requesting the target vehicle to enter the right turn or straight go lane.

[0080] Step 302: The vehicle-mounted terminal determines whether the environmental information around the target vehicle meets the lane change conditions.

[0081] Among them, lane change conditions refer to the environmental conditions under which the vehicle can change lanes safely.

[0082] Environmental information that meets the lane change condition means that there is no risk for the target vehicle to change from the current lane to the target lane. Environmental information that does not meet the lane change condition means that there is a risk for the target vehicle to change from the current lane to the target lane. Lane change conditions are set by technicians based on actual conditions, and of course can also be updated or adjusted by technicians based on actual conditions after setting, and this embodiment of the application does not limit this.

[0083] Exemplarily, the lane changing conditions include: the clarity of the lane lines on both sides of the target lane is greater than or equal to a clarity threshold (the clarity can be calculated by a preset clarity function), the lane line between the target lane and the current lane is a dotted line, and there is no collision risk for the target vehicle when changing lanes.

[0084] In a possible implementation, the vehicle terminal determines a lane change parameter based on the environmental information, and the lane change parameter is used to represent the environmental state of the surrounding environment when the target vehicle changes lanes. The vehicle terminal compares the lane change parameter with the lane change condition to determine whether the environmental information around the target vehicle meets the lane change condition.

[0085] In order to explain the above implementation more clearly, the above implementation will be introduced in two parts below.

[0086] Part 1: The vehicle-mounted terminal determines lane change parameters based on the environmental information.

[0087] In a possible implementation, when the environmental information includes an image, the vehicle-mounted terminal performs image recognition on the image to obtain lane line information of lane lines around the target vehicle, and the lane line information belongs to the lane change parameter. In some embodiments, the lane line information of lane lines around the target vehicle includes at least one of the clarity of lane lines on both sides of the target lane and the length of a continuous straight line.

[0088] Through the above implementation method, the vehicle-mounted terminal can obtain the lane line information around the target vehicle, providing a reliable basis for the target vehicle to change lanes.

[0089] In a possible implementation, when the environmental information includes radar data, the vehicle terminal processes the radar data to obtain vehicle information of the obstacle vehicles around the target vehicle, and the vehicle information belongs to the lane change parameter. For example, the vehicle terminal determines the vehicle information of the surrounding obstacle vehicles by the time when the radar transmits the signal and the time when the radar receives the signal. For example, the position and speed information of the obstacle vehicles around the target vehicle. In some embodiments, the position and speed information of the obstacle vehicles around the target vehicle are lane change parameters.

[0090] Through the above implementation method, the vehicle-mounted terminal can obtain information about obstacle vehicles around the target vehicle, thereby ensuring the safety of the target vehicle during driving.

[0091] In the second part, the on-board terminal compares the lane change parameters with the lane change conditions to determine whether the environmental information around the target vehicle meets the lane change conditions.

[0092] In a possible implementation, when the lane change parameter includes the clarity of lane lines on both sides of the target lane, the vehicle terminal compares the clarity of lane lines on both sides of the target lane with a preset clarity threshold to determine whether the clarity of lane lines on both sides of the target lane is greater than or equal to the clarity threshold. When the clarity of lane lines on both sides is greater than or equal to the clarity threshold, the vehicle terminal determines that the environmental information around the target vehicle meets the lane change conditions; when the clarity of lane lines on both sides is less than the clarity threshold, the vehicle terminal determines that the environmental information around the target vehicle does not meet the lane change conditions.

[0093] Through the above implementation method, the vehicle-mounted terminal can determine whether the lane lines on both sides of the target lane are clear, providing a reliable basis for the target vehicle to change lanes.

[0094] In a possible implementation, when the lane change parameter includes the continuous straight length of the lane lines on both sides of the target lane, the vehicle terminal compares the values ​​of the continuous straight length of the lane lines on both sides of the target lane. When the value of the continuous straight length of the lane line is larger, the lane line is determined to be a solid line, and when the value of the continuous straight length of the lane line is smaller, the lane line is determined to be a dotted line. When the lane line between the target lane and the current lane is a dotted line, the vehicle terminal determines that the environmental information around the target vehicle meets the lane change conditions; when the lane line between the target lane and the current lane is a solid line, the vehicle terminal determines that the environmental information around the target vehicle does not meet the lane change conditions.

[0095] Through the above implementation, the vehicle-mounted terminal can determine the lane line type between the target lane and the current lane, providing a reliable basis for the vehicle to change lanes and improving the accuracy of the target vehicle's lane change.

[0096] In one possible implementation, when the lane change parameters include vehicle information of obstacle vehicles around the target vehicle, the relative speed and relative distance between the obstacle vehicle and the target vehicle are determined based on the vehicle information, and it is determined whether there is a collision risk between the obstacle vehicles around the target vehicle and the target vehicle. When there is no collision risk between the obstacle vehicles around the target vehicle and the target vehicle, the vehicle-mounted terminal determines that the environmental information around the target vehicle meets the lane change conditions; when there is a collision risk between the obstacle vehicles around the target vehicle and the target vehicle, the vehicle-mounted terminal determines that the environmental information around the target vehicle does not meet the lane change conditions.

[0097] The above is based on the clarity of the lane lines on both sides of the target lane, the type of lane lines between the target lane and the current lane, and whether there is a risk when the target vehicle changes lanes to determine whether the target vehicle's surrounding environment information meets the lane change conditions. In some embodiments, the clarity of the lane lines on both sides of the target lane, the type of lane lines between the target lane and the current lane, and whether there is a risk when the target vehicle changes lanes can also be combined to determine whether the target vehicle's surrounding environment information meets the lane change conditions. For example, when the clarity of the lane lines on both sides of the target lane is greater than or equal to the clarity threshold, the lane lines between the target lane and the current lane are dotted lines, and the target vehicle does not have a collision risk when changing lanes, it is determined that the environmental information meets the lane change conditions; when there is any one of the following conditions: the clarity of the lane lines on both sides of the target lane is less than the clarity threshold, the lane lines between the target lane and the current lane are solid lines, and the target vehicle has a collision risk when changing lanes, it is determined that the environmental information does not meet the lane change conditions.

[0098] Through the above implementation, the vehicle-mounted terminal can determine whether the environmental information around the target vehicle meets the lane changing conditions, thereby improving the safety and reliability of the target vehicle's lane changing.

[0099] The following describes how to determine whether there is a collision risk between an obstacle vehicle around a target vehicle and the target vehicle.

[0100] In a possible implementation, when the obstacle vehicle is located in the target lane, the vehicle terminal determines whether the product of the first relative speed and the first preset time length is less than the first relative distance. When the product of the first relative speed and the first preset time length is less than the first relative distance, the vehicle terminal determines that there is no collision risk between the obstacle vehicle in the target lane and the target vehicle; when the product of the first relative speed and the first preset time length is greater than or equal to the first relative distance, the vehicle terminal determines that there is a collision risk between the obstacle vehicle in the target lane and the target vehicle.

[0101] The first relative speed is the relative speed between the obstacle vehicle in the target lane and the target vehicle, and the first relative distance is the longitudinal distance between the obstacle vehicle in the target lane and the target vehicle. The first preset time length may be the time length required for the target vehicle to enter the target lane, and may be set according to the performance of different types of vehicles, which is not limited in the embodiments of the present application.

[0102] In a possible implementation, when the obstacle vehicle is located in the current lane, the vehicle terminal determines whether the product of the second relative speed and the second preset time length is less than the second relative distance. When the product of the second relative speed and the second preset time length is less than the second relative distance, the vehicle terminal determines that there is no collision risk between the obstacle vehicle in the target lane and the target vehicle; when the product of the second relative speed and the second preset time length is greater than or equal to the second relative distance, the vehicle terminal determines that there is a collision risk between the obstacle vehicle in the target lane and the target vehicle.

[0103] Among them, the second relative speed is the relative speed between the obstacle vehicle in the current lane of the target vehicle and the target vehicle, and the second relative distance is the longitudinal distance between the obstacle vehicle in the current lane of the target vehicle and the target vehicle. The second preset duration can be the time required for the target vehicle to leave the current lane, and can be set according to the performance of different types of vehicles, which is not limited in the embodiments of the present application. Optionally, the first preset duration can be the same as or different from the second preset duration, which is not limited in the embodiments of the present application.

[0104] In a possible implementation, when there are obstacle vehicles in both the target lane and the current lane, the vehicle terminal determines whether the product of the first relative speed and the first preset time length is less than the first relative distance, and whether the product of the second relative speed and the second preset time length is less than the second relative distance. When the product of the first relative speed and the first preset time length is less than the first relative distance and the product of the second relative speed and the second preset time length is less than the second relative distance, the vehicle terminal determines that there is no collision risk when the target vehicle changes lanes; when at least one of the product of the first relative speed and the first preset time length is greater than or equal to the first relative distance and the product of the second relative speed and the second preset time length is greater than or equal to the second relative distance, the vehicle terminal determines that there is a collision risk when the target vehicle changes lanes.

[0105] Through the above implementation method, the vehicle-mounted terminal can determine whether there is a collision risk when the target vehicle changes lanes, thereby improving the safety of the target vehicle changing lanes.

[0106] Optionally, after step 302, either the following step 303 or the following step 304 may be performed, which is not limited in the embodiment of the present application.

[0107] Step 303: When the environmental information around the target vehicle meets the lane change conditions, the vehicle-mounted terminal controls the target vehicle to change lanes.

[0108] In a possible implementation, when determining that the environmental information around the target vehicle meets the lane change condition, the vehicle-mounted terminal determines the steering angle of the target vehicle to enter the target vehicle according to the environmental information around the target vehicle. The vehicle-mounted terminal controls the target vehicle to turn according to the steering angle and enter the target lane. After the target vehicle completely enters the target lane, the vehicle-mounted terminal controls the target vehicle to resume the driving direction.

[0109] For example, when the vehicle terminal determines that the environmental information around the target vehicle meets the lane change conditions, it controls the target vehicle to turn on the turn signal on the same side as the target lane. The vehicle terminal determines the turning angle of the target vehicle to enter the target lane based on the position of the target lane, the current position of the target vehicle, and the speed information. After the turn signal of the target vehicle is turned on for a preset time, the vehicle terminal controls the target vehicle to enter the target lane at the steering angle.

[0110] Through the above implementation method, the vehicle-mounted terminal can control the target vehicle to change lanes when the surrounding environment information of the target vehicle meets the lane changing conditions, thereby improving the safety of the target vehicle's lane changing and enhancing the user experience.

[0111] Exemplary, reference Figure 4 When the target vehicle 100 travels to position A, the on-board terminal receives a lane change request instructing the target vehicle 100 to change lanes to the left lane. The on-board terminal determines through the environmental information obtained by the on-board camera and radar sensor that the lane lines on both sides of the left lane are clear, the lane line between the left lane and the current lane is a dotted line, and there is no obstacle vehicle around the target vehicle 100, which meets the lane change conditions. Then, the target vehicle 100 is controlled to turn on the left turn signal, and the steering angle required for the target vehicle 100 to enter the target lane (left lane) is calculated. After the turn signal flashes for 3 seconds, the target vehicle is controlled to enter the left lane at the steering angle.

[0112] Step 304: When the environmental information around the target vehicle does not meet the lane change conditions, the vehicle-mounted terminal determines the latest lane change point.

[0113] In a possible implementation, when the vehicle terminal determines that the environment information around the target vehicle does not meet the lane change condition, the vehicle terminal determines a reference point on the lane line between the current lane and the target lane based on the environment information, and the reference point is the separation point between the solid line and the dotted line on the lane line. The vehicle terminal determines the latest lane change point based on the reference point.

[0114] For example, the vehicle terminal determines the type of lane line between the current lane and the target lane based on the acquired lane line information. It further determines the intersection point of the dotted line and the solid line between the current lane and the target lane, that is, the separation point of the dotted line and the solid line between the target lanes. Based on the separation point, the latest lane change point is determined. The latest lane change point is the position point where the dotted line is N meters away from the separation point, where N is a natural number greater than 0.

[0115] In the embodiment of the present application, N may be the distance required for the target vehicle to change lanes, and may be set according to the lane changing capability of the target vehicle. For example, if the lane changing capability of the target vehicle is relatively strong and the lane changing action can be completed within 5 meters, the value of N may be set to 5, that is, the latest lane changing point is 5 meters before the starting point of the solid line in front of the target lane.

[0116] Exemplary, reference Figure 5 When the target vehicle 100 travels to position B, the on-board terminal responds to the lane change request instructing the target vehicle 100 to change lanes to the left lane, and determines through the environmental information obtained by the on-board camera and radar sensor that the lane line between the left lane and the current lane is a solid line, which does not meet the lane change conditions. Then, the latest lane change point is set 5 meters before the starting point of the solid line in front of the target lane based on the information of the lane line of the target lane collected by the on-board camera and radar sensor.

[0117] Step 305: When the environmental information around the target vehicle does not meet the lane change conditions and the target vehicle has not traveled to the latest lane change point, the vehicle-mounted terminal controls the target vehicle to decelerate.

[0118] In a possible implementation, the vehicle-mounted terminal determines the distance between the target vehicle and the latest lane-changing point when the environmental information around the target vehicle does not meet the lane-changing condition and the target vehicle has not traveled to the latest lane-changing point. When the distance between the target vehicle and the latest lane-changing point is less than or equal to the distance threshold, the target vehicle is controlled to decelerate.

[0119] Through the above implementation, the vehicle-mounted terminal controls the target vehicle to decelerate when the distance between the target vehicle and the latest lane-changing point is less than or equal to the distance threshold and the surrounding environment information does not meet the lane-changing conditions. By slowing down and waiting for the lane-changing opportunity, the probability of successful lane-changing is increased.

[0120] In order to explain the above implementation more clearly, the above implementation will be explained in two parts below.

[0121] Part 1: When the environmental information around the target vehicle does not meet the lane change conditions and the target vehicle has not traveled to the latest lane change point, the vehicle-mounted terminal determines the distance between the target vehicle and the latest lane change point.

[0122] In a possible implementation, the vehicle-mounted terminal sets a virtual obstacle at the latest lane change point, determines the distance between the target vehicle and the virtual obstacle, and thus obtains the distance between the target vehicle and the latest lane change point.

[0123] The virtual obstacle is a stationary obstacle that can prevent the target vehicle from traveling, and its information can be set according to environmental information or information of the target vehicle. For example, the height and width of the virtual obstacle are determined according to the height and width of the target vehicle, which is not limited in the present embodiment.

[0124] In a possible implementation, the vehicle-mounted terminal directly determines the distance between the target vehicle and the latest lane-changing point according to the position of the latest lane-changing point.

[0125] Part 2: When the distance between the target vehicle and the latest lane change point is less than or equal to a distance threshold, the target vehicle is controlled to decelerate.

[0126] In a possible implementation, when the distance between the target vehicle and the latest lane change point is less than or equal to the distance threshold, the target vehicle should be decelerated according to the speed of the target lane obstacle vehicle and the current speed of the target vehicle, and the target vehicle deceleration is controlled according to the deceleration. The greater the relative speed between the target vehicle and the target lane obstacle vehicle, the greater the deceleration.

[0127] Through the above implementation, the vehicle terminal can determine the degree to which the target vehicle should decelerate according to the speed of the obstacle vehicle and the speed of the target vehicle. The target vehicle can be controlled to decelerate more accurately according to the deceleration degree, so that the relative speed and relative distance between the target vehicle and the obstacle vehicle can meet the lane change conditions more quickly, reducing the time the target vehicle waits for lane change.

[0128] For example, the distance threshold is set to 80 meters. Figure 6When the target vehicle 100 travels to position B, the vehicle-mounted terminal responds to the lane change request instructing the target vehicle 100 to change lanes to the left lane. The vehicle-mounted terminal determines that the lane line between the left lane and the current lane is a solid line through the environmental information obtained by the vehicle-mounted camera and the radar sensor, which does not meet the lane change conditions. The starting point of the solid line in front of the left lane is determined to be 5 meters as the latest lane change point, and a virtual obstacle is set at the latest lane change point. The information obtained by the radar sensor determines that the distance between the current position of the target vehicle 100 and the latest lane change point is 100 meters. If it is greater than the distance threshold, the vehicle continues to travel at the current speed. When When the target vehicle 100 arrives at position C, it detects that there is an obstacle vehicle 10 in the left lane, and the relative speed between the obstacle vehicle 10 and the target vehicle 100 is 5m / s, and the relative distance is 25m. The product of the relative speed and the first preset time (6s) is 30m, which is greater than the relative distance and does not meet the lane change condition. The distance between the current position of the target vehicle 100 and the latest lane change point is 80 meters, which is equal to the distance threshold. Then, according to the speed of the obstacle vehicle 10 and the current speed of the target vehicle 100, the deceleration amplitude is calculated, and the target vehicle 100 is controlled to decelerate according to the deceleration amplitude.

[0129] Through the above embodiments, when the environmental information does not meet the lane changing conditions, the degree to which the target vehicle should be decelerated can be calculated based on the speeds of the target lane obstacle vehicle and the target vehicle, and the target vehicle can be controlled to decelerate based on the deceleration degree to wait for the lane changing opportunity, thereby increasing the probability of successful lane changing.

[0130] Step 306: When the target vehicle reaches the latest lane change point and the environmental information does not meet the lane change conditions, the vehicle-mounted terminal controls the target vehicle to stop.

[0131] In one possible implementation, when the on-board terminal obtains the information of the virtual obstacle at the latest lane change point, if the environmental information around the target vehicle still does not meet the lane change conditions, the target vehicle is controlled to brake to the target lane, so that the target vehicle stops at the latest lane change point, close to the target lane.

[0132] In order to explain the above implementation more clearly, the above implementation will be explained in two parts below.

[0133] In the first part, the target vehicle is controlled to move closer to the target lane when stopped.

[0134] In one possible implementation, when the on-board terminal obtains the information of the virtual obstacle at the latest lane change point, the environmental information around the target vehicle still does not meet the lane change conditions. The steering angle of the target vehicle to deviate to the target lane is determined based on the environmental information around the target vehicle. The target vehicle is controlled to deviate to the target lane based on the steering angle, so that when the target vehicle stops at the latest lane change point, the distance from the dotted line side of the target lane is less than the distance between the target vehicle and the center line of the current lane, that is, the target vehicle is close to the target lane when it stops.

[0135] For example, the target vehicle determines the distance between the target vehicle and the dotted line side of the target lane and the distance between the target vehicle and the center line of the current lane based on the information of the lane lines on both sides of the target lane, determines the target distance that the target vehicle needs to offset, determines the steering angle for the target vehicle to offset to the target lane based on the current speed of the target vehicle and the target distance, and controls the target vehicle to offset to the target lane based on the steering angle.

[0136] Through the above implementation method, the vehicle-mounted terminal can control the target vehicle to stop on the side close to the target lane when the environmental information around the target vehicle always does not meet the lane changing conditions, so that the target vehicle can change lanes more conveniently and quickly when the surrounding environment meets the lane changing conditions.

[0137] The second part is to control the target vehicle to stop at the latest lane change point.

[0138] In one possible implementation, when the on-board terminal obtains the information of the virtual obstacle at the latest lane change point, the environmental information around the target vehicle still does not meet the lane change conditions, and the current speed of the target vehicle and the distance from the virtual obstacle are determined, and the deceleration required for the target vehicle to stop at the latest lane change point is determined. The target vehicle is controlled to travel according to the deceleration so that the target vehicle can stop smoothly in front of the virtual obstacle (before the latest lane change point).

[0139] Through the above implementation, the vehicle-mounted terminal can control the target vehicle to stop before the latest lane change point when the surrounding environment of the target vehicle does not meet the lane change conditions, thereby preventing the target vehicle from continuing to drive along the current lane and going into the wrong lane.

[0140] Exemplary, reference Figure 7, the vehicle terminal detects the information of the virtual stationary obstacle when the target vehicle 100 travels to position D, and there are obstacle vehicles 1, 2, and 3 on the target lane (left lane), and the relative speed and relative distance between the three obstacle vehicles and the target vehicle do not meet the lane change conditions, then the vehicle terminal controls the target vehicle 100 to deviate to the target lane (left lane), so that the target vehicle 100 stops on the side close to the dotted line side of the target lane (left lane), that is, when the target vehicle 100 stops at the latest lane change point, the distance between the dotted line side of the target lane is less than the distance to the center line of the current lane, for example, when the target vehicle 100 stops at position E, it is 20 cm away from the dotted line side of the target lane (left lane) and 50 cm away from the center line of the current lane. Optionally, after step 306, either the following step 307 or the following step 308 can be performed, and this embodiment of the present application does not limit this.

[0141] Step 307: When the environmental information acquired after the target vehicle stops meets the lane change condition, the vehicle-mounted terminal controls the target vehicle to change from the current lane to the target lane.

[0142] In a possible implementation, when the vehicle terminal determines that the environmental information around the target vehicle meets the lane change conditions, it clears the information of the virtual obstacle and determines the turning angle of the target vehicle into the target vehicle according to the environmental information around the target vehicle. The vehicle terminal controls the target vehicle to turn according to the turning angle and enter the target lane. After the target vehicle completely enters the target lane, the vehicle terminal controls the target vehicle to resume the driving direction.

[0143] For example, when the on-board terminal determines that the environmental information around the target vehicle meets the lane change conditions, it clears the information of the virtual obstacle, controls the target vehicle to turn on the turn signal on the same side of the target lane, and determines the turning angle of the target vehicle when entering the target lane based on the position of the target lane, the current position of the target vehicle and the speed information through a preset algorithm. After the turn signal of the target vehicle is turned on for a preset time, the target vehicle is controlled to enter the target lane at the steering angle.

[0144] Through the above implementation method, the vehicle-mounted terminal can continue to determine whether the surrounding environment meets the lane changing conditions after the target vehicle stops, and control the target vehicle to change lanes after the lane changing conditions are met, thereby improving the safety of the target vehicle's lane changing and preventing the target vehicle from deviating from the path.

[0145] Exemplary, reference Figure 8, 5 seconds after the target vehicle 100 stops at the latest lane-changing point (position E), there is no obstacle vehicle in the target lane (left lane). The on-board terminal determines that the current environmental information meets the lane-changing conditions, then clears the information of the virtual obstacle, controls the target vehicle to turn on the left turn signal, and calculates the steering angle that the target vehicle 100 needs to deviate to enter the target lane (left lane). After the turn signal flashes for 3 seconds, the target vehicle 100 is controlled to enter the target lane (left lane) at the steering angle.

[0146] Step 308: When the environmental information acquired after the target vehicle stops does not meet the lane change condition and continues for a third preset time period, the vehicle-mounted terminal requests to enter the manual driving mode.

[0147] Among them, the manual driving mode is a mode in which the vehicle is manually controlled by the user.

[0148] In one possible implementation, the third preset time length may be a safe time length for waiting for lane change when the target vehicle stops. After the target vehicle stops, the on-board terminal continues to determine whether the environmental information around the target vehicle meets the lane change conditions, and determines the stop time length of the target vehicle. When the target vehicle stop time length is greater than or equal to the third preset time length and the environmental information around the target vehicle does not meet the lane change conditions, a request to enter the manual driving mode is made.

[0149] Through the above implementation, the vehicle-mounted terminal can request the user to manually drive the target vehicle when the target vehicle cannot change lanes automatically, so as to avoid the target vehicle waiting for too long and wasting time.

[0150] Exemplarily, the safety waiting time is set to 5 seconds. After the target vehicle stops for 5 seconds, the on-board terminal collects environmental information through the on-board camera, laser rangefinder and radar sensor and determines that the environmental information around the target vehicle still does not meet the lane change conditions. In this case, it requests to enter the manual driving mode, that is, the user manually controls the vehicle.

[0151] In a possible implementation, when the environmental information acquired after the target vehicle stops does not meet the lane change condition and continues for a third preset time period, the vehicle-mounted terminal issues a reminder to the user.

[0152] Through the above implementation method, the vehicle-mounted terminal can remind the user when the target vehicle cannot change lanes automatically, thereby improving human-computer interactivity.

[0153] For example, the user can be reminded by voice that the automatic lane change failed and request manual driving, or the user can be reminded by the smart screen in the car. Fig. 9, the smart screen displays "Automatic lane change failed, do you want to enter manual driving mode?", and displays "Yes" and "No" frames on the screen for the user to choose. In actual applications, it can be set according to actual conditions, and this embodiment does not limit this.

[0154] Step 309: When the target vehicle does not enter the manual driving mode and the manual driving mode lasts for a fourth preset time period, the vehicle-mounted terminal controls the target vehicle to continue driving along the current lane.

[0155] Among them, the fourth preset time length may be the time length for waiting for the target vehicle to enter manual driving, which may be set independently by the user.

[0156] In one possible implementation, after the vehicle-mounted terminal initiates a request for manual driving, the waiting time is recorded. When the waiting time is greater than or equal to a fourth preset time and the target vehicle has not entered the manual driving mode, the target vehicle is controlled to continue driving along the current lane, and the navigation system re-plans the global path.

[0157] Through the above implementation method, the vehicle-mounted terminal can control the target vehicle to continue driving along the current lane without the user manually driving the target vehicle, avoiding dangerous situations caused by stopping for too long. In addition, it can re-plan the global path so that the target vehicle can reach the destination.

[0158] Exemplarily, the fourth preset time length is set to 5 seconds. After the vehicle terminal initiates a request for manual driving, if the target vehicle has not entered the manual driving mode within 5 seconds after the request is initiated, the vehicle terminal controls the target vehicle to continue driving along the current lane and re-plans the global path through the high-precision map.

[0159] Through the above embodiments, the target vehicle can be controlled to continue driving along the current lane without the user manually driving the target vehicle, thereby avoiding danger caused by stopping for too long. In addition, the global path can be replanned so that the target vehicle can reach the destination.

[0160] The embodiment of the present application provides a method for controlling a vehicle to change lanes. In response to a lane change request, environmental information around a target vehicle is obtained. When the environmental information around the target vehicle does not meet the lane change conditions, the latest lane change point is determined. When the distance between the target vehicle and the latest lane change point is less than a preset threshold and the surrounding environmental information does not meet the lane change conditions, the target vehicle is controlled to slow down and wait for the lane change opportunity, thereby increasing the probability of the target vehicle successfully changing lanes. When the target vehicle drives to the latest lane change point and the surrounding environmental information still does not meet the lane change conditions, the target vehicle is controlled to stop and wait for the lane change opportunity to avoid the target vehicle driving in the wrong lane. When the environmental information meets the lane change conditions, the vehicle is controlled to change lanes, thereby increasing the safety of the vehicle. When the surrounding environmental information still does not meet the lane change conditions after the target vehicle stops, the user is requested to drive manually to avoid wasting time. When the user does not manually drive the target vehicle, the target vehicle is controlled to continue driving along the current lane to avoid the target vehicle stopping for too long to block traffic or cause danger, thereby increasing the safety of the vehicle and enhancing the user's experience.

[0161] Fig.10 It is a structural schematic diagram of a device for controlling vehicle lane changing provided in an embodiment of the present application.

[0162] For example, Fig.10 As shown, the device 400 includes:

[0163] An acquisition module 401 is used to acquire environmental information around a target vehicle in response to a lane change request, where the lane change request is used to request that the target vehicle be changed from a current lane to a target lane;

[0164] A determination module 402, for determining a latest lane change point when the environmental information does not meet the lane change condition, the latest lane change point being a position point corresponding to the latest time to change from the current lane to the target lane;

[0165] The control module 403 is used to control the target vehicle to stop when the target vehicle reaches the latest lane change point and the environmental information does not meet the lane change conditions;

[0166] The control module 403 is further configured to control the target vehicle to change from the current lane to the target lane when the environmental information acquired after the target vehicle stops meets the lane change condition.

[0167] In a possible implementation, the control module 403 is further configured to control the target vehicle to decelerate when the environmental information does not meet the lane change condition and the target vehicle has not traveled to the latest lane change point.

[0168] In one possible implementation, the control module 403 is also used to determine the distance between the target vehicle and the latest lane change point when the environmental information does not meet the lane change conditions and the target vehicle has not traveled to the latest lane change point; and control the target vehicle to decelerate when the distance between the target vehicle and the latest lane change point is less than or equal to a distance threshold.

[0169] In a possible implementation, the control module 403 is further configured to determine a deceleration amplitude of the target vehicle according to the speed of the obstacle vehicle in the target lane and the current speed of the target vehicle; and control the deceleration of the target vehicle according to the deceleration amplitude.

[0170] In a possible implementation, the determination module 402 is further configured to, when the environmental information does not meet the lane change condition and the target vehicle travels to the latest lane change point, determine whether the environmental information meets the lane change condition before controlling the target vehicle to stop;

[0171] Determine the distance between the target vehicle and the latest lane change point.

[0172] In a possible implementation, the determination module 402 is further configured to set a virtual obstacle at the location of the latest lane change point; and determine the distance between the target vehicle and the virtual obstacle.

[0173] In a possible implementation, the determination module 402 is further used to determine that the environmental information meets the lane changing condition when the environmental information indicates that the clarity of the lane lines on both sides of the target lane is greater than or equal to the clarity threshold, the lane line between the target lane and the current lane is a dotted line, and there is no collision risk for the target vehicle when changing lanes; and determine that the environmental information does not meet the lane changing condition when any of the following conditions exists: the clarity of the lane lines on both sides of the target lane is less than the clarity threshold, the lane line between the target lane and the current lane is a solid line, and there is a collision risk for the target vehicle when changing lanes.

[0174] In a possible implementation, the determination module 402 is further used to determine that there is no collision risk for the target vehicle when changing lanes, including at least one item: the product of the first relative speed and the first preset time length is less than the first relative distance, the first relative speed is the relative speed between the obstacle vehicle in the target lane and the target vehicle, and the first relative distance is the longitudinal distance between the obstacle vehicle in the target lane and the target vehicle; the product of the second relative speed and the second preset time length is less than the second relative distance, the second relative speed is the relative speed between the obstacle vehicle in the current lane of the target vehicle and the target vehicle, and the second relative distance is the longitudinal distance between the obstacle vehicle in the current lane of the target vehicle and the target vehicle.

[0175] In a possible implementation, the control module 403 is further configured to request to enter the manual driving mode when the environmental information acquired after the target vehicle stops does not meet the lane change condition and continues for a third preset time period.

[0176] In one possible implementation, the control module 403 is also used to, when the environmental information acquired after the target vehicle stops does not meet the lane changing conditions and continues for a third preset time period, after requesting to enter the manual driving mode, and when the target vehicle does not enter the manual driving mode and continues for a fourth preset time period, control the target vehicle to continue driving along the current lane.

[0177] It should be noted that: the device for controlling vehicle lane change provided in the above embodiment only uses the division of the above functional modules as an example when controlling vehicle lane change. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the computer device is divided into different functional modules to complete all or part of the functions described above. In addition, the device for controlling vehicle lane change provided in the above embodiment and the method embodiment for controlling vehicle lane change belong to the same concept. The specific implementation process is detailed in the method embodiment and will not be repeated here.

[0178] Fig.11 A schematic diagram of the structure of another vehicle provided in an embodiment of the present application.

[0179] Exemplarily, the vehicle 500 includes: a processor 501 and a memory 502, wherein an executable program code 504 is stored in a storage space 503 for storing program codes, and the processor 501 is used to call and execute the executable program code 504 to perform the above-mentioned method of controlling vehicle lane change.

[0180] In this embodiment, the functional modules of the vehicle can be divided according to the above method example. For example, each functional module can be corresponded, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0181] In the case of dividing each functional module according to each function, the vehicle may include: an acquisition module, a determination module, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, which will not be repeated here.

[0182] The vehicle provided in this embodiment is used to execute the above-mentioned method of controlling vehicle lane change, and thus can achieve the same effect as the above-mentioned implementation method, which will not be repeated here.

[0183] In the case of an integrated unit, the vehicle may include a processing module and a storage module. The processing module may be used to control and manage the actions of the vehicle. The storage module may be used to support the vehicle in executing program codes and data.

[0184] The processing module may be a processor or a controller, which may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of this application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module may be a memory.

[0185] The present application also provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by the electronic control unit, the steps of the method of any of the above embodiments are implemented. The computer-readable storage medium may include, but is not limited to, any type of disk, including a floppy disk, an optical disk, a DVD, a CD-ROM, a micro drive, and a magneto-optical disk, a ROM, a RAM, an EPROM, an EEPROM, a DRAM, a VRAM, a flash memory device, a magnetic card or an optical card, a nanosystem (including a molecular memory IC), or any type of medium or device suitable for storing instructions and / or data.

[0186] It should be understood that, although the steps in the flowchart of the accompanying drawings are displayed in sequence as indicated by the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least a part of the steps in the flowchart of the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a part of the sub-steps or stages of other steps.

[0187] The above are only some embodiments of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for controlling a vehicle to change lanes, characterized in that: The method comprises: In response to a lane change request, acquiring environmental information around a target vehicle, wherein the lane change request is used to request that the target vehicle be changed from a current lane to a target lane; When the environmental information does not meet the lane change condition, determining a latest lane change point, where the latest lane change point is a position point corresponding to the latest timing for changing from the current lane to the target lane; When the target vehicle travels to the latest lane-changing point and the environmental information does not meet the lane-changing condition, controlling the target vehicle to stop; When the environmental information acquired after the target vehicle stops meets the lane change condition, the target vehicle is controlled to change from the current lane to the target lane.

2. The method for controlling a vehicle to change lanes according to claim 1, characterized in that: After obtaining the environment information around the target vehicle in response to the lane change request, the method further includes: When the environmental information does not meet the lane change condition and the target vehicle has not traveled to the latest lane change point, the target vehicle is controlled to decelerate.

3. The method for controlling a vehicle to change lanes according to claim 2, characterized in that: When the environmental information does not meet the lane change condition and the target vehicle has not traveled to the latest lane change point, controlling the target vehicle to decelerate includes: When the environmental information does not meet the lane change condition and the target vehicle has not traveled to the latest lane change point, determining a distance between the target vehicle and the latest lane change point; When the distance between the target vehicle and the latest lane-changing point is less than or equal to a distance threshold, the target vehicle is controlled to decelerate.

4. The method for controlling a vehicle to change lanes according to claim 2, characterized in that: The controlling the target vehicle to decelerate comprises: Determining a deceleration amplitude of the target vehicle according to the speed of the obstacle vehicle in the target lane and the current speed of the target vehicle; The target vehicle is controlled to decelerate according to the deceleration amplitude.

5. The method for controlling vehicle lane change according to claim 1, characterized in that: In the case where the environmental information does not meet the lane change condition and the target vehicle travels to the latest lane change point, before controlling the target vehicle to stop, the method further includes: determining whether the environmental information meets the lane change condition; A distance between the target vehicle and the latest lane change point is determined.

6. The method for controlling a vehicle to change lanes according to claim 5, characterized in that: The determining whether the environmental information meets the lane change condition includes: When the environmental information indicates that the clarity of lane lines on both sides of the target lane is greater than or equal to a clarity threshold, the lane line between the target lane and the current lane is a dotted line, and there is no collision risk when the target vehicle changes lanes, it is determined that the environmental information meets the lane change condition; In the event that any one of the following conditions exists: the clarity of the lane lines on both sides of the target lane is less than the clarity threshold, the lane line between the target lane and the current lane is a solid line, or there is a collision risk when the target vehicle changes lanes, it is determined that the environmental information does not meet the lane changing condition.

7. The method for controlling vehicle lane change according to claim 6, characterized in that: The target vehicle does not have a collision risk when changing lanes, including at least one of the following: The product of a first relative speed and a first preset time length is less than a first relative distance, the first relative speed being the relative speed between the obstacle vehicle in the target lane and the target vehicle, and the first relative distance being the longitudinal distance between the obstacle vehicle in the target lane and the target vehicle; The product of the second relative speed and the second preset time length is less than the second relative distance, the second relative speed is the relative speed between the obstacle vehicle in the current lane of the target vehicle and the target vehicle, and the second relative distance is the longitudinal distance between the obstacle vehicle in the current lane of the target vehicle and the target vehicle.

8. A device for controlling a vehicle to change lanes, characterized in that: The device comprises: an acquisition module, configured to acquire environmental information around a target vehicle in response to a lane change request, wherein the lane change request is used to request that the target vehicle be changed from a current lane to a target lane; A determination module, configured to determine a latest lane change point when the environmental information does not meet the lane change condition, wherein the latest lane change point is a position point corresponding to the latest opportunity for changing from the current lane to the target lane; A control module, configured to control the target vehicle to stop when the target vehicle travels to the latest lane-changing point and the environmental information does not meet the lane-changing condition; The control module is further used to control the target vehicle to change from the current lane to the target lane when the environmental information acquired after the target vehicle stops meets the lane change condition.

9. A vehicle, characterized in that: include: A memory for storing executable program codes; A processor, configured to call and run the executable program code from the memory so that the vehicle executes the method as claimed in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed, the method according to any one of claims 1 to 7 is implemented.

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