Control method and device of autonomous vehicle, electronic equipment and storage medium

Abstract

The invention provides a control method and device of an automatic driving vehicle, electronic equipment and a storage medium, and relates to the technical field of computers, in particular to the technical field of intelligent traffic. According to the specific implementation scheme, in response to a detected lane changing instruction, under the condition that it is determined that the distance between the vehicle and an obstacle at the current moment meets a first distance condition, the vehicle is controlled to enter a lane changing driving mode, and the first distance condition is determined according to the speed of the vehicle and the speed of the obstacle at the current moment; the lane changing driving mode represents a mode in which the vehicle executes lane changing operation; and in response to the detection that the vehicle is passing the lane line, controlling the vehicle to enter a target lane confluence mode under the condition of determining that the distance between the vehicle and the obstacle meets a second distance condition when the vehicle passes the lane line, the second distance condition being determined according to the speed of the vehicle and the speed of the obstacle when the vehicle passes the lane line, the target lane confluence mode represents a mode of confluence of the vehicle into the target lane.

Description

[0001] This disclosure is a divisional application of the Chinese invention patent with application number 202210517271.9, whose application date is May 11, 2022. Its invention name is control method, device, electronic device and storage medium for autonomous driving vehicles. Technical Field

[0002] The present disclosure relates to the field of artificial intelligence technology, in particular to the fields of autonomous driving, intelligent transportation, high-precision maps, autonomous parking, cloud services, vehicle networking and intelligent cockpit technology. Specifically, it relates to a control method, device, electronic device and storage medium for an autonomous driving vehicle. Background Art

[0003] With the development of artificial intelligence technology, autonomous driving technology has also developed. Autonomous driving technology refers to the technology that relies on computers and artificial intelligence technology to assist or replace the driver in steering and staying on the road without human control, and to achieve a series of operations such as following the car, braking and changing lanes based on decision-making planning. Summary of the invention

[0004] The present invention provides a control method, device, electronic device and storage medium for an autonomous driving vehicle.

[0005] According to one aspect of the present disclosure, a control method for an autonomous driving vehicle is provided, comprising: in response to detecting a lane change instruction, upon determining that the distance between the vehicle and an obstacle at a current moment satisfies a first distance condition, controlling the vehicle to enter a lane change driving mode, wherein the first distance condition is determined based on the speed of the vehicle and the speed of the obstacle at the current moment, and the lane change driving mode represents a mode in which the vehicle performs a lane change operation; and, in response to detecting that the vehicle is passing a lane line, upon determining that the distance between the vehicle and the obstacle at the moment the vehicle crosses the line satisfies a second distance condition, controlling the vehicle to execute a target lane merging mode, wherein the moment the vehicle crosses the line represents the moment when the target position of the vehicle passes the lane line, the second distance condition is determined based on the speed of the vehicle and the speed of the obstacle at the moment the vehicle crosses the line, and the target lane merging mode represents a mode in which the vehicle merges into a target lane.

[0006] According to another aspect of the present disclosure, a control device for an autonomous driving vehicle is provided, comprising: a first control module, for controlling the vehicle to enter a lane changing driving mode in response to detecting a lane changing instruction and when determining that the distance between the vehicle and the obstacle at the current moment satisfies a first distance condition, wherein the first distance condition is determined based on the speed of the vehicle and the speed of the obstacle at the current moment, and the lane changing driving mode represents a mode in which the vehicle performs a lane changing operation; and a second control module, for controlling the vehicle to enter a target lane merging mode in response to detecting that the vehicle is passing a lane line and when determining that the distance between the vehicle and the obstacle at the moment when the vehicle crosses the line satisfies a second distance condition, wherein the moment when the vehicle crosses the line represents a moment when the target position of the vehicle passes the lane line, the second distance condition is determined based on the speed of the vehicle and the speed of the obstacle at the moment when the vehicle crosses the line, and the target lane merging mode represents a mode in which the vehicle merges into a target lane.

[0007] According to another aspect of the present disclosure, an electronic device is provided, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method described above.

[0008] According to another aspect of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to enable the computer to execute the method described above.

[0009] According to another aspect of the present disclosure, a computer program product is provided, including a computer program, and the computer program implements the method described above when executed by a processor.

[0010] According to another aspect of the present disclosure, an autonomous driving vehicle is provided, comprising the electronic device described in the present disclosure.

[0011] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The accompanying drawings are used to better understand the present solution and do not constitute a limitation of the present disclosure.

[0013] Figure 1 An exemplary system architecture to which the control method and device for an autonomous driving vehicle according to an embodiment of the present disclosure can be applied is schematically shown;

[0014] Figure 2 A flow chart schematically shows a method for controlling an autonomous driving vehicle according to an embodiment of the present disclosure;

[0015] Figure 3 An example schematic diagram schematically shows a control method for an autonomous driving vehicle according to an embodiment of the present disclosure;

[0016] Figure 4 A block diagram schematically shows a control device for an autonomous driving vehicle according to an embodiment of the present disclosure; and

[0017] Figure 5 A block diagram of an electronic device suitable for implementing a control method for an autonomous driving vehicle according to an embodiment of the present disclosure is schematically shown. DETAILED DESCRIPTION

[0018] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0019] Lane changing operations performed by a vehicle while driving can easily affect the vehicle's agility. How to evaluate the safety of the vehicle's lane changing trajectory and bear the safety risks is an urgent problem to be solved.

[0020] Usually, a fixed time interval is used to predict the positional relationship between the vehicle's trajectory and the obstacle's trajectory at the same time, so as to determine whether the vehicle's lane change is safe based on the predicted trajectory of the obstacle.

[0021] However, in the scheme of evaluating the safety of vehicle lane changes based on the predicted trajectory, when the vehicle intends to change lanes and the user determines that the lane change is safe, the vehicle may not trigger the lane change because the predicted trajectory of the obstacle determines that the lane change is unsafe. Alternatively, when the vehicle has triggered the lane change and the user determines that it is safe to continue the lane change, the lane change may not be triggered because the predicted trajectory of the obstacle determines that the lane change is unsafe. In both cases, the vehicle's behavior is likely to be more conservative, reducing the vehicle's lane change ability.

[0022] To this end, an embodiment of the present invention proposes a control scheme for an autonomous driving vehicle. When it is determined that the distance between the vehicle and the obstacle at the current moment meets the first distance condition, the vehicle is controlled to enter the lane change driving mode. When it is determined that the distance between the vehicle and the obstacle at the moment the vehicle crosses the line meets the second distance condition, the vehicle is determined to enter the target lane merging mode. Through the above-mentioned technical means, the vehicle can merge into the target lane safely, thereby achieving the staged determination of whether the vehicle's lane change operation is safe in the initial stage of the vehicle's lane change and the vehicle crossing the line stage, thereby improving the vehicle's bargaining effect against obstacles, and further improving the vehicle's lane changing ability.

[0023] In the technical solution of the present invention, the collection, storage, use, processing, transmission, provision and disclosure of user personal information involved are in compliance with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0024] In the technical solution of the present invention, the user's authorization or consent is obtained before obtaining or collecting the user's personal information.

[0025] Figure 1 An exemplary system architecture to which the content processing method and apparatus according to an embodiment of the present disclosure can be applied is schematically shown.

[0026] It should be noted that Figure 1 The examples shown are only examples of system architectures that can be applied to the embodiments of the present disclosure, to help those skilled in the art understand the technical content of the present disclosure, but do not mean that the embodiments of the present disclosure cannot be used in other devices, systems, environments or scenarios. The system architecture of the embodiments of the present disclosure can also be implemented in other ways according to implementation needs.

[0027] like Figure 1 As shown, the system architecture 100 according to this embodiment may include a terminal 101, a vehicle end 102, a cloud end 103, a network 104, and a server 105. The network 104 is used to provide a medium for communication links between the terminal 101, the vehicle end 102, the cloud end 103, and the server 105. The network 104 may include various connection types, such as wired and / or wireless communication links, etc.

[0028] The terminal 101 may be any electronic device having a display screen and supporting web browsing, including but not limited to a smart phone, a tablet computer, a laptop computer, a desktop computer, and the like.

[0029] The user can use the terminal 101 to interact with the server 105 through the network 104 to receive or send messages, navigate the vehicle, etc. The terminal 101 can be installed with various client applications with positioning and navigation functions, such as map applications, navigation applications, etc. (only as examples).

[0030] The vehicle end 102 may be any vehicle that supports positioning and navigation functions, including but not limited to internal combustion engine powered vehicles, electric vehicles, or hybrid electric vehicles, etc. Alternatively, the vehicle end 102 may be an autonomous driving vehicle equipped with an automatic control system, including but not limited to a smart car, a smart school bus, a smart truck, etc.

[0031] The vehicle end 102 may include a vehicle end sensor unit, a vehicle end perception unit, a vehicle end positioning unit, and a vehicle end decision unit. For example, the vehicle end sensor unit may include at least one of the following: a vehicle end visual sensor, a vehicle end laser radar, and a vehicle end radar. The visual sensor may include a camera. The vehicle end radar may include at least one of the following: a vehicle end millisecond wave radar and a vehicle end ultrasonic radar. The vehicle end perception unit may include a hardware subunit and a software subunit. The hardware subunit may include a processor and a memory. The software subunit may include an operating system and a planning and routing thread. The vehicle end positioning unit may include at least one of the following: a global positioning system (GPS), a BeiDou Navigation Satellite System (BDS), a global navigation satellite system (GNSS), a GLONASS, an inertial measurement unit (IMU), a visual sensor, a vehicle end laser radar, and a vehicle end radar. In addition, the autonomous driving vehicle may also include a software application. The software application may include at least one of the following: a navigation type application, an entertainment type application, and an instant messaging type application.

[0032] The cloud includes but is not limited to cloud control platforms and third-party platforms. The cloud control platform may include at least one of the following: edge cloud control platform, regional cloud control platform and central cloud control platform. The cloud control platform may be a cloud server or a collection of cloud servers. The cloud server is a host product in the cloud computing service system, which solves the defects of difficult management and weak business scalability in traditional physical hosts and VPS services (Virtual Private Server, VPS). The third-party platform may include at least one of the following: traffic management platform, map platform, travel service platform, vehicle management platform and original equipment manufacturer (Original Entrusted Manufacture, OEM) platform.

[0033] The server 105 may be a server that provides various services, such as a background management server that provides support for the content browsed by the user using the terminal 101, the positioning information obtained by the vehicle end 102, etc. (only as an example). The background management server may analyze and process the received user requests, vehicle end instructions and other data, and feed back the processing results (such as web pages, information, or data obtained or generated according to user requests and vehicle end instructions) to the terminal 101, the vehicle end 102 and the cloud 103.

[0034] It should be noted that the control method of the autonomous driving vehicle provided in the embodiment of the present disclosure may be executed by the vehicle end 102. Accordingly, the control device of the autonomous driving vehicle provided in the embodiment of the present disclosure may also be disposed in the vehicle end 102.

[0035] Alternatively, the control method of the autonomous driving vehicle provided in the embodiment of the present disclosure may be executed by the terminal 101. Accordingly, the control device of the autonomous driving vehicle provided in the embodiment of the present disclosure may also be provided in the terminal 101.

[0036] Alternatively, the control method of the autonomous driving vehicle provided in the embodiment of the present disclosure may be executed by the cloud 103. Accordingly, the control device of the autonomous driving vehicle provided in the embodiment of the present disclosure may also be arranged in the cloud 103.

[0037] Alternatively, the control method of the autonomous driving vehicle provided in the embodiment of the present disclosure may be executed by the server 105. Accordingly, the control device of the autonomous driving vehicle provided in the embodiment of the present disclosure may also be disposed in the server 105.

[0038] It should be understood that Figure 1 The number of terminal devices, networks and servers in the embodiment is only for illustration. Any number of terminals, vehicle terminals, cloud terminals, networks and servers may be provided as required.

[0039] It should be noted that the sequence numbers of the operations in the following method are only used as representations of the operations for the purpose of description, and should not be regarded as representing the execution order of the operations. Unless explicitly stated, the method does not need to be executed completely in the order shown.

[0040] Figure 2 A flow chart of a method for controlling an autonomous driving vehicle according to an embodiment of the present disclosure is schematically shown.

[0041] like Figure 2 As shown, the method 200 includes operations S210 to S220.

[0042] In operation S210, in response to detecting a lane change instruction, if it is determined that the distance between the vehicle and the obstacle at the current moment satisfies a first distance condition, the vehicle is controlled to enter a lane change driving mode. The first distance condition is determined based on the speed of the vehicle at the current moment and the speed of the obstacle. The lane change driving mode represents a mode in which the vehicle performs a lane change operation.

[0043] In operation S220, in response to detecting that the vehicle is passing through a lane line, when it is determined that the distance between the vehicle and the obstacle at the time when the vehicle crosses the line satisfies a second distance condition, the vehicle is controlled to enter a target lane merging mode. The vehicle crossing line moment represents the moment when the target position of the vehicle passes through the lane line. The second distance condition is determined based on the speed of the vehicle and the speed of the obstacle at the time when the vehicle crosses the line. The target lane merging mode represents a mode in which the vehicle merges into the target lane.

[0044] According to an embodiment of the present disclosure, a lane change instruction may be generated by at least one of the following: a navigation instruction of the vehicle system, a navigation instruction of a third-party navigation, and a lane change operation of the driver. For example, when the vehicle system determines that a lane change is currently required, a lane change instruction may be generated. Alternatively, when the third-party navigation determines that a lane change is currently required, a lane change instruction may be generated. Alternatively, when the driver selects a left lane change or a right lane change, a lane change instruction may be generated.

[0045] According to the embodiments of the present disclosure, environmental information around the vehicle can be detected by sensors such as radar or cameras configured on the vehicle. For example, the vehicle's current driving state information, current lane information, target lane information after lane change, and obstacle information on the target lane can be determined. The vehicle's current driving state information may include acceleration, deceleration, average speed, or lane change, etc.

[0046] According to an embodiment of the present disclosure, the obstacle may include at least one of the following: a pedestrian, a bicycle, a car, a motorcycle or other vehicles. The information of the obstacle on the target lane may include the current driving state of the obstacle or whether the obstacle has a tendency to accelerate or decelerate.

[0047] According to an embodiment of the present disclosure, after recording the vehicle's current driving state information, the current lane information, the target lane information, and the obstacle information on the target lane, the first distance condition can be determined according to the vehicle's speed at the current moment and the obstacle's speed. The first distance condition can be used to characterize the condition that the distance between the two must satisfy when the vehicle can perform a lane change without colliding with the obstacle.

[0048] For example, the first distance condition may be that the longitudinal distance between the front vehicle and the vehicle in the target lane is greater than the corresponding safety distance or the longitudinal distance between the rear vehicle and the vehicle in the target lane is greater than the corresponding safety distance. The front vehicle in the target lane refers to the first vehicle in front of the vehicle in the target lane, that is, the vehicle that can be detected in front of the target lane and is closest to the vehicle. The rear vehicle in the target lane refers to the first vehicle behind the vehicle in the target lane, that is, the vehicle that can be detected in the rear of the target lane and is closest to the vehicle.

[0049] According to an embodiment of the present disclosure, when it is determined that the distance between the vehicle and the obstacle at the current moment satisfies a first distance condition, the vehicle can be controlled to enter a lane change driving mode so that the vehicle performs a lane change operation and completes the lane change process.

[0050] According to an embodiment of the present disclosure, when it is recorded that a vehicle is passing through a lane line, a second distance condition can be determined based on the speed of the vehicle at the time when the vehicle crosses the line and the speed of the obstacle at the time when the vehicle crosses the line. The second distance condition can be used to characterize the conditions that need to be met for the distance between the two when the vehicle can complete the lane change without colliding with the obstacle. The moment when the vehicle crosses the line can characterize the moment when the target position of the vehicle passes through the lane line. For example, the target position can include the center position of the entire vehicle.

[0051] According to an embodiment of the present disclosure, when it is determined that the distance between the vehicle and the obstacle at the time when the vehicle crosses the line satisfies the second distance condition, the vehicle can be controlled to enter the target lane merging mode so that the vehicle performs the merging operation and completes the merging process. In addition, the distance between the vehicle and the obstacle at the time when the vehicle crosses the line satisfies the second distance condition, which can also indicate that the path trajectory generated by the autonomous driving vehicle also satisfies the second distance condition.

[0052] According to the embodiment of the present disclosure, when it is determined that the distance between the vehicle and the obstacle at the current moment meets the first distance condition, the vehicle is controlled to enter the lane change driving mode, and when it is determined that the distance between the vehicle and the obstacle at the moment when the vehicle crosses the line meets the second distance condition, the vehicle is determined to enter the target lane merging mode. Through the above technical means, the vehicle can safely merge into the target lane, thereby achieving the staged determination of whether the vehicle's lane change operation is safe in the initial stage of the vehicle's lane change and the vehicle crossing the line stage, thereby improving the vehicle's game effect against obstacles, and further improving the vehicle's lane change ability.

[0053] Reference below Figure 3 , the control method of the autonomous driving vehicle according to the present disclosure is further explained in combination with specific embodiments.

[0054] According to an embodiment of the present disclosure, the first distance condition includes a third distance condition and a fourth distance condition.

[0055] According to an embodiment of the present disclosure, the third distance condition is determined based on the first predetermined distance and the second predetermined distance. The second predetermined distance is determined based on the first distance corresponding to the headway at the current moment and the second distance corresponding to the collision time. The first distance is determined based on the speed of the obstacle at the current moment. The second distance is determined based on the speed of the vehicle at the current moment and the speed of the obstacle.

[0056] According to an embodiment of the present disclosure, the fourth distance condition is determined based on the third predetermined distance and the fourth predetermined distance. The third predetermined distance is determined based on the third distance corresponding to the headway at the current moment, the fourth predetermined distance is determined based on the fourth distance corresponding to the collision time at the current moment, the third distance is determined based on the speed of the obstacle at the current moment, and the fourth distance is determined based on the speed of the vehicle and the speed of the obstacle at the current moment.

[0057] According to an embodiment of the present disclosure, the control method of the above-mentioned autonomous driving vehicle may also include the following operations.

[0058] When it is determined that the distance between the vehicle and the obstacle at the current moment is greater than or equal to the first minimum distance, it is determined that the distance between the vehicle and the obstacle at the current moment meets the third distance condition. The first minimum distance is the minimum distance between the first predetermined distance and the second predetermined distance. When it is determined that the distance between the vehicle and the obstacle at the current moment is greater than or equal to the second minimum distance, it is determined that the distance between the vehicle and the obstacle at the current moment meets the fourth distance condition. The second minimum distance is the minimum distance between the third predetermined distance and the fourth predetermined distance.

[0059] According to an embodiment of the present disclosure, when a vehicle traveling in a current lane triggers a lane change, a certain safety distance needs to be maintained from obstacles in a target lane to allow the obstacles sufficient reaction time.

[0060] According to an embodiment of the present disclosure, the time head way (THW) can be determined according to the distance between the two vehicles and the speed of the rear vehicle. For example, the time head way can be equal to the ratio between the distance between the two vehicles and the speed of the rear vehicle. The time to collision (TTC) can be determined according to the distance between the two vehicles and the relative speed of the two vehicles. For example, the time to collision can be equal to the ratio between the distance between the two vehicles and the relative speed of the two vehicles. The two vehicles can include an autonomous driving vehicle and an obstacle. The rear vehicle can refer to an obstacle.

[0061] According to the embodiments of the present disclosure, the headway and collision time can be used to characterize the urgency of the collision risk of the leading and trailing vehicles during driving. The headway can be used to assess the potential collision risk in a stable following state with a close distance between the vehicles, while the collision time can be used to assess the potential collision risk in an emergency situation with a close distance between the leading and trailing vehicles and a large speed difference.

[0062] According to an embodiment of the present disclosure, the third distance condition and the fourth distance condition may be used to characterize the conditions that the distance between the two needs to satisfy when the vehicle is able to perform a lane change without colliding with an obstacle.

[0063] According to the embodiment of the present disclosure, the current time The speed of the obstacle and parameters , determine the first distance corresponding to the headway .

[0064] According to an embodiment of the present disclosure, due to the speed of the obstacle at the current moment and the speed of the vehicle may be equal, so the distance parameter , the current speed of the vehicle , the speed of the obstacle and parameters , determine the second distance corresponding to the collision time .

[0065] According to an embodiment of the present disclosure, the first distance corresponding to the headway can be and the second distance corresponding to the collision time , determine the second predetermined distance . According to the first predetermined distance and the second predetermined distance, and determine a third distance condition.

[0066] According to the embodiment of the present disclosure, the speed of the obstacle at the current moment can be and parameters , determine the third distance . You can use the current vehicle speed , the speed of the obstacle ,parameter and distance parameters , determine the fourth distance The third distance corresponding to the headway at the current time can be Determine the third predetermined distance. The fourth predetermined distance may be determined based on the fourth distance corresponding to the collision time at the current moment. and the fourth predetermined distance , determine the fourth distance condition.

[0067] According to an embodiment of the present disclosure, when it is determined that the distance between the vehicle and the obstacle at the current moment satisfies a first distance condition, controlling the vehicle to enter a lane-changing driving mode may include the following operations.

[0068] In the case where it is determined that the speed of the vehicle at the current moment is greater than or equal to the speed of the obstacle at the current moment, in response to determining that the distance between the vehicle and the obstacle at the current moment satisfies a third distance condition, the vehicle is controlled to enter the lane change driving mode. The third distance condition is determined based on the first predetermined distance, the speed of the vehicle at the current moment, and the speed of the obstacle. In the case where it is determined that the speed of the vehicle at the current moment is less than the speed of the obstacle at the current moment, in response to determining that the distance between the vehicle and the obstacle at the current moment satisfies a fourth distance condition, the vehicle is controlled to enter the lane change driving mode. The fourth distance condition is determined based on the speed of the vehicle at the current moment and the speed of the obstacle.

[0069] According to an embodiment of the present disclosure, when determining the current moment The speed of the vehicle Greater than or equal to the speed of the obstacle at the current moment ,Right now In this case, it can be determined whether the distance between the vehicle and the obstacle at the current moment satisfies the third distance condition. The third distance condition can be expressed using the following formula (1).

[0070] (1)

[0071] According to an embodiment of the present disclosure, It can represent the distance between the vehicle and the obstacle at the current moment. and The distance parameter can be characterized. and The parameters can be characterized, It can represent the speed of the obstacle at the current moment. It can represent the speed of the vehicle at the current moment.

[0072] When it is determined that the distance between the vehicle and the obstacle at the current moment satisfies the third distance condition, the vehicle may be controlled to enter a lane-changing driving mode.

[0073] According to an embodiment of the present disclosure, when determining the speed of the vehicle at the current moment Less than the speed of the obstacle at the current moment ,Right now In this case, it can be determined whether the distance between the vehicle and the obstacle at the current moment satisfies the fourth distance condition. The fourth distance condition can be represented by the following formula (2).

[0074] (2)

[0075] According to an embodiment of the present disclosure, It can represent the distance between the vehicle and the obstacle at the current moment. Characterize the distance parameter. and Characterization parameters. It can represent the speed of the obstacle at the current moment. It can represent the speed of the vehicle at the current moment.

[0076] When it is determined that the distance between the vehicle and the obstacle at the current moment satisfies the fourth distance condition, the vehicle may be controlled to enter a lane-changing driving mode.

[0077] According to the embodiments of the present disclosure, at the initial stage of a vehicle changing lanes, by determining the magnitude relationship between the vehicle's speed at the current moment and the obstacle's speed at the current moment, and according to the distance corresponding to the headway and the distance corresponding to the collision time in different situations, it is determined whether the distance between the vehicle and the obstacle meets the corresponding distance conditions. Through the above technical means, the vehicle can change lanes safely, thereby achieving the determination of whether the vehicle's lane change operation is safe at the initial stage of the vehicle changing lanes, thereby improving the vehicle's lane change capability at the initial stage of the lane change.

[0078] According to an embodiment of the present disclosure, the second distance condition is determined according to a fifth predetermined distance and a sixth predetermined distance. The sixth predetermined distance is determined according to the speed of the vehicle and the speed of the obstacle at the time when the vehicle crosses the line.

[0079] According to an embodiment of the present disclosure, the above method may further include the following operations.

[0080] When it is determined that the distance between the vehicle and the obstacle at the time when the vehicle crosses the line is greater than or equal to the third minimum distance, it is determined that the distance between the vehicle and the obstacle at the time when the vehicle crosses the line meets the second distance condition. The third minimum distance is the minimum distance between the fifth predetermined distance and the sixth predetermined distance.

[0081] According to the embodiment of the present disclosure, the vehicle crossing time can be The speed of the vehicle , the speed of the obstacle ,parameter and parameters , determine the sixth predetermined distance . According to the fifth predetermined distance and a sixth predetermined distance, and determine a second distance condition.

[0082] According to an embodiment of the present disclosure, since a more different strategy needs to be adopted when the target position of the vehicle has crossed the line, that is, it is expected that a sufficient distance can be kept between the obstacle and the vehicle, and the vehicle is more inclined to be able to merge safely. Therefore, when determining whether the second distance condition is met, it is not necessary to distinguish between the speed of the vehicle and the speed of the obstacle.

[0083] According to an embodiment of the present disclosure, when it is determined that the distance between the vehicle and the obstacle at the time when the vehicle crosses the line is greater than or equal to the third minimum distance, it can be determined that the distance between the vehicle and the obstacle at the time when the vehicle crosses the line satisfies the second distance condition, and the second distance condition can be expressed using the following formula (3).

[0084] (3)

[0085] According to an embodiment of the present disclosure, It can represent the distance between the vehicle and the obstacle when the vehicle crosses the line. The distance parameter can be characterized. and The parameters can be characterized. It can represent the speed of the obstacle. Can represent the speed of the vehicle.

[0086] According to the embodiments of the present disclosure, during the vehicle crossing the lane phase of a vehicle changing lanes, it is determined whether the distance between the vehicle and the obstacle meets the corresponding distance condition. Through the above technical means, the vehicle can safely merge into the target lane, thereby achieving the determination of whether the vehicle's lane change operation is safe during the vehicle crossing the lane phase of a vehicle changing lanes, thereby improving the vehicle's lane change capability during the vehicle crossing the lane phase.

[0087] According to an embodiment of the present disclosure, the control method 200 of the autonomous driving vehicle may further include the following operations.

[0088] In response to detecting that the vehicle has completed the target lane merging mode, the acceleration of the obstacle traveling in the expected motion mode is determined based on the end time, the target time, the target distance and the target speed. The target distance represents the distance between the obstacle and the vehicle at the target time. The target speed represents the speed of the obstacle at the target time. The end time represents the time when the vehicle as a whole enters the target lane. The target time is determined based on the current time and the obstacle reaction time. Based on the acceleration, the risk level of the vehicle executing the lane change driving mode is determined. The risk level is used to represent the degree of impact of the vehicle entering the target lane on the obstacle.

[0089] According to the embodiments of the present disclosure, the expected motion mode can be configured according to the time service requirements, which is not limited here. For example, the expected motion mode can include a variable speed linear motion mode. The variable speed linear motion mode can include a uniform variable speed linear motion mode.

[0090] According to an embodiment of the present disclosure, the target time may be the maximum value of the current time and the obstacle reaction time. In addition, the target time may also be the average value of the current time and the obstacle reaction time. The obstacle reaction time may refer to the time when the obstacle senses the vehicle's intention to change lanes and begins to react.

[0091] According to an embodiment of the present disclosure, the degree of impact of a vehicle entering a target lane on an obstacle can be determined according to the risk level. For example, the higher the lane change safety risk level of a risk level vehicle, the greater the possibility that the lane change will cause a safety risk, and thus, the greater the degree of impact of the vehicle entering the target lane on the obstacle. And vice versa.

[0092] According to an embodiment of the present disclosure, when an autonomous driving vehicle generates multiple path trajectories, it can also determine a target path trajectory from the multiple path trajectories based on the accelerations corresponding to each of the multiple path trajectories.

[0093] According to an embodiment of the present disclosure, the expected motion mode includes a uniformly accelerated linear motion mode.

[0094] According to an embodiment of the present disclosure, determining the risk level of the vehicle entering the lane change driving mode according to the acceleration may include the following operations.

[0095] When it is determined that the acceleration is greater than or equal to a predetermined acceleration threshold, it is determined that the risk level of the vehicle entering the lane change driving mode is a safety level. The predetermined acceleration threshold is greater than or equal to zero.

[0096] According to an embodiment of the present disclosure, when the host vehicle completes the lane change, the acceleration of the obstacle moving in the expected manner can be determined according to the following formula (4).

[0097] (4)

[0098] According to an embodiment of the present disclosure, An end time may be characterized, for example, when the vehicle completes a lane change. The target moment can be characterized. The target distance can be characterized, for example, in The distance between the obstacle and the vehicle is . The target speed can be characterized, for example, in Speed ​​at obstacles. Characterize the distance parameter. The acceleration may be characterized, for example, the acceleration of an obstacle that is expected to occur in order to avoid a collision between the obstacle and the vehicle when the vehicle completes a lane change.

[0099] According to the embodiment of the present disclosure, the average acceleration that the obstacle should take to avoid collision can be obtained according to formula (4): . It can be used to characterize the impact of vehicle lane changes on obstacles and evaluate the safety risks of vehicle lane changes.

[0100] For example, the expected acceleration of the obstacle can be , assess the vehicle's lane change safety risk level. For example, the acceleration of the obstacle The smaller it is, the higher the vehicle's lane change safety risk level is, that is, the greater the possibility that lane change will cause safety risks.

[0101] For example, if the acceleration If the acceleration is greater than 0, it means that even if the obstacle accelerates, it will not collide with the vehicle, that is, the vehicle is safe to change lanes. In this case, the vehicle's lane change risk level may be the first risk level. If the acceleration is less than 0 and greater than -1, it means that the obstacle can be avoided by slightly braking. In this case, the vehicle's safe lane change risk level may be the second risk level. If the acceleration is less than -n, it means that the obstacle needs to be braked suddenly to avoid the vehicle. In this case, the host vehicle's safe lane change risk level may be the Nth risk level. n may be a number less than -1. N may be an integer greater than or equal to 3.

[0102] According to an embodiment of the present disclosure, the parameter ~ and distance parameters ~ The above parameters can be configured according to actual business requirements and are not limited here.

[0103] According to an embodiment of the present disclosure, after the vehicle merges into the target lane, the lane change safety risk level of the vehicle can be evaluated based on the expected acceleration of the obstacle, thereby achieving a safety assessment of the vehicle's lane change operation.

[0104] Figure 3 An example schematic diagram of a control method for an autonomous driving vehicle according to an embodiment of the present disclosure is schematically shown.

[0105] like Figure 3 As shown, the control method of the automatic driving vehicle of the embodiment of the present disclosure is described by taking another vehicle as an example. The speed of the vehicle is , the speed of the obstacle is .

[0106] Represents the current moment. The vehicle center position is 301_1 and the obstacle center position is 302_1.

[0107] Characterizes the moment when the obstacle starts to react. At, the vehicle center position 301_2, the obstacle center position 302_2.

[0108] Represents the moment when the center point of the vehicle passes through the lane line. At, the vehicle center position 301_3, the obstacle center position 302_3.

[0109] Indicates the end time of the vehicle's lane change, that is, the moment when the vehicle body completely enters the target lane. At, the vehicle center position 301_4, the obstacle center position 302_4.

[0110] exist In response to detecting a lane change instruction, the The speed of the vehicle , the speed of the obstacle , the vehicle center position 301_1 and the obstacle center position 302_1 determine the first distance condition, and in determining the distance between the vehicle and the obstacle When the distance meets the first distance condition, the vehicle can be controlled to enter the lane change driving mode and start the lane change operation.

[0111] exist In response to detecting that the vehicle is passing through the lane line, The speed of the vehicle , the speed of the obstacle , the vehicle center position 301_3 and the obstacle center position 302_3 determine the second distance condition, and determine the distance between the vehicle and the obstacle When the distance meets the second distance condition, the vehicle can be controlled to enter the target lane merging mode and start the merging operation.

[0112] exist In response to detecting that the vehicle has completed the target lane merging mode, the and Determine the target time. For example, if > , the target time can be determined as In this case, the target distance can be determined based on the vehicle center position 301_1 and the obstacle center position 302_1. Alternatively, if < , the target time can be determined as In this case, the target distance can be determined according to the vehicle center position 301_2 and the obstacle center position 302_2. The acceleration of the obstacle traveling in the expected motion mode can be determined according to the end time, the target time, the target distance and the target speed, and the risk level of the vehicle executing the lane change driving mode can be determined according to the acceleration.

[0113] The above are merely exemplary embodiments, but are not limited thereto and may also include other autonomous driving vehicle control methods known in the art as long as they can control the autonomous driving vehicle.

[0114] Figure 4 A block diagram of a content processing device according to an embodiment of the present disclosure is schematically shown.

[0115] like Figure 4 As shown, the control device 400 of the autonomous driving vehicle may include a first control module 410 and a second control module 420 .

[0116] The first control module 410 is used to control the vehicle to enter a lane change driving mode in response to detecting a lane change instruction and when determining that the distance between the vehicle and the obstacle at the current moment satisfies a first distance condition. The first distance condition is determined based on the speed of the vehicle at the current moment and the speed of the obstacle. The lane change driving mode represents a mode in which the vehicle performs a lane change operation.

[0117] The second control module 420 is used for controlling the vehicle to enter the target lane merging mode in response to detecting that the vehicle is passing through the lane line, when it is determined that the distance between the vehicle and the obstacle at the time when the vehicle crosses the line satisfies the second distance condition. The time when the vehicle crosses the line represents the time when the target position of the vehicle passes through the lane line. The second distance condition is determined based on the speed of the vehicle and the speed of the obstacle at the time when the vehicle crosses the line. The target lane merging mode represents the mode in which the vehicle merges into the target lane.

[0118] According to an embodiment of the present disclosure, the control device 400 of the autonomous driving vehicle may further include a first determining module and a second determining module.

[0119] The first determination module is used to determine the acceleration of the obstacle traveling in the expected motion mode according to the end time, the target time, the target distance and the target speed in response to detecting that the vehicle completes the target lane merging mode. The target distance represents the distance between the obstacle and the vehicle at the target time. The target speed represents the speed of the obstacle at the target time. The end time represents the time when the vehicle enters the target lane as a whole. The target time is determined based on the current time and the obstacle reaction time.

[0120] The second determination module is used to determine the risk level of the vehicle executing the lane change driving mode according to the acceleration. The risk level is used to characterize the degree of influence of the vehicle entering the target lane on obstacles.

[0121] According to an embodiment of the present disclosure, the expected motion mode includes a uniformly accelerated linear motion mode.

[0122] According to an embodiment of the present disclosure, the second determining module may include a first determining unit.

[0123] The first determination unit is used to determine that the risk level of the vehicle executing the lane change driving mode is a safety level when the acceleration is greater than or equal to a predetermined acceleration threshold. The predetermined acceleration threshold is greater than or equal to zero.

[0124] According to an embodiment of the present disclosure, the first distance condition includes a third distance condition and a fourth distance condition;

[0125] According to an embodiment of the present disclosure, the first control module 410 may include a first control unit and a second control unit.

[0126] The first control unit is configured to control the vehicle to enter a lane change driving mode in response to determining that the distance between the vehicle and the obstacle at the current moment satisfies a third distance condition when it is determined that the speed of the vehicle at the current moment is greater than or equal to the speed of the obstacle at the current moment. The third distance condition is determined based on the first predetermined distance, the speed of the vehicle at the current moment, and the speed of the obstacle.

[0127] The second control unit is configured to control the vehicle to enter the lane change driving mode in response to determining that the distance between the vehicle and the obstacle at the current moment satisfies a fourth distance condition when determining that the speed of the vehicle at the current moment is less than the speed of the obstacle at the current moment. The fourth distance condition is determined based on the speed of the vehicle at the current moment and the speed of the obstacle.

[0128] According to an embodiment of the present disclosure, the third distance condition is determined based on the first predetermined distance and the second predetermined distance. The second predetermined distance is determined based on the first distance corresponding to the headway at the current moment and the second distance corresponding to the collision time. The first distance is determined based on the speed of the obstacle at the current moment. The second distance is determined based on the speed of the vehicle at the current moment and the speed of the obstacle.

[0129] According to an embodiment of the present disclosure, the fourth distance condition is determined based on the third predetermined distance and the fourth predetermined distance. The third predetermined distance is determined based on the third distance corresponding to the headway at the current moment. The fourth predetermined distance is determined based on the fourth distance corresponding to the collision time at the current moment. The third distance is determined based on the speed of the obstacle at the current moment. The fourth distance is determined based on the speed of the vehicle and the speed of the obstacle at the current moment.

[0130] According to an embodiment of the present disclosure, the control device 400 of the above-mentioned autonomous driving vehicle may further include a third determination module and a fourth determination module.

[0131] The third determination module is used to determine that the distance between the vehicle and the obstacle at the current moment meets the third distance condition when it is determined that the distance between the vehicle and the obstacle at the current moment is greater than or equal to the first minimum distance. The first minimum distance is the minimum distance between the first predetermined distance and the second predetermined distance.

[0132] The fourth determination module is used to determine that the distance between the vehicle and the obstacle at the current moment meets a fourth distance condition when it is determined that the distance between the vehicle and the obstacle at the current moment is greater than or equal to the second minimum distance. The second minimum distance is the minimum distance between the third predetermined distance and the fourth predetermined distance.

[0133] According to an embodiment of the present disclosure, the second distance condition is determined according to a fifth predetermined distance and a sixth predetermined distance. The sixth predetermined distance is determined according to the speed of the vehicle and the speed of the obstacle at the time when the vehicle crosses the line.

[0134] According to an embodiment of the present disclosure, the control device 400 of the autonomous driving vehicle may further include a fifth determination module.

[0135] The fifth determination module is used to determine that the distance between the vehicle and the obstacle at the time when the vehicle crosses the line meets the second distance condition when it is determined that the distance between the vehicle and the obstacle at the time when the vehicle crosses the line is greater than or equal to the third minimum distance. The third minimum distance is the minimum distance between the fifth predetermined distance and the sixth predetermined distance.

[0136] According to an embodiment of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium, a computer program product and an autonomous driving vehicle.

[0137] According to an embodiment of the present disclosure, an electronic device includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method as described above.

[0138] According to an embodiment of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to cause a computer to execute the method as described above.

[0139] According to an embodiment of the present disclosure, a computer program product includes a computer program, and when the computer program is executed by a processor, the computer program implements the method as described above.

[0140] According to an embodiment of the present disclosure, an autonomous driving vehicle includes the electronic device described in the present disclosure.

[0141] Figure 5A block diagram of an electronic device suitable for implementing a control method for an autonomous driving vehicle according to an embodiment of the present disclosure is schematically shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or alternatively claimed herein.

[0142] like Figure 5 As shown, the electronic device 500 includes a computing unit 501, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 502, alternatively loaded from a storage unit 508 to a computer program in a random access memory (RAM) 503. In the RAM 503, various programs and data required for the operation of the electronic device 500 can also be stored. The computing unit 501, the ROM 502, and the RAM 503 are connected to each other via a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0143] Multiple components in the electronic device 500 are connected to the I / O interface 505, including: an input unit 506, such as a keyboard, a mouse, etc.; an output unit 507, such as various types of displays, speakers, etc.; a storage unit 508, such as a disk, an optical disk, etc.; and a communication unit 509, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 509 allows the electronic device 500 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0144] The computing unit 501 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 501 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 501 performs the various methods and processes described above, such as the control method of the autonomous driving vehicle. For example, in some embodiments, the control method of the autonomous driving vehicle may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit 508. In some embodiments, part of the computer program may alternatively be loaded and / or installed on the electronic device 500 via the ROM 802 and / or the communication unit 509. When the computer program is loaded into the RAM 503 and executed by the computing unit 501, one or more steps of the control method of the autonomous driving vehicle described above may be performed. Alternatively, in other embodiments, the computing unit 501 may be configured to perform the control method of the autonomous driving vehicle in any other appropriate manner (e.g., by means of firmware).

[0145] According to an embodiment of the present disclosure, an autonomous driving vehicle is provided, and the autonomous driving vehicle may include the electronic device described in the embodiment of the present disclosure.

[0146] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor that can be a dedicated or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0147] The program code for implementing the method of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that the program code, when executed by the processor or controller, enables the functions / operations specified in the flow chart and / or block diagram to be implemented. The program code may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0148] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, alternatively any suitable combination of the foregoing. More specific examples of machine-readable storage media may include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0149] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) alternatively an LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse alternatively a trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, alternatively tactile feedback); and input from the user can be received in any form (including acoustic input, voice input alternatively, tactile input).

[0150] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), optionally includes middleware components (e.g., an application server), optionally includes frontend components (e.g., a user computer with a graphical user interface, optionally a web browser, through which a user can interact with implementations of the systems and techniques described herein), optionally includes any combination of such backend components, middleware components, optionally frontend components. The components of the system may be interconnected by digital data communication (e.g., a communication network) in any form, optionally a medium. Examples of communication networks include: a local area network (LAN), a wide area network (WAN), and the Internet.

[0151] A computer system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship of client and server is generated by computer programs running on respective computers and having a client-server relationship with each other. The server may be a cloud server or a server of a distributed system, or alternatively a server combined with a blockchain.

[0152] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and this document does not limit this.

[0153] The above specific implementations do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A method for controlling an autonomous driving vehicle, comprising: In a case where it is determined that the speed of the vehicle at the current moment is greater than or equal to the speed of the obstacle at the current moment, in response to detecting a lane change instruction and determining that the distance between the vehicle and the obstacle at the current moment satisfies a third distance condition, controlling the vehicle to enter a lane change driving mode, wherein the third distance condition is determined based on a first predetermined distance, the speed of the vehicle at the current moment, and the speed of the obstacle, and the lane change driving mode represents a mode in which the vehicle performs a lane change operation; and In response to detecting that the vehicle is passing through a lane line, upon determining that the distance between the vehicle and the obstacle at the moment the vehicle crosses the line satisfies a second distance condition, the vehicle is controlled to execute a target lane merging mode, wherein the moment the vehicle crosses the line represents the moment when the target position of the vehicle passes through the lane line, the second distance condition is determined based on the speed of the vehicle and the speed of the obstacle at the moment the vehicle crosses the line, and the target lane merging mode represents a mode in which the vehicle merges into the target lane.

2. The method according to claim 1, further comprising: In response to detecting that the vehicle completes the target lane merging mode, determining the acceleration of the obstacle traveling in the expected motion mode according to an end time, a target time, a target distance, and a target speed, wherein the target distance represents the distance between the obstacle and the vehicle at the target time, the target speed represents the speed of the obstacle at the target time, the end time represents the time when the vehicle as a whole enters the target lane, and the target time is determined according to the current time and the obstacle reaction time; and A risk level of the vehicle entering the lane-changing driving mode is determined according to the acceleration, wherein the risk level is used to characterize the degree of influence of the vehicle entering the target lane on the obstacle.

3. The method according to claim 2, wherein: The expected motion mode includes a uniformly accelerated linear motion mode.

4. The method according to claim 2 or 3, wherein: Determining, according to the acceleration, a risk level of the vehicle entering the lane-changing driving mode includes: In a case where it is determined that the acceleration is greater than or equal to a predetermined acceleration threshold, it is determined that the risk level of the vehicle entering the lane change driving mode is a safety level, wherein the predetermined acceleration threshold is greater than or equal to zero.

5. The method according to claim 1, wherein: The third distance condition is determined based on the first predetermined distance and the second predetermined distance, wherein the second predetermined distance is determined based on the first distance corresponding to the headway at the current moment and the second distance corresponding to the collision time, the first distance is determined based on the speed of the obstacle at the current moment, and the second distance is determined based on the speed of the vehicle and the speed of the obstacle at the current moment; Wherein, the fourth distance condition is determined based on a third predetermined distance and a fourth predetermined distance, wherein the third predetermined distance is determined based on a third distance corresponding to the headway at the current moment, the fourth predetermined distance is determined based on a fourth distance corresponding to the collision time at the current moment, the third distance is determined based on the speed of the obstacle at the current moment, and the fourth distance is determined based on the speed of the vehicle and the speed of the obstacle at the current moment.

6. The method according to claim 5, further comprising: In the case where it is determined that the distance between the vehicle and the obstacle at the current moment is greater than or equal to a first minimum distance, determining that the distance between the vehicle and the obstacle at the current moment satisfies the third distance condition, wherein the first minimum distance is the minimum distance between the first predetermined distance and the second predetermined distance; and When it is determined that the distance between the vehicle and the obstacle at the current moment is greater than or equal to the second minimum distance, it is determined that the distance between the vehicle and the obstacle at the current moment satisfies the fourth distance condition, wherein the second minimum distance is the minimum distance between the third predetermined distance and the fourth predetermined distance.

7. The method according to any one of claims 1 to 3, 5 to 6, wherein The second distance condition is determined based on a fifth predetermined distance and a sixth predetermined distance, wherein the sixth predetermined distance is determined based on a speed of the vehicle and a speed of the obstacle at the moment when the vehicle crosses the line.

8. The method according to claim 7, further comprising: When it is determined that the distance between the vehicle and the obstacle at the moment when the vehicle crosses the line is greater than or equal to the third minimum distance, it is determined that the distance between the vehicle and the obstacle at the moment when the vehicle crosses the line satisfies the second distance condition, wherein the third minimum distance is the minimum distance between the fifth predetermined distance and the sixth predetermined distance.

9. A method for controlling an autonomous driving vehicle, comprising: In a case where it is determined that the speed of the vehicle at a current moment is less than the speed of the obstacle at the current moment, in response to detecting a lane change instruction and determining that the distance between the vehicle and the obstacle at the current moment satisfies a fourth distance condition, controlling the vehicle to enter a lane change driving mode, wherein the fourth distance condition is determined based on the speed of the vehicle at the current moment and the speed of the obstacle, and the lane change driving mode represents a mode in which the vehicle performs a lane change operation; and In response to detecting that the vehicle is passing through a lane line, upon determining that the distance between the vehicle and the obstacle at the moment the vehicle crosses the line satisfies a second distance condition, the vehicle is controlled to execute a target lane merging mode, wherein the moment the vehicle crosses the line represents the moment when the target position of the vehicle passes through the lane line, the second distance condition is determined based on the speed of the vehicle and the speed of the obstacle at the moment the vehicle crosses the line, and the target lane merging mode represents a mode in which the vehicle merges into the target lane.

10. The method according to claim 9, further comprising: In response to detecting that the vehicle completes the target lane merging mode, determining the acceleration of the obstacle traveling in the expected motion mode according to an end time, a target time, a target distance, and a target speed, wherein the target distance represents the distance between the obstacle and the vehicle at the target time, the target speed represents the speed of the obstacle at the target time, the end time represents the time when the vehicle as a whole enters the target lane, and the target time is determined according to the current time and the obstacle reaction time; and A risk level of the vehicle entering the lane-changing driving mode is determined according to the acceleration, wherein the risk level is used to characterize the degree of influence of the vehicle entering the target lane on the obstacle.

11. The method according to claim 10, wherein: The expected motion mode includes a uniformly accelerated linear motion mode.

12. The method according to claim 10 or 11, wherein: Determining, according to the acceleration, a risk level of the vehicle entering the lane-changing driving mode includes: In a case where it is determined that the acceleration is greater than or equal to a predetermined acceleration threshold, it is determined that the risk level of the vehicle entering the lane change driving mode is a safety level, wherein the predetermined acceleration threshold is greater than or equal to zero.

13. The method according to claim 10, wherein: The third distance condition is determined based on the first predetermined distance and the second predetermined distance, wherein the second predetermined distance is determined based on the first distance corresponding to the headway at the current moment and the second distance corresponding to the collision time, the first distance is determined based on the speed of the obstacle at the current moment, and the second distance is determined based on the speed of the vehicle and the speed of the obstacle at the current moment; Wherein, the fourth distance condition is determined based on a third predetermined distance and a fourth predetermined distance, wherein the third predetermined distance is determined based on a third distance corresponding to the headway at the current moment, the fourth predetermined distance is determined based on a fourth distance corresponding to the collision time at the current moment, the third distance is determined based on the speed of the obstacle at the current moment, and the fourth distance is determined based on the speed of the vehicle and the speed of the obstacle at the current moment.

14. The method according to claim 13, further comprising: In the case where it is determined that the distance between the vehicle and the obstacle at the current moment is greater than or equal to a first minimum distance, determining that the distance between the vehicle and the obstacle at the current moment satisfies the third distance condition, wherein the first minimum distance is the minimum distance between the first predetermined distance and the second predetermined distance; and When it is determined that the distance between the vehicle and the obstacle at the current moment is greater than or equal to the second minimum distance, it is determined that the distance between the vehicle and the obstacle at the current moment satisfies the fourth distance condition, wherein the second minimum distance is the minimum distance between the third predetermined distance and the fourth predetermined distance.

15. The method according to any one of claims 9 to 11, 13 to 14, wherein The second distance condition is determined based on a fifth predetermined distance and a sixth predetermined distance, wherein the sixth predetermined distance is determined based on a speed of the vehicle and a speed of the obstacle at the moment when the vehicle crosses the line.

16. The method according to claim 15, further comprising: When it is determined that the distance between the vehicle and the obstacle at the moment when the vehicle crosses the line is greater than or equal to the third minimum distance, it is determined that the distance between the vehicle and the obstacle at the moment when the vehicle crosses the line satisfies the second distance condition, wherein the third minimum distance is the minimum distance between the fifth predetermined distance and the sixth predetermined distance.

17. A control device for an autonomous driving vehicle, comprising: a first control unit, configured to, when it is determined that the speed of the vehicle at a current moment is greater than or equal to the speed of the obstacle at the current moment, control the vehicle to enter the lane change driving mode in response to detecting a lane change instruction and determining that the distance between the vehicle and the obstacle at the current moment satisfies a third distance condition, wherein the third distance condition is determined based on a first predetermined distance, the speed of the vehicle at the current moment, and the speed of the obstacle, and the lane change driving mode represents a mode in which the vehicle performs a lane change operation; and A second control module is used for controlling the vehicle to enter a target lane merging mode in response to detecting that the vehicle is passing through a lane line and when it is determined that the distance between the vehicle and the obstacle at the moment the vehicle crosses the line satisfies a second distance condition, wherein the moment the vehicle crosses the line represents the moment when the target position of the vehicle passes through the lane line, the second distance condition is determined based on the speed of the vehicle and the speed of the obstacle at the moment the vehicle crosses the line, and the target lane merging mode represents a mode in which the vehicle merges into a target lane.

18. A control device for an autonomous driving vehicle, comprising: a second control unit, configured to, when determining that the speed of the vehicle at the current moment is less than the speed of the obstacle at the current moment, control the vehicle to enter the lane change driving mode in response to determining that the distance between the vehicle and the obstacle at the current moment satisfies a fourth distance condition, wherein the fourth distance condition is determined based on the speed of the vehicle and the speed of the obstacle at the current moment, and the lane change driving mode represents a mode in which the vehicle performs a lane change operation; and A second control module is used for controlling the vehicle to enter a target lane merging mode in response to detecting that the vehicle is passing through a lane line and when it is determined that the distance between the vehicle and the obstacle at the moment the vehicle crosses the line satisfies a second distance condition, wherein the moment the vehicle crosses the line represents the moment when the target position of the vehicle passes through the lane line, the second distance condition is determined based on the speed of the vehicle and the speed of the obstacle at the moment the vehicle crosses the line, and the target lane merging mode represents a mode in which the vehicle merges into a target lane.

19. An electronic device comprising: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute any one of claims 1 to 16.

20. A non-transitory computer-readable storage medium storing computer instructions, wherein: The computer instructions are used to cause the computer to execute the method according to any one of claims 1 to 16.

21. A computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the computer program implements the method according to any one of claims 1 to 16.

22. An autonomous driving vehicle comprising the electronic device according to claim 19.

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