Vehicle lane changing driving method and device, vehicle and storage medium

Abstract

The invention relates to a vehicle lane changing driving method and device, a vehicle and a storage medium, and the vehicle lane changing driving method is characterized by comprising the steps that the intersection distance between the vehicle and a traffic intersection of a next path is determined; according to the navigation driving lane in the navigation route and the current driving lane of the vehicle in the sensing information, determining whether the vehicle changes the lane or not; under the condition of determining that the vehicle is driven in a lane changing manner, determining the lane changing distance between the vehicle and the next traffic intersection according to the number of departed lanes and the intersection distance; and controlling the vehicle to change the lane according to the lane changing distance. The vehicle lane changing decision is adjusted through the current driving lane of the vehicle in combination with the intersection distance between the vehicle and the traffic intersection of the next path, the robustness and reliability of navigation lane changing are remarkably improved, and therefore the accuracy of navigation lane changing is guaranteed.

Description

Technical Field

[0001] The present disclosure relates to the technical field of vehicle control, and particularly to a vehicle lane-changing driving method, device, vehicle, and storage medium. Background Art

[0002] In a navigation-assisted driving scenario without a high-precision map, when driving at an intersection, it is necessary to determine the target lane for driving in advance based on perception information so that the vehicle drives in the corresponding lane. However, when the perception information is not accurate enough, it is easy to cause the vehicle not to change lanes to the corresponding lane in advance. For example, in the case of a left turn, the vehicle drives in the straight lane, or in the case of going straight, the vehicle drives in the left-turn lane, resulting in untimely lane changes or wrong lanes. Summary of the Invention

[0003] To overcome the problems in the related art, the present disclosure provides a vehicle lane-changing driving method, device, vehicle, and storage medium.

[0004] According to a first aspect of an embodiment of the present disclosure, a vehicle lane-changing driving method is provided, including:

[0005] Determine the intersection distance between the vehicle and the next approaching traffic intersection;

[0006] Determine whether the vehicle changes lanes according to the navigation driving lane in the navigation route and the lane in which the vehicle is currently driving in the perception information;

[0007] When it is determined that the vehicle changes lanes, determine the lane-changing distance of each lane change of the vehicle from the next traffic intersection according to the number of deviated lanes and the intersection distance;

[0008] Control the vehicle to change lanes according to the lane-changing distance.

[0009] Optionally, before determining the lane-changing distance of each lane change of the vehicle from the next traffic intersection according to the number of deviated lanes and the intersection distance when it is determined that the vehicle changes lanes, it includes:

[0010] Determine the traffic direction of each perception lane according to the lane line information in the perceived perception lane;

[0011] Determine the lane in which the vehicle is currently driving from the perception lanes according to the traffic direction of each perception lane and the driving direction of the vehicle;

[0012] Determine the number of deviated lanes of the vehicle according to the driving lane and the navigation driving lane in the navigation route.

[0013] Optionally, determining the current driving lane of the vehicle from the sensed lanes according to the traffic directions of the sensed lanes and the driving direction of the vehicle includes:

[0014] Determining whether there are lanes to be excluded in the sensed lanes according to the traffic directions of the sensed lanes and the driving direction of the vehicle, where the lanes to be excluded include non-motor vehicle lanes, oncoming lanes opposite to the driving direction of the vehicle, and sidewalks;

[0015] Excluding the lanes to be excluded from the sensed lanes to obtain target sensed lanes;

[0016] Determining the current driving lane of the vehicle from the target sensed lanes.

[0017] Optionally, the excluding the lanes to be excluded from the sensed lanes to obtain target sensed lanes includes:

[0018] Excluding the lanes to be excluded from the sensed lanes to obtain pending sensed lanes;

[0019] Determining whether the number of the pending sensed lanes is consistent with the number of lanes in the navigation route;

[0020] In the case where the number of the pending sensed lanes is inconsistent with the number of lanes in the navigation route, taking the number of lanes in the navigation route as the target, performing addition and deletion operations on the pending sensed lanes to obtain target sensed lanes.

[0021] Optionally, the performing addition and deletion operations on the pending sensed lanes to obtain target sensed lanes in the case where the number of the pending sensed lanes is inconsistent with the number of lanes in the navigation route includes:

[0022] In the case where the number of the pending sensed lanes is inconsistent with the number of lanes in the navigation route, if the number of the pending sensed lanes is less than the number of lanes in the navigation route, taking the number of lanes in the navigation route as the target, performing a lane addition operation on the pending sensed lanes to obtain target sensed lanes;

[0023] If the number of the pending sensed lanes is more than the number of lanes in the navigation route, taking the number of lanes in the navigation route as the target, performing a lane deletion operation on the pending sensed lanes to obtain target sensed lanes.

[0024] Optionally, when the number of lanes to be sensed is inconsistent with the number of lanes in the navigation route, if the number of lanes to be sensed is less than the number of lanes in the navigation route, taking the number of lanes in the navigation route as the target, performing a lane addition operation on the lanes to be sensed to obtain target sensed lanes, including:

[0025] When the number of lanes to be sensed is inconsistent with the number of lanes in the navigation route, if the number of lanes to be sensed is less than the number of lanes in the navigation route, taking the number of lanes in the navigation route as the target, performing a lane addition operation on the lanes to be sensed on the side away from the lane where the vehicle is currently traveling to obtain target sensed lanes.

[0026] Optionally, if the number of lanes to be sensed is more than the number of lanes in the navigation route, taking the number of lanes in the navigation route as the target, performing a lane deletion operation on the lanes to be sensed to obtain target sensed lanes, including:

[0027] If the number of lanes to be sensed is more than the number of lanes in the navigation route, taking the number of lanes in the navigation route as the target, performing a lane deletion operation on the lanes to be sensed on the side away from the lane where the vehicle is currently traveling to obtain target sensed lanes.

[0028] Optionally, determining the intersection distance between the vehicle and the next approaching traffic intersection includes:

[0029] Obtaining the historical driving distance of the vehicle during this navigation according to the navigation route;

[0030] According to the historical driving distance and the position information of each traffic intersection in the navigation route, determining the intersection distance between the vehicle and the next approaching traffic intersection.

[0031] Optionally, controlling the vehicle to change lanes according to the lane change distance includes:

[0032] When reaching the lane change distance corresponding to each lane change, determining whether the target lane corresponding to the vehicle's current lane change is drivable;

[0033] When the target lane corresponding to the current lane change is drivable, controlling the vehicle to change lanes;

[0034] When the target lane corresponding to the current lane change is not drivable, canceling the current lane change and controlling the vehicle to maintain its current driving lane.

[0035] According to the second aspect of the embodiments of the present disclosure, a vehicle lane change driving device is provided, including:

[0036] The first determination module is configured to determine the intersection distance between the vehicle and the next approaching traffic intersection;

[0037] The second determination module is configured to determine whether the vehicle changes lanes according to the navigation driving lane in the navigation route and the lane in which the vehicle is currently driving in the perception information;

[0038] The third determination module is configured to, when it is determined that the vehicle changes lanes, determine the lane-changing distance between each lane change of the vehicle and the next traffic intersection according to the number of lanes deviated and the intersection distance;

[0039] The control module is configured to control the vehicle to change lanes according to the lane-changing distance.

[0040] According to the third aspect of the embodiments of the present disclosure, a vehicle is provided, including:

[0041] A processor;

[0042] A memory for storing instructions executable by the processor;

[0043] Wherein, the processor is configured to execute the executable instructions stored in the memory to implement the method according to any one of the first aspect.

[0044] According to the fourth aspect of the embodiments of the present disclosure, a computer-readable storage medium is provided, on which computer program instructions are stored, and when the program instructions are executed by a processor, the steps of the method according to any one of the first aspect are implemented.

[0045] The technical solutions provided by the embodiments of the present disclosure may include the following beneficial effects:

[0046] By determining the intersection distance between the vehicle and the next approaching traffic intersection; determining whether the vehicle changes lanes according to the navigation driving lane in the navigation route and the lane in which the vehicle is currently driving in the perception information; when it is determined that the vehicle changes lanes, determining the lane-changing distance between each lane change of the vehicle and the next traffic intersection according to the number of lanes deviated and the intersection distance; controlling the vehicle to change lanes according to the lane-changing distance. By combining the lane in which the vehicle is currently driving with the intersection distance between the vehicle and the next approaching traffic intersection, the vehicle lane-changing decision is adjusted, significantly improving the robustness and reliability of navigation lane-changing, thereby ensuring the accuracy of navigation lane-changing.

[0047] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. Description of the Drawings

[0048] The accompanying drawings here are incorporated into the specification and form a part of this specification, showing embodiments consistent with the present disclosure, and are used together with the specification to explain the principles of the present disclosure.

[0049] Figure 1 It is a flowchart of a method for a vehicle to change lanes according to an exemplary embodiment.

[0050] Figure 2 It is an implementation of determining the number of lanes deviated from in Figure 1 according to an exemplary embodiment, which is a flowchart.

[0051] Figure 3 It is an implementation of Figure 2 in step S22 according to an exemplary embodiment, which is a flowchart.

[0052] Figure 4 It is an implementation of Figure 1 in step S11 according to an exemplary embodiment, which is a flowchart.

[0053] Figure 5 It is a block diagram of a vehicle lane-changing driving device according to an exemplary embodiment.

[0054] Figure 6 It is a schematic diagram of a functional block diagram of a vehicle according to an exemplary embodiment. Detailed Description of the Embodiments

[0055] Here, the exemplary embodiments will be described in detail, and the examples are shown in the accompanying drawings. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0056] It should be noted that all actions of obtaining signals, information, or data in this application are carried out on the premise of complying with the corresponding data protection regulations and policies of the country where it is located and obtaining the authorization given by the owner of the corresponding device.

[0057] Figure 1 It is a flowchart of a method for a vehicle to change lanes according to an exemplary embodiment. As Figure 1 shown, this method can be applied to a vehicle and includes the following steps.

[0058] In step S11, determine the intersection distance between the vehicle and the next approaching traffic intersection.

[0059] In the embodiments of the present disclosure, the next traffic intersection along the way may refer to the traffic intersection closest to the vehicle in the current driving direction of the vehicle.

[0060] Among them, the traffic intersection may be an intersection or a T-junction configured with traffic lights having multiple traffic directions, or an intersection or a T-junction without traffic lights configured. For example, the traffic intersection may be an intersection with left-turn, right-turn, and straight-ahead directions, or the traffic intersection may be a T-junction with left-turn (right-turn) and straight-ahead directions, or the traffic intersection may be a T-junction with left-turn and right-turn directions.

[0061] In the embodiments of the present disclosure, the intersection distance is the driving distance between the current position of the vehicle and the traffic intersection. Among them, the intersection distance may be the distance between the current position of the vehicle and the nearest zebra crossing of the traffic intersection, or may be the distance between the current position of the vehicle and the traffic lights of the traffic intersection.

[0062] In the embodiments of the present disclosure, it may be determined the intersection distance between the vehicle and the next traffic intersection along the way according to the non-high-precision positioning of the vehicle in the ordinary map, or according to the positions of traffic lights and zebra crossings sensed by the perception system.

[0063] In the embodiments of the present disclosure, it can solve the technical problems of low robustness and reliability of vehicle lane-changing driving in the scenario without high-precision maps, thereby improving the accuracy of navigation lane-changing in the scenario without high-precision maps.

[0064] In step S12, according to the navigation driving lane in the navigation route and the lane in which the vehicle is currently driving in the perception information, it is determined whether the vehicle changes lanes.

[0065] In the embodiments of the present disclosure, the perception information can be obtained by the perception system configured on the vehicle through the perception of lane lines, lane passing signs, etc.

[0066] In the embodiments of the present disclosure, in the case where the navigation driving lane in the navigation route is inconsistent with the lane in which the vehicle is currently driving in the perception information, it is determined that the vehicle changes lanes. In the case where the navigation driving lane in the navigation route is consistent with the lane in which the vehicle is currently driving in the perception information, it is determined that the vehicle does not change lanes.

[0067] In step S13, in the case where it is determined that the vehicle changes lanes, according to the number of lanes deviated from and the intersection distance, it is determined the lane-changing distance between each lane change of the vehicle and the next traffic intersection.

[0068] Wherein, the number of lanes deviated is the difference between the navigation driving lane in the navigation route and the lane in which the vehicle is currently driving in the perception information. For example, if the navigation driving lane in the navigation route is the first lane on the left and the lane in which the vehicle is currently driving in the perception information is the second lane on the left, then the number of lanes deviated is 1, and thus the vehicle needs to perform one lane change; for another example, if the navigation driving lane in the navigation route is the first lane on the left and the lane in which the vehicle is currently driving in the perception information is the third lane on the left, then the number of lanes deviated is 2, and thus the vehicle needs to perform two lane changes.

[0069] In the embodiments of the present disclosure, the lane change distance for each lane change of the vehicle is related to both the number of lanes deviated and the intersection distance. For example, the more the number of lanes deviated, the more times the vehicle needs to perform lane changes. When the intersection distance between the vehicle and the next traffic intersection is fixed, the distance between the vehicle and the next traffic intersection after each lane change is farther, and the distance between two adjacent lane changes is shorter.

[0070] For example, when the intersection distance between the vehicle and the next traffic intersection is 20 meters, if the number of lanes deviated is 3, then the distance between the vehicle and the next traffic intersection after the first lane change is 16 meters, the distance between the vehicle and the next traffic intersection after the second lane change is 12 meters, and the distance between the vehicle and the next traffic intersection after the third lane change is 8 meters; if the number of lanes deviated is 2, then the distance between the vehicle and the next traffic intersection after the first lane change is 14 meters, and the distance between the vehicle and the next traffic intersection after the second lane change is 8 meters. It can be seen that when the number of lanes deviated is 3, the distance of 16 meters between the vehicle and the next traffic intersection after the first lane change is farther than the distance of 14 meters between the vehicle and the next traffic intersection after the first lane change when the number of lanes deviated is 2; similarly, when the number of lanes deviated is 3, the distance of 12 meters between the vehicle and the next traffic intersection after the second lane change is farther than the distance of 8 meters between the vehicle and the next traffic intersection after the second lane change when the number of lanes deviated is 2. And when the number of lanes deviated is 3, the distance between two adjacent lane changes is 4, which is shorter than the distance of 6 between two adjacent lane changes when the number of lanes deviated is 2.

[0071] In step S14, control the vehicle to perform lane change driving according to the lane change distance.

[0072] In the embodiments of the present disclosure, determine the direction of the vehicle lane change according to the relative left - right relationship between the navigation driving lane and the lane in which the vehicle is currently driving in the perception information, and then control the vehicle to perform lane change driving according to the lane change distance and the direction of the lane change.

[0073] In the disclosed embodiment, the navigation route and perception information can be combined to make a lane change pre-decision that best suits the current situation. The closer the vehicle is to the next traffic intersection, the more information the perception system perceives. For example, information such as lane direction indicator arrows, separation lanes, and merging lanes on the road surface can usually only be detected when approaching the intersection. In addition, the perception module may be affected by the obstruction of the vehicle in front, weather conditions, etc., resulting in lack of information. When perception information is missing, the own lane can also be associated with the lane far away from the navigation exit within the feasible domain of known information. When new perception information is input, the lane association is re-performed and the lane change decision is dynamically adjusted.

[0074] In the disclosed embodiment, when the distance between the current position of the vehicle and the traffic intersection is the same as the lane change distance corresponding to each lane change, the vehicle is controlled to change lanes. For example, when the vehicle needs to change lanes to the left, when the distance between the current position of the vehicle and the traffic intersection is the same as the lane change distance corresponding to each lane change, the vehicle is controlled to change lanes to the left; when the vehicle needs to change lanes to the right, when the distance between the current position of the vehicle and the traffic intersection is the same as the lane change distance corresponding to each lane change, the vehicle is controlled to change lanes to the right.

[0075] The above technical solution determines the intersection distance between the vehicle and the next traffic intersection; determines whether the vehicle changes lanes according to the navigation lane in the navigation route and the lane the vehicle is currently traveling in the perception information; when it is determined that the vehicle is changing lanes, determines the lane change distance between each lane change of the vehicle and the next traffic intersection according to the number of lane deviations and the intersection distance; and controls the vehicle to change lanes according to the lane change distance. The vehicle's lane change decision is adjusted by combining the vehicle's current lane with the intersection distance between the vehicle and the next traffic intersection, which significantly improves the robustness and reliability of the navigation lane change, thereby ensuring the accuracy of the navigation lane change.

[0076] Alternatively, see Figure 2 As shown, in the case where it is determined that the vehicle is changing lanes, before determining the lane change distance between each lane change of the vehicle and the next traffic intersection according to the number of lane deviations and the intersection distance, it includes:

[0077] In step S21, the travel direction of each of the perception lanes is determined based on the lane line information sensed in the perception lane.

[0078] In the disclosed embodiment, the perceived lane information is post-processed to obtain lane line information such as the lane line color of the road, lane line virtuality and reality information, and traffic sign information indicating the direction of travel in the lane, thereby determining the direction of travel of the perceived lane.

[0079] Among them, the traffic direction can be that the lane allows vehicles to go straight, turn left, turn right, etc.

[0080] In step S22, according to the traffic direction of each of the sensed lanes and the driving direction of the vehicle, the current driving lane of the vehicle is determined from the sensed lanes.

[0081] In the embodiments of the present disclosure, the driving direction of the vehicle can be determined according to the navigation route, and then the sensed lanes with traffic directions inconsistent with the driving direction of the vehicle are excluded. For example, according to the double white solid lines in the lane line information or the traffic sign information indicating the traffic direction on the ground, the sensed lanes opposite to the driving direction of the vehicle are excluded.

[0082] In step S23, according to the driving lane and the navigation driving lane in the navigation route, the number of lanes deviated by the vehicle is determined.

[0083] In the embodiments of the present disclosure, the current driving lane of the vehicle is matched and associated with the navigation driving lane in the navigation route to determine the number of lanes deviated by the vehicle.

[0084] In the above embodiments, the number of lanes deviated by the vehicle can be determined according to the sensed information and the navigation route. Then, in the case where there is no number of lanes deviated, the vehicle can keep driving, and in the case where there is a number of lanes deviated, the vehicle can be controlled to change lanes and drive.

[0085] Optionally, as shown in Figure 3 In step S22, the determining of the current driving lane of the vehicle from the sensed lanes according to the traffic direction of each of the sensed lanes and the driving direction of the vehicle includes:

[0086] In step S221, according to the traffic direction of each of the sensed lanes and the driving direction of the vehicle, it is determined whether there are lanes to be excluded in the sensed lanes.

[0087] Among them, the lanes to be excluded include non-motor vehicle lanes, oncoming lanes opposite to the driving direction of the vehicle, and sidewalks.

[0088] In the embodiments of the present disclosure, the non-motor vehicle lanes can include non-motor vehicle lanes in the same driving direction as the vehicle, rather than non-motor vehicle lanes with oncoming traffic; the oncoming lanes opposite to the driving direction of the vehicle can be oncoming lanes with traffic directions opposite to the driving direction of the vehicle. For example, it can be determined according to double white solid lines, double yellow solid lines, and ground traffic arrows.

[0089] In step S222, the lanes to be excluded are excluded from the sensed lanes to obtain target sensed lanes.

[0090] In the embodiments of the present disclosure, the to-be-excluded lane is excluded from the sensed lanes, and the remaining sensed lanes that are not excluded are the target sensed lanes.

[0091] In step S223, the current driving lane of the vehicle is determined from the target sensed lanes.

[0092] In the embodiments of the present disclosure, according to the sensed information, the current driving lane of the vehicle is determined from the remaining sensed lanes that are not excluded. This driving lane can be used to represent the lane where the vehicle is currently located, and there may be a difference from the navigation driving lane in the navigation route.

[0093] Optionally, in step S223, the excluding the to-be-excluded lane from the sensed lanes to obtain the target sensed lanes includes:

[0094] The to-be-excluded lane is excluded from the sensed lanes to obtain a to-be-determined sensed lane;

[0095] In the embodiments of the present disclosure, after the to-be-excluded lane is excluded from the sensed lanes, if the number of to-be-determined sensed lanes is inconsistent with the number of lanes in the navigation route, when determining the current driving lane of the vehicle at this time, it may cause the inability to accurately match and associate the sensed lanes with the lanes in the navigation route. Therefore, it is necessary to adjust the to-be-determined sensed lanes.

[0096] Determine whether the number of the to-be-determined sensed lanes is consistent with the number of lanes in the navigation route;

[0097] In the embodiments of the present disclosure, the number of the to-be-determined sensed lanes can be subtracted from the number of lanes in the navigation route to determine whether the number of the to-be-determined sensed lanes is consistent with the number of lanes in the navigation route.

[0098] In the case where the number of the to-be-determined sensed lanes is inconsistent with the number of lanes in the navigation route, taking the number of lanes in the navigation route as the target, addition and deletion operations are performed on the to-be-determined sensed lanes to obtain the target sensed lanes.

[0099] In the embodiments of the present disclosure, when the number of the to-be-determined sensed lanes is less than the number of lanes in the navigation route, a lane addition operation is performed on the to-be-determined sensed lanes so that the number of the to-be-determined sensed lanes after lane addition is the same as the number of lanes in the navigation route; similarly, when the number of the to-be-determined sensed lanes is more than the number of lanes in the navigation route, a lane deletion operation is performed on the to-be-determined sensed lanes so that the number of the to-be-determined sensed lanes after lane deletion is the same as the number of lanes in the navigation route.

[0100] In one implementation, lanes can be added or deleted on the right side of the vehicle according to the lane where the vehicle is currently driving.

[0101] Optionally, when the number of the to-be-determined sensed lanes is inconsistent with the number of lanes in the navigation route, taking the number of lanes in the navigation route as the target, performing addition and deletion operations on the to-be-determined sensed lanes to obtain target sensed lanes, including:

[0102] When the number of the to-be-determined sensed lanes is inconsistent with the number of lanes in the navigation route, if the number of the to-be-determined sensed lanes is less than the number of lanes in the navigation route, taking the number of lanes in the navigation route as the target, performing a lane addition operation on the to-be-determined sensed lanes to obtain target sensed lanes;

[0103] If the number of the to-be-determined sensed lanes is more than the number of lanes in the navigation route, taking the number of lanes in the navigation route as the target, performing a lane deletion operation on the to-be-determined sensed lanes to obtain target sensed lanes.

[0104] Optionally, when the number of the to-be-determined sensed lanes is inconsistent with the number of lanes in the navigation route, if the number of the to-be-determined sensed lanes is less than the number of lanes in the navigation route, taking the number of lanes in the navigation route as the target, performing a lane addition operation on the to-be-determined sensed lanes to obtain target sensed lanes, including:

[0105] When the number of the to-be-determined sensed lanes is inconsistent with the number of lanes in the navigation route, if the number of the to-be-determined sensed lanes is less than the number of lanes in the navigation route, taking the number of lanes in the navigation route as the target, performing a lane addition operation on the to-be-determined sensed lanes on the side away from the lane where the vehicle is currently traveling to obtain target sensed lanes.

[0106] In the embodiments of the present disclosure, the distances between the lane lines of the lanes on both sides of the to-be-determined sensed lanes and the vehicle can be determined, and the side away from the lane where the vehicle is currently traveling, that is, the side with a larger distance between the lane line and the vehicle, is determined as the side away from the lane where the vehicle is currently traveling. For example, if the distance between the farthest lane line on the left side of the vehicle and the vehicle is greater than the distance between the farthest lane line on the right side of the vehicle and the vehicle, a lane is added outside the farthest lane line on the left side, so that the number of the to-be-determined sensed lanes after the lane addition is the same as the number of lanes in the navigation route.

[0107] Optionally, if the number of the to-be-determined sensed lanes is more than the number of lanes in the navigation route, taking the number of lanes in the navigation route as the target, performing a lane deletion operation on the to-be-determined sensed lanes to obtain target sensed lanes, including:

[0108] If the number of the to-be-determined sensed lanes is greater than the number of lanes in the navigation route, taking the number of lanes in the navigation route as the target, perform a lane deletion operation on the to-be-determined sensed lanes on the side away from the lane where the vehicle is currently traveling to obtain the target sensed lanes.

[0109] Similarly, if the distance between the farthest lane line on the left side of the vehicle and the vehicle is greater than the distance between the farthest lane line on the right side of the vehicle and the vehicle, delete lanes inside the farthest lane line on the left side so that the number of the to-be-determined sensed lanes after lane deletion is the same as the number of lanes in the navigation route.

[0110] Optionally, as shown in Figure 4 In step S11, the determining the intersection distance between the vehicle and the next approaching traffic intersection includes:

[0111] In step S111, obtain the historical driving distance of the vehicle during the current navigation according to the navigation route.

[0112] In the embodiments of the present disclosure, the total mileage of the current navigation can be given in the navigation route, and according to the driving speed or positioning of the vehicle, determine the distance that the vehicle has currently traveled to obtain the historical driving distance of the vehicle during the current navigation according to the navigation route.

[0113] In step S112, according to the historical driving distance and the position information of each traffic intersection in the navigation route, determine the intersection distance between the vehicle and the next approaching traffic intersection.

[0114] In the embodiments of the present disclosure, the position of the vehicle itself can be projected onto the navigation route to obtain in real time the mileage that the vehicle has traveled on the navigation route, and then according to the segmented turning information and traffic light positions on the navigation route, calculate in real time the intersection distance between the vehicle and the next approaching traffic intersection. Furthermore, it can be determined whether the vehicle meets the conditions for determining whether to change lanes. For example, if the intersection distance between the vehicle and the next approaching traffic intersection is greater than the preset distance threshold, continuously obtain the historical driving distance of the vehicle during the current navigation according to the navigation route until the intersection distance between the vehicle and the next approaching traffic intersection is less than the preset distance threshold, and execute the method steps of steps S12 to S14.

[0115] Optionally, in step S14, the controlling the vehicle to change lanes according to the lane change distance includes:

[0116] When reaching the lane change distance corresponding to each lane change, determine whether the target lane corresponding to the current lane change of the vehicle is drivable.

[0117] In the embodiments of the present disclosure, it is determined whether the target lane corresponding to the current lane change of the vehicle is drivable according to whether there is vehicle congestion in the target lane corresponding to the current lane change of the vehicle, and whether it is, for example, a non-motor vehicle lane, a disappearing lane, a bus lane, etc.

[0118] When the target lane corresponding to the current lane change is drivable, the vehicle is controlled to change lanes and drive.

[0119] In the embodiments of the present disclosure, if there is no vehicle congestion in the target lane corresponding to the current lane change of the vehicle, and it is not, for example, a non-motor vehicle lane, a disappearing lane, a bus lane, then the target lane corresponding to the current lane change of the vehicle is drivable, and the vehicle is controlled to change lanes and drive. In this way, the safety of the vehicle when changing lanes can be ensured.

[0120] When the target lane corresponding to the current lane change is not drivable, the current lane change is cancelled, and the vehicle is controlled to keep driving in the current driving lane.

[0121] In the embodiments of the present disclosure, if there is vehicle congestion in the target lane corresponding to the current lane change of the vehicle, or it is, for example, a non-motor vehicle lane, a disappearing lane, a bus lane, then the target lane corresponding to the current lane change of the vehicle is not drivable, the current lane change is cancelled, and the vehicle is controlled to keep driving in the current driving lane. In this way, the driving safety of the vehicle can be ensured.

[0122] The embodiments of the present disclosure further provide a vehicle lane change driving device. Refer to Figure 5 As shown, the vehicle lane change driving device includes: a first determination module 510, a second determination module 520, a third determination module 530, and a control module 540.

[0123] Among them, the first determination module 510 is configured to determine the intersection distance between the vehicle and the next approaching traffic intersection;

[0124] The second determination module 520 is configured to determine whether the vehicle changes lanes and drives according to the navigation driving lane in the navigation route and the lane in which the vehicle is currently driving in the perception information;

[0125] The third determination module 530 is configured to, when it is determined that the vehicle changes lanes and drives, determine the lane change distance between each lane change of the vehicle and the next traffic intersection according to the number of lanes deviated from and the intersection distance;

[0126] The control module 540 is configured to control the vehicle to change lanes and drive according to the lane change distance.

[0127] The above device can prevent autonomous vehicles from going into the wrong lane in complex road environments, which is of great significance to improving the reliability of autonomous driving systems. In the development of navigation-assisted driving without high-precision maps, due to the lack of lane information in high-precision maps, the robust navigation lane change strategy in the map-free navigation-assisted driving function can be obtained based on the on-board navigation system information and the lane lines perceived and identified, thereby ensuring the accuracy of navigation lane changes. By filtering useful information from the output of the perception module, combining the information of the navigation system, and adjusting the navigation lane change decision in real time, the robustness and reliability of the map-free navigation lane change strategy are significantly improved.

[0128] Optionally, the third determination module 530 is configured to determine the travel direction of each of the perception lanes according to the lane line information sensed in the perception lanes before determining the lane change distance between each lane change of the vehicle and the next traffic intersection according to the number of lane deviations and the intersection distance when determining that the vehicle is changing lanes;

[0129] Determining a current driving lane of the vehicle from the sensing lanes according to the passing directions of the sensing lanes and the driving direction of the vehicle;

[0130] The lane deviation amount of the vehicle is determined according to the driving lane and the navigation driving lane in the navigation route.

[0131] Optionally, the third determining module 530 is configured to:

[0132] According to the passing direction of each of the sensed lanes and the driving direction of the vehicle, determining whether there is a lane to be eliminated in the sensed lanes, wherein the lane to be eliminated includes a non-motor vehicle lane, an opposite lane opposite to the driving direction of the vehicle, and a sidewalk;

[0133] Eliminate the to-be-eliminated lane from the sensed lanes to obtain a target sensed lane;

[0134] A current driving lane of the vehicle is determined from the target perception lane.

[0135] Optionally, the third determining module 530 is configured to:

[0136] Eliminate the to-be-eliminated lane from the sensed lanes to obtain a pending sensed lane;

[0137] Determining whether the number of the pending perception lanes is consistent with the number of lanes in the navigation route;

[0138] In the case where the number of lanes to be sensed is inconsistent with the number of lanes in the navigation route, taking the number of lanes in the navigation route as the target, perform addition and deletion operations on the lanes to be sensed to obtain the target sensed lanes.

[0139] Optionally, the third determination module 530 is configured to:

[0140] In the case where the number of lanes to be sensed is inconsistent with the number of lanes in the navigation route, if the number of lanes to be sensed is less than the number of lanes in the navigation route, taking the number of lanes in the navigation route as the target, perform an operation of adding lanes to the lanes to be sensed to obtain the target sensed lanes;

[0141] If the number of lanes to be sensed is more than the number of lanes in the navigation route, taking the number of lanes in the navigation route as the target, perform an operation of deleting lanes from the lanes to be sensed to obtain the target sensed lanes.

[0142] Optionally, the third determination module 530 is configured to:

[0143] In the case where the number of lanes to be sensed is inconsistent with the number of lanes in the navigation route, if the number of lanes to be sensed is less than the number of lanes in the navigation route, taking the number of lanes in the navigation route as the target, on the side away from the lane where the vehicle is currently traveling, perform an operation of adding lanes to the lanes to be sensed to obtain the target sensed lanes.

[0144] Optionally, the third determination module 530 is configured to:

[0145] If the number of lanes to be sensed is more than the number of lanes in the navigation route, taking the number of lanes in the navigation route as the target, on the side away from the lane where the vehicle is currently traveling, perform an operation of deleting lanes from the lanes to be sensed to obtain the target sensed lanes.

[0146] Optionally, the first determination module 510 is configured to:

[0147] Obtain the historical driving distance of the vehicle during this navigation along the navigation route;

[0148] According to the historical driving distance and the position information of each traffic intersection in the navigation route, determine the intersection distance between the vehicle and the next traffic intersection to be passed.

[0149] Optionally, the control module 540 is configured to:

[0150] When the lane change distance corresponding to each lane change is reached, determine whether the target lane corresponding to the current lane change of the vehicle is drivable;

[0151] When the target lane corresponding to the current lane change is drivable, control the vehicle to change lanes and drive;

[0152] When the target lane corresponding to the current lane change is not drivable, cancel the current lane change and control the vehicle to keep driving in the current driving lane.

[0153] Regarding the device in the above embodiments, the specific manners in which each module performs operations have been described in detail in the embodiments related to the method, and will not be elaborated here.

[0154] The embodiments of the present disclosure further provide a vehicle, including:

[0155] A processor;

[0156] A memory for storing processor-executable instructions;

[0157] Wherein, the processor is configured to execute the executable instructions stored in the memory to implement the method described in any one of the foregoing embodiments.

[0158] The embodiments of the present disclosure further provide a computer-readable storage medium, on which computer program instructions are stored, and when the program instructions are executed by a processor, the steps of the method described in any one of the foregoing embodiments are implemented.

[0159] Figure 6 FIG. is a block diagram of a vehicle 600 shown according to an exemplary embodiment. For example, the vehicle 600 may be a hybrid vehicle, or a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other types of vehicles. The vehicle 600 may be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.

[0160] Referring to Figure 6 , the vehicle 600 may include various subsystems. For example, an infotainment system 610, a perception system 620, a decision control system 630, a drive system 640, and a computing platform 650. Among them, the vehicle 600 may further include more or fewer subsystems, and each subsystem may include multiple components. In addition, each subsystem and each component of the vehicle 600 may be interconnected by wired or wireless means.

[0161] In some embodiments, the infotainment system 610 may include a communication system, an entertainment system, a navigation system, and the like.

[0162] The perception system 620 may include several types of sensors for sensing information about the environment around the vehicle 600. For example, the perception system 620 may include a global positioning system (the global positioning system may be a GPS system, or a Beidou system, or other positioning systems), an inertial measurement unit (IMU), lidar, millimeter-wave radar, ultrasonic radar, and a camera device.

[0163] The decision-making and control system 630 may include a computing system, a vehicle controller, a steering system, an accelerator, and a braking system.

[0164] The drive system 640 may include components that provide powered movement for the vehicle 600. In one embodiment, the drive system 640 may include an engine, an energy source, a transmission system, and wheels. The engine may be one or a combination of an internal combustion engine, an electric motor, and an air compression engine. The engine is capable of converting the energy provided by the energy source into mechanical energy.

[0165] Some or all functions of the vehicle 600 are controlled by the computing platform 650. The computing platform 650 may include at least one processor 651 and a memory 652, and the processor 651 may execute instructions 653 stored in the memory 652.

[0166] The processor 651 may be any conventional processor, such as a commercially available CPU. The processor may also include, for example, a Graphic Process Unit (GPU), a Field Programmable Gate Array (FPGA), a System on Chip (SOC), an Application Specific Integrated Circuit (ASIC), or a combination thereof.

[0167] The memory 652 may be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, a magnetic disk, or an optical disk.

[0168] In addition to the instructions 653, the memory 652 may also store data, such as road maps, route information, data on the position, direction, speed, etc. of the vehicle. The data stored in the memory 652 can be used by the computing platform 650.

[0169] In an embodiment of the present disclosure, the processor 651 may execute the instruction 653 to complete all or part of the steps of the above-described vehicle lane change driving method.

[0170] Those skilled in the art will readily conceive of other embodiments of the present disclosure after considering the specification and practicing the present disclosure. This application is intended to cover any variations, uses, or adaptations of the present disclosure, which follow the general principles of the present disclosure and include common general knowledge or conventional technical means in the technical field not disclosed in the present disclosure. The specification and examples are only to be considered as exemplary, and the true scope and spirit of the present disclosure are pointed out by the following claims.

[0171] It should be understood that the present disclosure is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present disclosure is only limited by the appended claims.

Claims

1. A method for a vehicle to change lanes and drive, characterized in that, Including: Determine the intersection distance between the vehicle and the next approaching traffic intersection; Determine whether the vehicle changes lanes according to the navigation driving lane in the navigation route and the lane in which the vehicle is currently driving in the perception information; When it is determined that the vehicle changes lanes, determine the lane-changing distance between each lane change of the vehicle and the next traffic intersection according to the number of deviated lanes and the intersection distance; Control the vehicle to change lanes according to the lane-changing distance.

2. The method according to claim 1, wherein Before determining the lane-changing distance between each lane change of the vehicle and the next traffic intersection according to the number of deviated lanes and the intersection distance when it is determined that the vehicle changes lanes, it includes: Determine the traffic direction of each of the perceived lanes according to the lane line information in the perceived lanes; Determine the lane in which the vehicle is currently driving from the perceived lanes according to the traffic direction of each of the perceived lanes and the driving direction of the vehicle; Determine the number of deviated lanes of the vehicle according to the driving lane and the navigation driving lane in the navigation route.

3. The method according to claim 2, characterized in that, The determining the lane in which the vehicle is currently driving from the perceived lanes according to the traffic direction of each of the perceived lanes and the driving direction of the vehicle includes: Determine whether there are lanes to be excluded in the perceived lanes according to the traffic direction of each of the perceived lanes and the driving direction of the vehicle, where the lanes to be excluded include non-motor vehicle lanes, oncoming lanes opposite to the driving direction of the vehicle, and sidewalks; Exclude the lanes to be excluded from the perceived lanes to obtain target perceived lanes; Determine the lane in which the vehicle is currently driving from the target perceived lanes.

4. The method according to claim 3, wherein The excluding the lanes to be excluded from the perceived lanes to obtain target perceived lanes includes: Exclude the lanes to be excluded from the perceived lanes to obtain pending perceived lanes; Determine whether the number of the pending perceived lanes is consistent with the number of lanes in the navigation route; When the number of the pending perceived lanes is inconsistent with the number of lanes in the navigation route, perform addition and deletion operations on the pending perceived lanes with the number of lanes in the navigation route as the target to obtain target perceived lanes.

5. The method according to claim 4, wherein The performing addition and deletion operations on the pending perceived lanes with the number of lanes in the navigation route as the target to obtain target perceived lanes when the number of the pending perceived lanes is inconsistent with the number of lanes in the navigation route includes: When the number of the pending perceived lanes is inconsistent with the number of lanes in the navigation route, if the number of the pending perceived lanes is less than the number of lanes in the navigation route, perform a lane addition operation on the pending perceived lanes with the number of lanes in the navigation route as the target to obtain target perceived lanes; If the number of the pending perceived lanes is more than the number of lanes in the navigation route, perform a lane deletion operation on the pending perceived lanes with the number of lanes in the navigation route as the target to obtain target perceived lanes.

6. The method according to claim 5, characterized in that, In the case where the number of the to-be-determined sensed lanes is inconsistent with the number of lanes in the navigation route, if the number of the to-be-determined sensed lanes is less than the number of lanes in the navigation route, taking the number of lanes in the navigation route as the target, performing a lane addition operation on the to-be-determined sensed lanes to obtain target sensed lanes, including: In the case where the number of the to-be-determined sensed lanes is inconsistent with the number of lanes in the navigation route, if the number of the to-be-determined sensed lanes is less than the number of lanes in the navigation route, taking the number of lanes in the navigation route as the target, and performing a lane addition operation on the to-be-determined sensed lanes on the side away from the lane where the vehicle is currently traveling to obtain target sensed lanes.

7. The method according to claim 5, characterized in that In the case where the number of the to-be-determined sensed lanes is more than the number of lanes in the navigation route, taking the number of lanes in the navigation route as the target, performing a lane deletion operation on the to-be-determined sensed lanes to obtain target sensed lanes, including: In the case where the number of the to-be-determined sensed lanes is more than the number of lanes in the navigation route, taking the number of lanes in the navigation route as the target, and performing a lane deletion operation on the to-be-determined sensed lanes on the side away from the lane where the vehicle is currently traveling to obtain target sensed lanes.

8. The method according to any one of claims 1 to 7, characterized in that Determining the intersection distance between the vehicle and the next upcoming traffic intersection includes: Obtaining the historical driving distance of the vehicle during the current navigation along the navigation route; Determining the intersection distance between the vehicle and the next upcoming traffic intersection according to the historical driving distance and the position information of each traffic intersection in the navigation route.

9. The method according to any one of claims 1-7, characterized in that, Controlling the vehicle to change lanes according to the lane change distance includes: When the lane change distance corresponding to each lane change is reached, determining whether the target lane corresponding to the current lane change of the vehicle is drivable; When the target lane corresponding to the current lane change is drivable, controlling the vehicle to change lanes; When the target lane corresponding to the current lane change is not drivable, canceling the current lane change and controlling the vehicle to maintain the current driving lane.

10. A vehicle lane-changing driving device, characterized in that, Including: A first determination module configured to determine the intersection distance between the vehicle and the next upcoming traffic intersection; A second determination module configured to determine whether the vehicle changes lanes according to the navigation driving lanes in the navigation route and the lane where the vehicle is currently traveling in the sensing information; A third determination module configured to, when it is determined that the vehicle changes lanes, determine the lane change distance between each lane change of the vehicle and the next traffic intersection according to the number of deviated lanes and the intersection distance; A control module configured to control the vehicle to change lanes according to the lane change distance.

11. A vehicle, characterized in that, Including: A processor; A memory for storing instructions executable by the processor; Wherein, the processor is configured to execute the executable instructions stored in the memory to implement the method according to any one of claims 1-9.

12. A computer-readable storage medium having computer program instructions stored thereon, characterized in that, When the program instructions are executed by the processor, the steps of the method according to any one of claims 1-9 are implemented.

Images