Auxiliary lane changing method and device for ramp driving-in scene and vehicle

Abstract

The invention discloses an auxiliary lane changing method and device for a ramp driving-in scene and a vehicle, and belongs to the technical field of vehicles. The auxiliary lane changing method for the ramp driving-in scene comprises the steps that in response to lane changing triggering of a vehicle in the ramp driving-in scene, an edge lane line and a road shoulder area are recognized; determining a relative position relationship between the edge lane line and the road shoulder area, and analyzing whether the edge lane line is identified abnormally according to the relative position relationship; under the condition of abnormal identification of the edge lane line, controlling the vehicle to keep running on the current lane, and comparing the lane width of the adjacent lane in the current frame of environment image of the collected vehicle with the lane width of the adjacent lane in the previous frame of environment image; if the comparison result indicates that the width of the adjacent lane in the current frame environment image is smaller than the width of the adjacent lane in the previous frame environment image, determining that the edge lane line recognition is normal, and controlling the vehicle to change the lane. According to the method, the collision risk of the vehicle on the ramp entrance road section due to wrong identification of the edge lane line can be avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and particularly to an auxiliary lane-changing method, device and vehicle for a ramp entry scenario. Background Art

[0002] A vehicle assisted driving system generally needs to identify lane lines and assist driving based on the identified lane lines. However, in the ramp entrance section, due to the relatively large change in the angle of the lane lines or the section without lane lines, the vehicle assisted driving system will erroneously identify the roadside as a lane line and assist driving based on this incorrect lane line information, resulting in a relatively high collision risk for the vehicle in the ramp entrance section. Summary of the Invention

[0003] In view of this, the present invention provides an assisted driving method, device and vehicle, which can determine whether the identified edge lane line is accurate, so as to assist driving based on the accurate edge lane line and avoid the collision risk caused by incorrect identification of the edge lane line for the vehicle in the ramp entrance section.

[0004] To solve the above technical problems, the present invention provides the following technical solutions:

[0005] In a first aspect, the present invention provides an auxiliary lane-changing method for a ramp entry scenario, including:

[0006] In response to a lane-changing trigger of the vehicle in the ramp entry scenario, identify the edge lane line and the shoulder area;

[0007] Determine the relative position relationship between the edge lane line and the shoulder area, and analyze whether the edge lane line is abnormally identified according to the relative position relationship;

[0008] In the case where the edge lane line is abnormally identified, control the vehicle to maintain its current lane and compare the lane width of the adjacent lane in the current frame of the vehicle's captured environment image with the lane width of the adjacent lane in the previous frame of the environment image;

[0009] If the comparison result indicates that the width of the adjacent lane in the current frame of the environment image is less than the width of the adjacent lane in the previous frame of the environment image, determine that the edge lane line identification has returned to normal, and control the vehicle to change lanes.

[0010] Optionally, the identifying the shoulder area includes:

[0011] Identify the road guardrail and / or the shoulder line close to the vehicle.

[0012] Optionally, the determining the relative position relationship between the edge lane line and the shoulder area, and analyzing whether the edge lane line is abnormally identified according to the relative position relationship includes:

[0013] Determine the distance between the edge lane line and the shoulder area, and compare the distance with a preset distance threshold;

[0014] When the comparison result indicates that the distance is less than the distance threshold, determine that the edge lane line is abnormally recognized;

[0015] When the comparison result indicates that the distance is not less than the distance threshold, determine that the edge lane line is normally recognized.

[0016] Optionally, the distance threshold is 0.2 m to 0.4 m.

[0017] Optionally, before comparing the width of adjacent lanes in the currently acquired vehicle environment image with the width of adjacent lanes in the previous frame of the environment image, it further includes:

[0018] Identify the lane width of the adjacent lane close to the shoulder side adjacent to the lane where the vehicle is located;

[0019] When the lane width of the adjacent lane close to the shoulder side exceeds a preset lane width threshold, determine that the edge lane line is abnormally recognized.

[0020] Optionally, when there is an emergency lane provided on the side of the road close to the shoulder, the lane width threshold is 6.6 m to 7 m;

[0021] When there is no emergency lane provided on the side of the road close to the shoulder, the lane width threshold is 4.4 m to 4.6 m.

[0022] Optionally, the identifying the lane width of the adjacent lane close to the shoulder side adjacent to the lane where the vehicle is located includes:

[0023] Identify the lane line on the shoulder side of the lane where the vehicle is located;

[0024] Determine that the distance between the lane line on the shoulder side of the lane where the vehicle is located and the edge lane line is the lane width of the adjacent lane close to the shoulder side.

[0025] Optionally, the controlling the vehicle to keep driving in the current lane includes:

[0026] Generate and send a first control signal indicating a prohibited lane change to the lane change control module of the vehicle, so that the lane change control module drives the vehicle to keep driving in the current lane;

[0027] And / or,

[0028] The controlling the vehicle to change lanes includes:

[0029] Generate and send a second control signal indicating a lane change into the ramp to the lane change control module of the vehicle, so that the lane change control module drives the vehicle to change lanes into the ramp.

[0030] In a second aspect, an embodiment of the present invention provides an auxiliary lane change device for a ramp entry scenario, including: an identification and analysis module, an image comparison module, and a lane change control module, where

[0031] The identification and analysis module responds to a lane change trigger in a ramp entry scenario, identifies the edge lane line and the shoulder area; determines the relative positional relationship between the edge lane line and the shoulder area, and analyzes whether the edge lane line is abnormally identified according to the relative positional relationship.

[0032] The lane change control module is configured to control the vehicle to maintain its current lane when the identification and analysis module analyzes that the edge lane line is abnormally identified.

[0033] The image comparison module is configured to compare the lane width of the adjacent lane in the current frame of the vehicle's environmental image collected with the lane width of the adjacent lane in the previous frame of the environmental image when the identification and analysis module analyzes that the edge lane line is abnormally identified.

[0034] The lane change control module is further configured to determine that the edge lane line identification has returned to normal and control the vehicle to change lanes when the comparison result of the image comparison module indicates that the width of the adjacent lane in the current frame of the environmental image is less than the width of the adjacent lane in the previous frame of the environmental image.

[0035] In a third aspect, an embodiment of the present invention provides an electronic device, including:

[0036] One or more processors;

[0037] A storage device for storing one or more programs,

[0038] When the one or more programs are executed by the one or more processors, the one or more processors implement the auxiliary lane change method for the ramp entry scenario provided in the first aspect embodiment as described above.

[0039] In a fourth aspect, an embodiment of the present invention provides a computer-readable medium, on which a computer program for implementing the visual auxiliary lane change method is stored,

[0040] When the computer program is executed by an in-vehicle processor, it implements the auxiliary lane change method for the ramp entry scenario provided in the first aspect embodiment as described above.

[0041] In a fifth aspect, an embodiment of the present invention provides a vehicle that implements the auxiliary lane-changing method for the ramp entry scenario provided in the embodiment of the first aspect above or includes the auxiliary lane-changing device for the ramp entry scenario provided in the embodiment of the second aspect above.

[0042] The technical solution of the above invention has the following advantages or beneficial effects:

[0043] The technical solution provided by the embodiment of the present invention, for the ramp entry scenario, analyzes whether the edge lane line is abnormally recognized by the relative position relationship between the recognized edge lane line and the shoulder area. In the case where the edge lane line is abnormally recognized, the vehicle is controlled to keep driving in the current lane, and further, the lane width of the adjacent lane in the current frame of the environmental image is compared with the lane width of the adjacent lane in the previous frame of the environmental image to determine that the recognition of the edge lane line returns to normal, so as to assist driving based on the accurate edge lane line and avoid the problem that the vehicle changes lanes inappropriately due to the misrecognition of the edge lane line (i.e., recognizing the shoulder area as the edge lane line) in the ramp entrance section, thereby avoiding the collision risk caused by the wrong lane change of the vehicle in the ramp entry scenario. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 is a first schematic diagram of the relative relationship between a vehicle and a road in a ramp entry scenario;

[0045] Figure 2 is a second schematic diagram of the relative relationship between a vehicle and a road in a ramp entry scenario;

[0046] Figure 3 is a third schematic diagram of the relative relationship between a vehicle and a road in a ramp entry scenario;

[0047] Figure 4 is a fourth schematic diagram of the relative relationship between a vehicle and a road in a ramp entry scenario;

[0048] Figure 5 is an exemplary system architecture diagram to which the embodiment of the present invention can be applied;

[0049] Figure 6 is a main flow schematic diagram of the auxiliary lane-changing method for the ramp entry scenario provided by the embodiment of the present invention;

[0050] Figure 7 is a fifth schematic diagram of the relative relationship between a vehicle and a road in a ramp entry scenario provided by the embodiment of the present invention;

[0051] Figure 8 is a sixth schematic diagram of the relative relationship between a vehicle and a road in a ramp entry scenario provided by the embodiment of the present invention;

[0052] Figure 9 It is a schematic diagram of the main process of the assisted lane-changing method for the ramp entry scenario provided according to another embodiment of the present invention;

[0053] Figure 10 It is a partial structural schematic diagram of the assisted lane-changing device for the ramp entry scenario provided according to an embodiment of the present invention;

[0054] Figure 11 It is a structural schematic diagram of a computer system suitable for implementing the assisted lane-changing for the ramp entry scenario according to an embodiment of the present invention. Detailed implementation manners

[0055] For the ramp entry scenario of a vehicle, exemplarily, as Figures 1 to 4 (where Figure 1 and Figure 2 show a ramp without an emergency lane, Figure 3 and Figure 4 show a ramp with an emergency lane Em) shown, the vehicle V1 needs to change lanes from the main road L to enter the ramp R. When the vehicle V1 is in the case of the automatic driving system operating the lane change, the automatic driving system generally locates according to the map. When the vehicle V1 reaches the entrance of the ramp R, it will drive the control system of the vehicle V1 according to the recognized edge lane line to control the vehicle V1 to change lanes according to the edge lane line. However, due to certain positioning errors in the map positioning method, when the vehicle is in Figure 1 or Figure 3 the position shown (that is, the vehicle has just driven to the intersection of the main road L and the ramp R and has not reached the lane change position), research finds that due to the certain angle between the main road and the ramp and the existence of blind spots (that is, the edge lane EL is located in the blind area of the vehicle), at Figure 1 or Figure 3 the position shown, the vehicle's vision system is likely to misidentify the road shoulder line or the road guardrail (that is, Figure 1 or Figure 3 the road shoulder area brd shown) as the edge lane line EL. That is, at this position, when the vehicle changes lanes using the road shoulder line or the road guardrail as the edge lane line EL and during the lane change process based on the wrong edge lane line, the vehicle is likely to hit the road shoulder or the road guardrail. In addition, it is also very likely to have a collision accident when driving the vehicle V1 to change lanes at the Figure 1 or Figure 3 position.

[0056] Further research finds that even when the vehicle travels to Figure 2 or Figure 4 the area shown, that is, the rear of the vehicle has just passed the intersection of the main road L and the ramp R. At this time, the edge lane line EL is still relatively close to the vehicle and there is still part of it in the blind area of the vehicle's vision system. The vision system will still identify the road shoulder or the road guardrail (that is, Figure 2 orFigure 4 The shoulder area brd) shown is misidentified as the edge lane line EL. At this time, there is still a high probability of lane change based on the incorrect edge lane line, resulting in a relatively high safety risk for the vehicle. To solve the above problems of the vehicle in the ramp entry scenario, an embodiment of the present invention provides an auxiliary lane change method, device, and vehicle for the ramp entry scenario.

[0057] The following describes exemplary embodiments of the present invention with reference to the accompanying drawings. Various details of the embodiments of the present invention are included to facilitate understanding, and they should be considered merely exemplary. Therefore, those of ordinary skill in the art should recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present invention. Similarly, descriptions of well-known functions and structures are omitted below for clarity and conciseness.

[0058] It should be noted that, without conflict, the embodiments of the present invention and the technical features in the embodiments can be combined with each other.

[0059] As Figures 1 to 4 and Figure 7 and Figure 8 shown, the edge lane line EL involved in the embodiment of the present invention generally refers to the road edge planned for the road, which is close to the shoulder area brd.

[0060] Based on the system architecture on which the technical solution provided by the embodiment of the present invention depends, the technical scenarios applicable to the technical solution provided by the embodiment of the present invention are described below.

[0061] Figure 5 An exemplary system architecture 500 on which the auxiliary lane change method for the ramp entry scenario or the auxiliary lane change device for the ramp entry scenario provided by the embodiment of the present invention can be applied is shown.

[0062] As Figure 5 shown, the vehicle system architecture 500 may include various systems, such as a driving control system 501, a power system 502, a sensor system 503, a control system 504, an auxiliary lane change system 505, one or more peripheral devices 506, a power supply 507, a computer system 508, and a user interface 509. Among them, the auxiliary lane change method for the ramp entry scenario provided by the embodiment of the present invention can be implemented through interaction with the above various systems. Optionally, the vehicle system architecture 500 may include more or fewer systems, and each system may include multiple elements. In addition, each system and element of the vehicle system architecture 500 can be interconnected by wire or wirelessly.

[0063] Among them, the vehicle system architecture 500 includes a driving control system 501, and the driving control system 501 can be in a full or partial autonomous driving mode. For example, the driving control system 501 can automatically control the vehicle to change lanes without interacting with a person, according to the lane change signal or lane change instruction provided by the assisted lane change system 505.

[0064] The power system 502 may include components that provide power movement for the vehicle. For example, the power system 102 may include an engine, an energy source, a transmission, wheels, tires, etc. Among them, the engine can be an internal combustion engine, an electric motor, an air compression engine, or a combination of other types of engines, such as a hybrid engine composed of a gasoline engine and an electric motor, and a hybrid engine composed of an internal combustion engine and an air compression engine. The engine converts the energy source into mechanical energy and provides it to the transmission. Examples of the energy source may include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other power sources. The energy source can also provide energy for other systems of the vehicle. In addition, the transmission may include a gearbox, a differential, a drive shaft, a clutch, etc.

[0065] The sensor system 503 may include sensors that sense the surrounding environment of the vehicle (such as sensors that sense whether there are obstacles around, etc.) and pressure sensors that sense whether there are passengers on the seat. For example, a positioning system (the positioning system can be a global positioning system (GPS) system), or it can be a Beidou system or other positioning systems), radar, a laser rangefinder, an inertial measurement unit (IMU), and a camera, etc. The positioning system can be used to locate the geographical location of the vehicle. The IMU is used to sense the position and orientation changes of the vehicle based on inertial acceleration. In one embodiment, the IMU can be a combination of an accelerometer and a gyroscope. Radar can use radio signals to sense objects within the surrounding environment of the vehicle. In some embodiments, in addition to sensing objects, radar can also be used to sense the speed and / or forward direction of the objects, etc.

[0066] Among them, in order to detect environmental information, objects, etc. outside the vehicle, cameras, etc. can be configured at appropriate positions outside the vehicle. For example, in order to obtain an environmental image of the side of the vehicle, the camera can be on the side mirror of the vehicle. The camera can be a static or video camera.

[0067] The control system 504 may include a software system for implementing vehicle driving control, such as a system for analyzing the vehicle's surrounding environment, a system for pre-tightening seat belts, a route planning system, an obstacle avoidance system, a vision system for image analysis, etc. The control system 504 may also include hardware systems such as an accelerator, a steering wheel system, a seat belt system, an airbag system, and peripheral devices (such as projection devices, displays, etc.). Additionally, the control system 504 may additionally or alternatively include components other than those shown and described. Or some of the above-described components may be reduced.

[0068] Furthermore, as described above, the control system 504 may further implement a part of the above-described auxiliary lane change method for the ramp entry scenario. In response to a lane change trigger in the ramp entry scenario, it identifies the edge lane line and the shoulder area; determines the relative positional relationship between the edge lane line and the shoulder area, and analyzes whether the edge lane line is abnormally identified based on the relative positional relationship; in the case where the edge lane line is abnormally identified, it controls the vehicle to maintain its current lane and compares the lane width of the adjacent lane in the currently captured vehicle environment image with the lane width of the adjacent lane in the previous frame of the environment image; when the comparison result indicates that the width of the adjacent lane in the currently captured vehicle environment image is less than the width of the adjacent lane in the previous frame of the environment image, it determines that the identification of the edge lane line has returned to normal, and enables the auxiliary lane change system 505 to output a lane change signal or a lane change instruction to the driving control system 501. The driving control system 501 automatically controls the vehicle to change lanes according to the lane change signal or lane change instruction output by the auxiliary lane change system 505.

[0069] In addition, the control system 504 may also interact with external sensors, other autonomous driving devices, other computer systems, or users through the peripheral device 506. The peripheral device 506 may include a wireless communication system, an in-vehicle computer, a microphone and / or a speaker, a camera, and a projector, etc.

[0070] After receiving the trigger, the auxiliary lane change system 505 assists the auxiliary power system 502 and the control system 504 to control the vehicle to change lanes. Additionally, the auxiliary lane change system 505 interacts with the control system 504, and the control system 504 provides a lane change trigger for the auxiliary lane change system 505, so that the auxiliary lane change system 505 generates a lane change signal or a lane change instruction based on the lane change trigger, and through the lane change signal or lane change instruction, enables the driving control system 501 to drive the vehicle to change lanes.

[0071] In some embodiments, the peripheral device 506 provides means for a user of the control system 504 to interact with the user interface. For example, an in-vehicle computer may provide information to a user of the vehicle. The user interface may also operate the in-vehicle computer to receive user input. The in-vehicle computer may be operated via a touch screen. In other cases, the peripheral device may provide means for communicating with other devices located within the vehicle. For example, a microphone may receive audio (e.g., voice commands or other audio input) from a user of the control system 504. Similarly, a speaker may output audio to a user of the control system 504.

[0072] The wireless communication system may wirelessly communicate with one or more devices directly or via a communication network. For example, the wireless communication system may communicate using networks such as cellular networks, WiFi and wireless local area network (WLAN), or may directly communicate with devices using infrared links, Bluetooth, or ZigBee. Other wireless protocols, such as various communication systems for autonomous driving, etc.

[0073] The power supply 507 may supply power to various components of the vehicle. The power supply 507 may be a rechargeable lithium-ion or lead-acid battery.

[0074] Implementing some or all of the functions for assisted lane change in a ramp entry scenario is controlled by the computer system 508. The computer system 508 may include at least one processor that executes instructions stored in a non-transitory computer-readable medium such as a memory. The computer system 508 provides the execution code for the above control system to implement assisted lane change in a ramp entry scenario.

[0075] The processor may be any conventional processor, such as a commercially available central processing unit (CPU). Alternatively, the processor may be a dedicated device such as an application-specific integrated circuit (ASIC) or other hardware-based processor. Those of ordinary skill in the art should understand that the processor, computer, or memory may actually include multiple processors, computers, or memories that may or may not be stored within the same physical enclosure. For example, the memory may be a hard disk drive or other storage medium located within an enclosure different from the computer. Therefore, a reference to a processor or computer will be understood to include a reference to a collection of processors or computers or memories that may or may not operate in parallel. Instead of using a single processor to execute the steps described herein, some components such as the steering component and the deceleration component may each have their own processor that only performs calculations related to component-specific functions.

[0076] A user interface 509 for providing information to or receiving information from a user of the vehicle. Optionally, the user interface 509 may include one or more input / output devices within the set of peripheral devices 506, such as a wireless communication system, an in-vehicle computer, a microphone, and a speaker.

[0077] It should be understood that the above components are only examples. In actual applications, the components in the above-mentioned modules or systems may be added or deleted according to actual needs. Figure 5 It should not be construed as a limitation to the embodiments of the present application.

[0078] Figure 6 It is a schematic diagram of the main steps of an assisted lane change method for a ramp entry scenario according to an embodiment of the present invention. Specifically, as Figure 6 shown, the assisted lane change method for the ramp entry scenario mainly includes the following steps:

[0079] Step S601: Identify the edge lane line and the shoulder area: In response to a lane change trigger when the vehicle is in a ramp entry scenario, identify the edge lane line and the shoulder area.

[0080] The lane change trigger means that the assisted lane change system or module downstream of the vehicle receives a lane change signal or instruction sent by the control system or module upstream of the vehicle. This step intercepts the lane change signal or instruction sent by the control system or module to the assisted lane change system or module by monitoring the control system or module.

[0081] The edge lane line refers to Figures 1 to 4 and Figure 7 and Figure 8 the edge lane line EL marked, and the shoulder area is Figures 1 to 4 and Figure 7 and Figure 8 the shoulder area brd marked.

[0082] Preferably, the specific implementation of identifying the shoulder area may include: identifying the road guardrail and / or the shoulder line close to the vehicle.

[0083] Generally speaking, in the ramp entry scenario, when a vehicle changes lanes based on the edge lane line EL, it is necessary to ensure that the vehicle's vision system can accurately identify the edge lane line EL, rather than misidentifying the shoulder area brd as the edge lane line EL. Therefore, how to ensure the accurate identification of the edge lane line EL and avoid misidentification by the vehicle's vision system can effectively reduce the collision risk of the vehicle in the ramp entry scenario. Based on this, the technical solution provided by the present invention uses the edge lane line and the shoulder area to distinguish whether the vehicle's vision system misidentifies the shoulder area as the edge lane line. On the one hand, it can distinguish whether the vehicle's vision system is operating abnormally, and on the other hand, it can determine whether the edge lane line is misidentified, so as to ensure that the vehicle lane change in the ramp entry scenario is completed based on the accurate edge lane line normally identified by the vision system.

[0084] Step S602: Analyze the result of edge lane line recognition: Determine the relative position relationship between the edge lane line and the shoulder area, and analyze whether the edge lane line is abnormally recognized according to the relative position relationship; in the case N1 where the edge lane line is abnormally recognized, execute step S603; in the case Y1 where the edge lane line is normally recognized, execute step S604.

[0085] Generally speaking, as Figure 7 and Figure 8 shown, there is a certain relative position relationship between the edge lane line EL and the shoulder area brd. For example, the edge lane line is located inside the shoulder area, and there is a certain distance D1 between the edge lane line EL and the shoulder area brd, etc. Then, based on this relative position relationship, it can be analyzed whether the edge lane line is abnormally recognized. Exemplarily, if only the edge lane line EL is recognized, or only the shoulder area brd is recognized, or the edge lane line EL coincides with the shoulder area brd, or the edge lane line EL is located outside the shoulder area brd, or the distance between the edge lane line EL and the shoulder area brd is too small, etc., it is determined that the edge lane line EL is abnormally recognized, that is, the vehicle's vision system misidentifies the edge lane line EL.

[0086] Step S603: Image comparison: Control the vehicle to keep driving in the current lane, and compare the lane width of the adjacent lane in the currently captured environmental image of the vehicle with the lane width of the adjacent lane in the previous environmental image; in the case Y2 where the comparison result indicates that the width of the adjacent lane in the currently captured environmental image is less than the width of the adjacent lane in the previous environmental image, execute step S604; in the case N2 where the comparison result indicates that the width of the adjacent lane in the currently captured environmental image is not less than the width of the adjacent lane in the previous environmental image, execute step S605.

[0087] In the case where the edge lane line EL is abnormally recognized, as Figure 7 and Figure 8As shown, the shoulder area brd is misrecognized as the edge lane line. Based on this incorrect recognition, the lane width of the adjacent lane recognized by the vision system is actually the distance between the lane line of the lane where vehicle V1 is located close to ramp R and the shoulder area brd ( Figure 7 D3' shown in Figure 8 or D4' shown in Figure 7 If the vision system can correctly recognize the edge lane line EL, the lane width of the adjacent lane it recognizes is the distance between the lane line of the lane where vehicle V1 is located close to ramp R and the actual edge lane line EL ( Figure 8 D3 shown in

[0088] or D4 shown in

[0089] Then, by directly comparing the lane width of the adjacent lane in the current frame image with the lane width of the adjacent lane in the previous frame of the environmental image, it can be analyzed whether the vision system of the vehicle has returned to normal or whether the vision system of the vehicle has accurately recognized the edge lane line EL.

[0090] In the case where it is analyzed that the recognition of the edge lane line is abnormal based on the relative position relationship between the edge lane line and the shoulder area, directly compare the lane width of the adjacent lane in the current frame image with the lane width of the adjacent lane in the previous frame of the environmental image, without having to distinguish the edge lane line and the shoulder area anymore, effectively improving the recognition efficiency to ensure that the vehicle can change lanes in a timely and appropriate position and avoid missing the ramp entrance.

[0091] In Figure 6 the provided embodiment, for the ramp entry scenario, based on the relative position relationship between the recognized edge lane line and the shoulder area, analyze whether the recognition of the edge lane line is abnormal. In the case where the recognition of the edge lane line is abnormal, control the vehicle to keep driving in the current lane, and further compare the lane width of the adjacent lane in the current frame image with the lane width of the adjacent lane in the previous frame image to determine that the recognition of the edge lane line has returned to normal, so as to assist driving based on the accurate edge lane line and avoid the problem that the vehicle changes lanes in an inappropriate position due to incorrect recognition of the edge lane line (recognizing the shoulder area as the edge lane line) in the ramp entrance section, thereby avoiding the collision risk caused by incorrect lane changes of the vehicle in the ramp entry scenario.

[0092] Preferably, the specific implementation of the above step S602 may include: determining the distance between the edge lane line and the shoulder area, and comparing the distance with a preset distance threshold; when the comparison result indicates that the distance is less than the distance threshold, determining that the recognition of the edge lane line is abnormal; when the comparison result indicates that the distance is not less than the distance threshold, determining that the recognition of the edge lane line is normal. Generally speaking, as Figure 7 and Figure 8 shown, there is a certain distance D1 between the edge lane line EL and the shoulder area brd, and this distance D1 is generally not less than the distance threshold. Based on this, when it is recognized that the distance between the edge lane line EL and the shoulder area brd is less than the distance threshold, it can be directly determined that the recognition of the edge lane line is abnormal. Preferably, the distance threshold can be 0.2m to 0.4m. For example, the distance threshold can be 0.2m, 0.25m, 0.3m, 0.35m or 0.4m, etc. It can be understood that the corresponding distance thresholds for different ramps may be different, and this distance threshold can be directly obtained from the data maintained by the road system to ensure that when comparing the distance with the preset distance threshold, it can accurately identify whether the recognition of the edge lane line is abnormal.

[0093] Furthermore, in order to further ensure the correct recognition of the edge lane line and the accuracy of recognizing the edge lane line, before the above step S602, it may further include: recognizing the lane width of the adjacent lane close to the shoulder side adjacent to the lane where the vehicle is located; when the lane width of the adjacent lane close to the shoulder side exceeds the preset lane width threshold, determining that the recognition of the edge lane line is abnormal. Exemplarily, as Figure 7 shown, the lane width of the adjacent lane close to the shoulder side adjacent to the lane where the vehicle is located refers to the distance D3 between the lane line close to the shoulder side in the lane where the vehicle is located and the edge lane line EL. When the edge lane line EL is recognized abnormally (i.e., misrecognizing the shoulder area brd as the edge lane line), the distance D3' between the shoulder area brd and the lane line close to the shoulder side in the lane where the vehicle is located will be wrongly considered as the distance between the lane line close to the shoulder side in the lane where the vehicle is located and the edge lane line EL, that is, the recognition of the edge lane line EL is abnormal. As Figure 8As shown in the figure, the lane width of the adjacent lane on the shoulder side adjacent to the lane where the vehicle is located refers to the distance D4 between the lane line on the shoulder side in the lane where the vehicle is located and the edge lane line EL. If the edge lane line EL is abnormally recognized (i.e., the shoulder area brd is wrongly recognized as the edge lane line), the distance D4' between the shoulder area brd and the lane line on the shoulder side in the lane where the vehicle is located will be wrongly regarded as the distance between the lane line on the shoulder side in the lane where the vehicle is located and the edge lane line EL, that is, the edge lane line EL is abnormally recognized. Based on this, it is possible to compare the distance between the lane line on the shoulder side in the lane where the vehicle is located and the edge lane line EL with the lane width threshold to further determine whether the recognition of the edge lane line EL is abnormal, improve the accuracy of the recognition of the edge lane line EL, and improve the safety and reliability of the vehicle when changing lanes at the ramp entrance.

[0094] Among them, in the case where there is an emergency lane Em set on the shoulder side of the road as shown in Figure 8 the figure, the lane width threshold is generally 6.6m to 7m; for example, the lane width threshold can be 6.6m, 6.7m, 6.8m, 6.9m or 7m, etc.

[0095] In the case where there is no emergency lane set on the shoulder side of the road as shown in Figure 7 the figure, the lane width threshold is 4.4m to 4.6m. For example, the lane width threshold can be 4.4m, 4.5m or 6.6m, etc.

[0096] Furthermore, the specific implementation manner of recognizing the lane width of the adjacent lane on the shoulder side adjacent to the lane where the vehicle is located may include: recognizing the lane line on the shoulder side of the lane where the vehicle is located; determining the distance between the lane line on the shoulder side of the lane where the vehicle is located and the edge lane line as the lane width of the adjacent lane on the shoulder side. By using the distance between the lane line on the shoulder side of the lane where the vehicle is located and the edge lane line as the width of the adjacent lane line and cooperating with the distance between the edge lane line and the shoulder area, the accuracy and reliability of analyzing whether the edge lane line is abnormally recognized can be further improved.

[0097] Furthermore, the specific implementation manner of the above-mentioned control for the vehicle to maintain driving in the current lane may include: generating and sending a first control signal indicating a prohibited lane change to the lane change control module of the vehicle, so that the lane change control module drives the vehicle to maintain driving in the current lane.

[0098] Furthermore, the specific implementation manner of the above-mentioned control for the vehicle to change lanes may include: generating and sending a second control signal indicating a lane change into the ramp to the lane change control module of the vehicle, so that the lane change control module drives the vehicle to change lanes into the ramp.

[0099] Among them, the lane change control module can be replaced by the above-mentioned assisted lane change system or assisted lane change module.

[0100] By indicating a first control signal for prohibiting lane changes to the lane change control module of the vehicle and / or a second control signal for indicating a lane change into the ramp, it is possible to improve the lane change safety and reliability of the vehicle in the ramp entry scenario on the basis of the original assisted lane change without changing the original lane change control module or the assisted driving system or the assisted lane change module of the vehicle, by means of the first control signal and / or the second control signal.

[0101] Furthermore, an embodiment of the present invention also provides a main flow schematic diagram of another assisted lane change method for the ramp entry scenario. As Figure 9 shown, the another assisted lane change method for the ramp entry scenario may include the following steps:

[0102] Step S901: Identify the edge lane line and the shoulder area: In response to a lane change trigger of the vehicle in the ramp entry scenario, identify the edge lane line and the road guardrail close to the vehicle.

[0103] Step S902: Analyze the result of the edge lane line identification: Determine the distance between the edge lane line and the shoulder area, and compare the distance with a preset distance threshold. When the comparison result indicates that the distance is less than the distance threshold N3, execute step S903; when the comparison result indicates that the distance is not less than the distance threshold Y3, execute step S904.

[0104] Step S903: Prohibit lane change: Determine that the edge lane line identification is abnormal, generate and send a first control signal for prohibiting lane change to the lane change control module of the vehicle, so that the lane change control module drives the vehicle to keep driving in the current lane, and execute step S907.

[0105] Step S904: Determine that the edge lane line identification is normal.

[0106] Step S905: Identify the lane line on the shoulder side of the lane where the vehicle is located.

[0107] Step S906: Determine the adjacent lane width: Determine the distance between the lane line on the shoulder side of the lane where the vehicle is located and the edge lane line as the lane width of the adjacent lane on the shoulder side; when the lane width of the adjacent lane on the shoulder side exceeds the preset lane width threshold N4, execute step S903; when the lane width of the adjacent lane on the shoulder side is lower than the preset lane width threshold, execute step S907.

[0108] Step S907: Image comparison: Control the vehicle to keep driving in the current lane, and compare the lane width of the adjacent lane in the currently acquired environmental image of the vehicle with the lane width of the adjacent lane in the previous environmental image; if the comparison result indicates that the width of the adjacent lane in the currently acquired environmental image is less than the width Y5 of the adjacent lane in the previous environmental image, execute Step S908; if the comparison result indicates that the width of the adjacent lane in the currently acquired environmental image is not less than the width N5 of the adjacent lane in the previous environmental image, execute Step S909.

[0109] Step S908: Control the vehicle to change lanes: Determine that the recognition of the edge lane line has returned to normal, generate and send a second control signal indicating a lane change into the ramp to the lane change control module of the vehicle, so that the lane change control module drives the vehicle to change lanes into the ramp, and end the current process.

[0110] Step S909: Loop image comparison: Take the currently acquired environmental image as the previous environmental image, and take the next environmental image as the currently acquired environmental image, and re-execute Step S907.

[0111] In addition, it is also possible to directly determine whether the recognition of the edge lane line is abnormal only by determining that the distance between the lane line on the shoulder side of the lane where the vehicle is located and the edge lane line is the lane width of the adjacent lane on the shoulder side and comparing the lane width of the adjacent lane on the shoulder side with a preset lane width threshold.

[0112] Furthermore, it is also possible to first determine whether the recognition of the edge lane line is abnormal by determining that the distance between the lane line on the shoulder side of the lane where the vehicle is located and the edge lane line is the lane width of the adjacent lane on the shoulder side and comparing the lane width of the adjacent lane on the shoulder side with a preset lane width threshold; in the case where it is determined that the recognition of the edge lane line is normal by the lane width of the adjacent lane, further analyze whether the recognition of the edge lane line is abnormal through the distance between the edge lane line and the shoulder area.

[0113] Furthermore, Figure 10 shows a partial structural schematic diagram of the assisted lane change device for the ramp entry scenario provided by an embodiment of the present invention. As Figure 10 shown, the assisted lane change device 1000 for the ramp entry scenario may include: an identification and analysis module 1001, an image comparison module 1002, and a lane change control module 1003, where,

[0114] The identification and analysis module 1001 responds to the lane change trigger in the ramp entry scenario, identifies the edge lane line and the shoulder area; determines the relative position relationship between the edge lane line and the shoulder area, and analyzes whether the recognition of the edge lane line is abnormal according to the relative position relationship;

[0115] The lane change control module 1003 is configured to control the vehicle to keep driving in the current lane when the edge lane line recognition is analyzed as abnormal by the recognition and analysis module 1001;

[0116] The image comparison module 1002 is configured to compare the lane widths of adjacent lanes in the current frame environmental image of the vehicle collected with the lane widths of adjacent lanes in the previous frame environmental image when the edge lane line recognition is analyzed as abnormal by the recognition and analysis module 1001;

[0117] The lane change control module 1003 is further configured to determine that the edge lane line recognition resumes normal and control the vehicle to change lanes when the comparison result of the image comparison module 1002 indicates that the width of the adjacent lane in the current frame environmental image is less than the width of the adjacent lane in the previous frame environmental image.

[0118] Furthermore, the recognition and analysis module 1001 is further configured to recognize the road guardrail and / or the shoulder line close to the vehicle.

[0119] Furthermore, the recognition and analysis module 1001 is further configured to determine the distance between the edge lane line and the shoulder area, and compare the distance with a preset distance threshold; when the comparison result indicates that the distance is less than the distance threshold, determine that the edge lane line recognition is abnormal; when the comparison result indicates that the distance is not less than the distance threshold, determine that the edge lane line recognition is normal.

[0120] Furthermore, the recognition and analysis module 1001 is further configured to recognize the lane width of the adjacent lane close to the shoulder side adjacent to the lane where the vehicle is located; when the lane width of the adjacent lane close to the shoulder side exceeds a preset lane width threshold, determine that the edge lane line recognition is abnormal.

[0121] Furthermore, the recognition and analysis module 1001 is further configured to recognize the lane line on the shoulder side of the lane where the vehicle is located; determine that the distance between the lane line on the shoulder side of the lane where the vehicle is located and the edge lane line is the lane width of the adjacent lane close to the shoulder side.

[0122] Furthermore, the lane change control module 1003 is further configured to generate and send a first control signal indicating a prohibited lane change to the lane change control module of the vehicle, so that the lane change control module drives the vehicle to keep driving in the current lane.

[0123] Furthermore, the lane change control module 1003 is further configured to generate and send a second control signal indicating a lane change into the ramp to the lane change control module of the vehicle, so that the lane change control module drives the vehicle to change lanes into the ramp.

[0124] Furthermore, an embodiment of the present invention also provides an electronic device. The electronic device may include:

[0125] One or more processors;

[0126] A storage device for storing one or more programs,

[0127] When the one or more programs are executed by the one or more processors, the one or more processors implement the auxiliary lane-changing method for the ramp entry scenario as provided in the above embodiments.

[0128] Furthermore, an embodiment of the present invention also provides a computer-readable medium, on which a computer program for implementing the auxiliary lane-changing method for the ramp entry scenario is stored,

[0129] When the computer program is executed by an in-vehicle processor, it implements the auxiliary lane-changing method for the ramp entry scenario as provided in the first aspect embodiment above.

[0130] Next, refer to Figure 11 , which shows a schematic structural diagram of a computer system 1100 suitable for implementing the method for reminding of forgotten items in a vehicle according to an embodiment of the present invention. Figure 11 The shown computer system is only an example and should not impose any limitation on the functions and usage scope of the embodiments of the present invention.

[0131] As Figure 11 shown, the computer system 1100 includes a central processing unit (CPU) 1101, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 1102 or the program loaded from the storage section 1108 into the random access memory (RAM) 1103. In the RAM 1103, various programs and data required for the operation of the system 1100 are also stored. The CPU 1101, ROM 1102, and RAM 1103 are connected to each other via a bus 1104. The input / output (I / O) interface 1105 is also connected to the bus 1104.

[0132] The following components are connected to the I / O interface 1105: including an input section 1106; including an output section 1107 such as a cathode ray tube (CRT), a liquid crystal display (LCD), etc. and a speaker, etc.; including a storage section 1108 such as a hard disk; and a communication section 1109 including a network interface card such as a LAN card, a modem, etc. The communication section 1109 performs communication processing via a network such as the Internet. A drive 1110 is also connected to the I / O interface 1105 as required. A removable medium 1111, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 1110 as required, so that the computer program read from it can be installed into the storage section 1108 as required.

[0133] In particular, according to the embodiments disclosed in the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed in the present invention include a computer program product that includes a computer program carried on a computer-readable medium, and the computer program contains program codes for performing the methods shown in the flowcharts. In such an embodiment, the computer program can be downloaded and installed from the network through the communication section 1109, and / or installed from the removable medium 1111. When the computer program is executed by the central processing unit (CPU) 1101, the above-mentioned functions defined in the system of the present invention are executed.

[0134] It should be noted that the computer-readable medium shown in the present invention can be a computer-readable signal medium or a computer-readable storage medium or any combination of the two. A computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples of the computer-readable storage medium can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present invention, the computer-readable storage medium can be any tangible medium that contains or stores a program, and the program can be used by or in combination with an instruction execution system, apparatus, or device. In the present invention, a computer-readable signal medium can include a data signal propagated in a baseband or as part of a carrier wave, which carries computer-readable program codes. Such a propagated data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer-readable signal medium can also be any computer-readable medium other than the computer-readable storage medium, and the computer-readable medium can send, propagate, or transmit a program for use by or in combination with an instruction execution system, apparatus, or device. The program codes contained on the computer-readable medium can be transmitted by any appropriate medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0135] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagram may represent a module, a segment of a program, or a part of code that contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than that marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram or flowchart, as well as combinations of blocks in the block diagram or flowchart, may be implemented by a dedicated hardware-based system that performs the specified functions or operations, or may be implemented by a combination of dedicated hardware and computer instructions.

[0136] The modules involved in the embodiments of the present invention can be implemented in software or in hardware. The described modules can also be set in a processor. For example, it can be described as: a processor includes the above-mentioned recognition and analysis module, image comparison module, and lane change control module. Among them, the names of these modules or units do not constitute a limitation to the module or unit itself in some cases. For example, the image comparison module can also be described as "a module or unit that compares the lane widths of adjacent lanes in the currently acquired vehicle's environmental image with the lane widths of adjacent lanes in the previous environmental image."

[0137] As another aspect, the present invention also provides a computer-readable medium, which can be included in the device described in the above embodiments; or can exist separately without being assembled into the device. The above computer-readable medium carries one or more programs. When the one or more programs are executed by the device, the device includes: in response to a lane change trigger in a ramp entry scenario, identifying the edge lane lines and the shoulder area; determining the relative position relationship between the edge lane lines and the shoulder area, and analyzing whether the edge lane lines are abnormally identified according to the relative position relationship; in the case where the edge lane lines are abnormally identified, controlling the vehicle to maintain its current lane and comparing the lane widths of adjacent lanes in the currently acquired vehicle's environmental image with the lane widths of adjacent lanes in the previous environmental image; in the case where the comparison result indicates that the width of the adjacent lane in the currently acquired environmental image is less than the width of the adjacent lane in the previous environmental image, determining that the identification of the edge lane lines has returned to normal and controlling the vehicle to change lanes.

[0138] According to the technical solution of the embodiment of the present invention, for the ramp entry scenario, based on the relative position relationship between the identified edge lane line and the shoulder area, analyze whether the edge lane line is abnormally identified. In the case where the edge lane line is abnormally identified, control the vehicle to keep driving in the current lane, and further compare the lane widths of adjacent lanes in the current frame of the environmental image with the lane widths of adjacent lanes in the previous frame of the environmental image to determine that the identification of the edge lane line returns to normal, so as to assist driving based on the accurate edge lane line and avoid the problem that the vehicle changes lanes inappropriately due to the misidentification of the edge lane line (identifying the shoulder area as the edge lane line) in the ramp entrance section, thereby avoiding the collision risk caused by the vehicle mischanging lanes in the ramp entry scenario.

[0139] The above specific embodiments do not limit the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub - combinations and substitutions can occur depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An auxiliary lane-changing method for the ramp-in scene, characterized in that Including: In response to a lane change trigger in the ramp entry scenario, identifying the edge lane line and the shoulder area; Determining the relative positional relationship between the edge lane line and the shoulder area, and analyzing whether the edge lane line is abnormally identified according to the relative positional relationship; In the case where the edge lane line is abnormally identified, controlling the vehicle to maintain its current lane and comparing the lane width of the adjacent lane in the current frame environmental image of the vehicle collected with the lane width of the adjacent lane in the previous frame environmental image; When the comparison result indicates that the width of the adjacent lane in the current frame environmental image is less than the width of the adjacent lane in the previous frame environmental image, determining that the edge lane line identification returns to normal and controlling the vehicle to change lanes.

2. The auxiliary lane-changing method for the ramp-in scene according to claim 1, wherein Identifying the shoulder area includes: Identifying the road guardrail and / or shoulder line close to the vehicle.

3. The auxiliary lane-changing method for the ramp entry scenario according to claim 1, wherein The determining the relative positional relationship between the edge lane line and the shoulder area, and analyzing whether the edge lane line is abnormally identified according to the relative positional relationship includes: Determining the distance between the edge lane line and the shoulder area, and comparing the distance with a preset distance threshold; In the case where the comparison result indicates that the distance is less than the distance threshold, determining that the edge lane line is abnormally identified; In the case where the comparison result indicates that the distance is not less than the distance threshold, determining that the edge lane line is normally identified.

4. The auxiliary lane change method for the ramp entry scenario according to claim 3, wherein The distance threshold is 0.2m to 0.4m.

5. The auxiliary lane-changing method for the ramp entry scenario according to claim 1, wherein Before comparing the lane width of the adjacent lane in the current frame environmental image of the vehicle collected with the lane width of the adjacent lane in the previous frame environmental image, it further includes: Identifying the lane width of the adjacent lane close to the shoulder side adjacent to the lane where the vehicle is located; In the case where the lane width of the adjacent lane close to the shoulder side exceeds a preset lane width threshold, determining that the edge lane line is abnormally identified.

6. The auxiliary lane change method for the ramp entry scenario according to claim 5, wherein In the case where there is an emergency lane on the side of the road close to the shoulder, the lane width threshold is 6.6m to 7m; In the case where there is no emergency lane on the side of the road close to the shoulder, the lane width threshold is 4.4m to 4.6m.

7. The auxiliary lane-changing method for the ramp entry scenario according to claim 5, characterized in that, The identifying the lane width of the adjacent lane close to the shoulder side adjacent to the lane where the vehicle is located includes: Identifying the lane line on the shoulder side of the lane where the vehicle is located; Determining the distance between the lane line on the shoulder side of the lane where the vehicle is located and the edge lane line as the lane width of the adjacent lane close to the shoulder side.

8. The auxiliary lane change method for the ramp entry scenario according to any one of claims 1 to 7, wherein The controlling the vehicle to maintain its current lane includes: Generating and sending a first control signal indicating a prohibited lane change to the lane change control module of the vehicle, so that the lane change control module drives the vehicle to maintain its current lane; And / or The controlling the vehicle to change lanes includes: Generate and send a second control signal indicating a lane change into the ramp to the lane change control module of the vehicle, so that the lane change control module drives the vehicle to change lanes into the ramp.

9. An auxiliary lane-changing device for the ramp-in scene, characterized in that Comprising: An identification and analysis module, an image comparison module and a lane change control module, wherein, The identification and analysis module responds to a lane change trigger in the ramp entry scenario, identifies the edge lane line and the shoulder area; determines the relative positional relationship between the edge lane line and the shoulder area, and analyzes whether the edge lane line is abnormally identified according to the relative positional relationship. The lane change control module is configured to control the vehicle to maintain driving in the current lane when the identification and analysis module analyzes that the edge lane line is abnormally identified. The image comparison module is configured to compare the lane width of the adjacent lane in the current frame of the vehicle's environmental image collected with the lane width of the adjacent lane in the previous frame of the environmental image when the identification and analysis module analyzes that the edge lane line is abnormally identified. The lane change control module is further configured to determine that the edge lane line identification has returned to normal and control the vehicle to change lanes when the comparison result of the image comparison module indicates that the width of the adjacent lane in the current frame of the environmental image is less than the width of the adjacent lane in the previous frame of the environmental image.

10. A vehicle, characterized in that, Comprising the auxiliary lane change device for the ramp entry scenario described in claim 9.

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