Vehicle cooperative lane changing method and device

Abstract

The invention discloses a vehicle cooperative lane changing method and device, and relates to the technical field of vehicle cooperative lane changing. The method comprises the steps that whether the environment where a vehicle is located meets a preset lane changing condition or not is recognized; sending a lane changing request to a target vehicle of the target lane in response to the identification result indicating that the preset lane changing condition is not met; wherein the lane changing request comprises prompt information related to account resources of the target vehicle; controlling the vehicle to change the lane to the target lane in response to a feedback result which is sent by the target vehicle and indicates agreement of the lane change request and the environment where the vehicle is located meets a preset lane change condition; after the vehicle changes the lane to the target lane, lane change success information is sent to the target vehicle, so that the target vehicle updates account resources of the target vehicle according to the lane change success information; the lane changing success information is generated based on the prompt information. According to the embodiment, cooperative lane changing between the vehicles is promoted in an account resource award mode, and lane changing conditions are provided for the vehicles.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle cooperative lane change, and particularly to a vehicle cooperative lane change method and device. Background Art

[0002] During the driving process of a vehicle, once there is a lane change demand to change to a target lane, it can only rely on the driver or the automatic driving system to observe and wait for the emergence of an opportunity for lane change. Only then can the vehicle achieve a lane change. In the case of relatively congested roads, there are more vehicles in the target lane, and it is not easy to find an opportunity for lane change, so the vehicle cannot change lanes. Forcing a lane change may block traffic and even cause traffic accidents. Summary of the Invention

[0003] In view of this, embodiments of the present invention provide a vehicle cooperative lane change method and device, which promote cooperative lane change between vehicles by means of account resource rewards, provide lane change conditions for vehicles with lane change demands, and improve the success rate of vehicle lane change and vehicle passing efficiency.

[0004] To achieve the above object, according to one aspect of the embodiments of the present invention, a vehicle cooperative lane change method is provided, including:

[0005] Identifying whether the environment where the vehicle is located meets a preset lane change condition;

[0006] In response to the recognition result indicating that the above preset lane change condition is not met, sending a lane change request to a target vehicle in the target lane; wherein, the above lane change request includes a prompt message related to the account resources of the above target vehicle;

[0007] In response to receiving a feedback result indicating agreement to the lane change request sent by the above target vehicle and the environment where the vehicle is located meets the above preset lane change condition, controlling the vehicle to change lanes to the above target lane;

[0008] After the vehicle changes lanes to the above target lane, sending a lane change success message to the target vehicle, so that the above target vehicle updates the account resources of the above target vehicle according to the above lane change success message; the above lane change success message is generated based on the above prompt message.

[0009] Optionally, the above preset lane change condition includes a distance requirement for lane change related to the environment where the vehicle is located;

[0010] The above identifying whether the environment where the vehicle is located meets a preset lane change condition includes:

[0011] Obtaining a first relative speed and a first relative distance of the above target vehicle in the above target lane relative to the vehicle and a second relative speed and a second relative distance of a vehicle in front adjacent to the vehicle in the above target lane relative to the vehicle;

[0012] Determine the first distance between the host vehicle and the target vehicle based on the above first relative speed and the above first relative distance, and determine the second distance between the host vehicle and the preceding vehicle based on the above second relative speed and the second relative distance;

[0013] Identify whether the sum of the above first distance and the above second distance meets the distance requirement indicated by the preset lane change condition.

[0014] Optionally, the above preset lane change condition further includes the road requirements for lane change related to the environment where the host vehicle is located;

[0015] The above identification of whether the environment where the host vehicle is located meets the preset lane change condition includes:

[0016] Collect the road data around the host vehicle;

[0017] Identify whether the above surrounding road data meets the road requirements indicated by the preset lane change condition.

[0018] Optionally, the above method further includes:

[0019] In response to the sum of the above first distance and the above second distance being greater than the above distance requirement and the above road data meeting the above road requirement, determine that the environment where the host vehicle is located meets the above preset lane change condition;

[0020] In response to the sum of the above first distance and the above second distance being less than or equal to the above distance requirement and / or the above road data not meeting the above road requirement, determine that the environment where the host vehicle is located does not meet the above preset lane change condition.

[0021] Optionally, the above method further includes: obtaining the identity identifier of the above target vehicle from the vehicle cooperative lane change platform;

[0022] The above sending a lane change request to the target vehicle in the target lane includes:

[0023] Send a lane change request to the above target vehicle according to the above identity identifier.

[0024] Optionally, the above lane change success information includes an account resource update password, where the above account resource update password is a password generated according to the above prompt information and associated with the identity identifier of the above target vehicle;

[0025] The above target vehicle updates the account resources of the above target vehicle according to the above lane change success information, including:

[0026] The above target vehicle updates the account resources indicated by the above prompt information to the account corresponding to the above target vehicle according to the above account resource update password.

[0027] Optionally, the above method further includes: analyzing the traffic condition and determining the driving plan indicated by the vehicle's autonomous driving system;

[0028] When the analysis result indicates traffic congestion and it is determined that the driving plan indicated by the vehicle's autonomous driving system is that the vehicle needs to perform necessary lane-changing actions, trigger the step of identifying whether the environment where the vehicle is located meets the preset lane-changing conditions.

[0029] To achieve the above object, according to another aspect of the embodiments of the present invention, there is provided a vehicle cooperative lane-changing device, including:

[0030] An identification module, configured to identify whether the environment where the vehicle is located meets the preset lane-changing conditions;

[0031] A request sending module, configured to send a lane-changing request to a target vehicle in a target lane in response to the identification result indicating that the above preset lane-changing conditions are not met; wherein, the above lane-changing request includes prompt information related to the account resources of the above target vehicle;

[0032] A lane-changing module, configured to control the vehicle to change lanes to the above target lane in response to receiving a feedback result indicating consent to the lane-changing request sent by the above target vehicle and the environment where the vehicle is located meets the above preset lane-changing conditions;

[0033] An information sending module, configured to send a lane-changing success message to the target vehicle after the vehicle changes lanes to the above target lane, so that the above target vehicle updates the account resources of the above target vehicle according to the above lane-changing success message; the above lane-changing success message is generated based on the above prompt information.

[0034] To achieve the above object, according to yet another aspect of the embodiments of the present invention, there is provided an electronic device for vehicle cooperative lane-changing.

[0035] An electronic device for vehicle cooperative lane-changing according to an embodiment of the present invention includes: one or more processors; a storage device, configured to store one or more programs, and when the above one or more programs are executed by the above one or more processors, enable the above one or more processors to implement a vehicle cooperative lane-changing method according to an embodiment of the present invention.

[0036] To achieve the above object, according to still another aspect of the embodiments of the present invention, there is provided a computer-readable storage medium.

[0037] A computer-readable storage medium according to an embodiment of the present invention, on which a computer program is stored, and when the above program is executed by a processor, implements a vehicle cooperative lane-changing method according to an embodiment of the present invention.

[0038] One embodiment of the above invention has the following advantages or beneficial effects: When the environment where the vehicle is located does not meet the preset lane-changing conditions, a lane-changing request is sent to the target vehicle. When the target vehicle approves the lane-changing request and the environment where the vehicle is located meets the preset lane-changing conditions, the vehicle changes lanes to the target lane and sends a lane-changing success message containing the account resource update password to the target vehicle, so that the target vehicle can update its account resources accordingly. Based on vehicle-to-vehicle communication, vehicle-to-vehicle cooperative lane-changing is promoted through the method of account resource rewards, providing lane-changing conditions for vehicles with lane-changing needs, and improving the vehicle lane-changing success rate and vehicle passing efficiency.

[0039] The further effects of the above non-conventional optional methods will be described below in conjunction with specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The drawings are used to better understand the present invention and do not constitute an improper limitation of the present invention. Among them:

[0041] Figure 1 is a schematic flowchart of a vehicle cooperative lane-changing method according to an embodiment of the present invention;

[0042] Figure 2 is a schematic architecture diagram of the vehicle itself according to an embodiment of the present invention;

[0043] Figure 3 is a schematic flowchart of identifying whether the environment where the vehicle is located meets the preset lane-changing conditions according to an embodiment of the present invention;

[0044] Figure 4 is a schematic diagram of a scene where the vehicle changes to the corresponding turning lane before turning at an intersection according to an embodiment of the present invention;

[0045] Figure 5 is a schematic diagram of a scene of entering a ramp according to an embodiment of the present invention;

[0046] Figure 6 is a schematic diagram of a scene of lane merging according to an embodiment of the present invention;

[0047] Figure 7 is a schematic diagram of a scene of avoiding an obstacle in front according to an embodiment of the present invention;

[0048] Figure 8 is a schematic flowchart of a vehicle cooperative lane-changing method according to another embodiment of the present invention;

[0049] Figure 9 is a schematic structural diagram of a vehicle cooperative lane-changing device according to an embodiment of the present invention;

[0050] Figure 10 is an exemplary system architecture diagram to which the embodiments of the present invention can be applied;

[0051] Figure 11 It is a schematic structural diagram of a computer system suitable for implementing vehicle cooperative lane change in an embodiment of the present invention. Detailed implementation manners

[0052] 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.

[0053] 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.

[0054] It should be noted that in the technical solutions of the present disclosure, in terms of the collection, gathering, updating, analysis, processing, use, transmission, storage, etc. of user personal information, they all comply with the provisions of relevant laws and regulations, are used for legal purposes, and do not violate public order and good customs. Necessary measures are taken for user personal information to prevent illegal access to user personal information data, and to safeguard user personal information security, network security, and national security.

[0055] The execution subject of the embodiment of the present invention can be a vehicle cooperative lane change device preset in the vehicle, or the control unit of the vehicle. It can be understood that when the execution subject is the vehicle cooperative lane change device, the vehicle cooperative lane change device should be communicatively connected to the control unit of the vehicle, which can be a wired or wireless communication method, etc.

[0056] Figure 1 It is a schematic diagram of the main steps of the vehicle cooperative lane change method according to an embodiment of the present invention. As Figure 1 shown, the vehicle cooperative lane change method of the embodiment of the present invention mainly includes the following steps S101 to step S104:

[0057] Step S101, identifying whether the environment where the vehicle is located meets a preset lane change condition;

[0058] Step S102, in response to the recognition result indicating that the above preset lane change condition is not met, sending a lane change request to a target vehicle in a target lane; wherein, the above lane change request includes a prompt message related to the account resources of the above target vehicle;

[0059] Step S103, in response to receiving a feedback result indicating consent to the lane change request sent by the above target vehicle and the environment where the vehicle is located meets the above preset lane change condition, controlling the vehicle to change lanes to the above target lane;

[0060] Step S104: After the host vehicle changes lanes to the above-mentioned target lane, send a lane change success message to the target vehicle, so that the target vehicle updates the account resources of the target vehicle according to the lane change success message; the lane change success message is generated based on the above-mentioned prompt message.

[0061] As Figure 2 Shown in the figure, taking the control unit 201 of the vehicle as the execution subject of the embodiment of the present invention as an example, after the strategy planning sub-unit 2011 of the control unit generates a lane change demand, the control unit can collect the motion state data of the host vehicle, the motion state data of the target vehicle, the road data around the host vehicle, etc. through various sensors 202 pre-installed in the host vehicle, so as to identify whether the environment where the host vehicle is located meets the preset lane change conditions according to the above data. Among them, the lane change demand indicates a change to the target lane, and the vehicle located behind the host vehicle in the target lane is the target vehicle. It can be understood that the target vehicle can be a vehicle adjacent to the host vehicle and located behind the host vehicle in the target lane, or multiple vehicles located behind the host vehicle in the target lane, and can be specifically determined according to the vehicles affected by the host vehicle changing lanes to the target lane. As an example, after the host vehicle generates a lane change demand, if the host vehicle changes lanes to the target lane and there are 3 vehicles located behind the host vehicle in the target lane and affected by the host vehicle's lane change, then the above 3 vehicles are all regarded as target vehicles; if the host vehicle changes lanes to the target lane and there is 1 vehicle located behind the host vehicle in the target lane and affected by the host vehicle's lane change, then the above 1 vehicle is regarded as the target vehicle.

[0062] Furthermore, the influence range can be preset to avoid taking too many vehicles as target vehicles. For example, the influence range is set to 25 meters. There are 6 vehicles located behind the host vehicle in the target lane and affected by the host vehicle's lane change. Among these 6 vehicles, 4 vehicles are within 25 meters behind the host vehicle, then these 4 vehicles are regarded as target vehicles.

[0063] In addition, the influence vehicle number threshold can also be set to avoid taking too many vehicles as target vehicles. For example, the influence vehicle number threshold is set to 3 vehicles. There are 6 vehicles located behind the host vehicle in the target lane and affected by the host vehicle's lane change. Then the 3 vehicles closest to the host vehicle among these 6 vehicles are regarded as target vehicles.

[0064] The vehicle's sensor 202 is used to identify whether the environment law transmitted by the vehicle itself meets the preset lane-changing conditions. When the recognition result indicates that the environment where the vehicle is located meets the preset lane-changing conditions, the control unit can perform lane-changing planning through the path planning subunit 2012, generate a lane-changing trajectory and trigger a turn signal, so as to change lanes to the target lane according to the above lane-changing trajectory. When the recognition result indicates that the preset lane-changing conditions are not met, a lane-changing request can be sent to the target vehicle through vehicle-to-everything (V2X) technology. Among them, the lane-changing request may include prompt information related to the account resources of the above target vehicle. Account resources refer to the resource data of each account in the vehicle cooperative lane-changing platform, including but not limited to points, coupons, etc. As an example, the lane-changing request sent by the vehicle to the target vehicle may include a points reward prompt message, "I hope you can assist me in changing lanes. After the lane change is completed, 100 points will be given to you. Thank you."

[0065] After receiving the lane-changing situation sent by the vehicle, the target vehicle can determine whether it can assist the vehicle in changing lanes according to the lane-changing request and the current vehicle surrounding environment. When the target vehicle can assist the vehicle in changing lanes, it can send a feedback result indicating agreement to the lane-changing request to the vehicle; when the target vehicle cannot assist the vehicle in changing lanes, it can send a feedback result indicating disagreement to the lane-changing request to the vehicle or not send a feedback result to the vehicle.

[0066] After the control unit 201 of the vehicle receives the feedback result indicating agreement to the lane-changing request sent by the target vehicle, the control unit 201 of the vehicle can collect the motion state data of the vehicle itself, the motion state data of the target vehicle, the road data around the vehicle, etc. through various sensors, so as to identify whether the environment where the vehicle is located meets the preset lane-changing conditions. When it is recognized that the environment where the vehicle is located meets the preset lane-changing conditions, the lane-changing planning can be carried out through the path planning subunit 2012, generate a lane-changing trajectory and trigger a turn signal, so as to change lanes to the target lane through the brake control actuator 203, the acceleration control actuator 204, the steering control actuator 205 and the lighting control actuator 206 according to the above lane-changing trajectory and turn signal.

[0067] After the vehicle changes to the target lane, the target vehicle can update the account resources. It can be understood that the account resources can be traded in the vehicle cooperative lane-changing platform. For example, the account resources can be used for physical or virtual item consumption, transferred to others, exchanged for prizes, etc. in the vehicle cooperative platform.

[0068] In an optional embodiment, the above preset lane-changing conditions include the distance requirement required for lane-changing related to the environment where the vehicle is located;

[0069] Such as Figure 3As shown, identifying whether the environment where the vehicle is located meets the preset lane-changing conditions includes the following steps S301 to S303:

[0070] Step S301: Obtain the first relative speed and the first relative distance of the target vehicle in the target lane with respect to the vehicle itself, and the second relative speed and the second relative distance of the vehicle in front adjacent to the vehicle itself in the target lane with respect to the vehicle itself;

[0071] Step S302: Determine the first distance between the vehicle itself and the target vehicle according to the first relative speed and the first relative distance, and determine the second distance between the vehicle itself and the vehicle in front according to the second relative speed and the second relative distance;

[0072] Step S303: Identify whether the sum of the first distance and the second distance meets the distance requirement indicated by the preset lane-changing conditions.

[0073] The control unit of the vehicle itself can collect the motion state signals of the vehicle itself through the motion state perception sensor, determine the speed of the vehicle itself, and collect the first relative speed and the first relative distance of the target vehicle with respect to the vehicle itself, and the second relative speed and the second relative distance of the vehicle in front adjacent to the vehicle itself in the target lane with respect to the vehicle itself, so as to further determine the first distance L1 between the vehicle itself and the target vehicle and the second distance L2 between the vehicle itself and the vehicle in front. When the sum of L1 and L2 meets the distance requirement indicated by the preset lane-changing conditions, it may indicate that the environment where the vehicle is located meets the preset lane-changing conditions. When the sum of L1 and L2 does not meet the distance requirement indicated by the preset lane-changing conditions, it indicates that the environment where the vehicle is located does not meet the preset lane-changing conditions, and the vehicle itself cannot change lanes temporarily. Among them, the distance requirement refers to the minimum longitudinal distance required for the vehicle itself to change lanes.

[0074] It should be noted that the first distance L1 between the vehicle itself and the target vehicle and the second distance L2 between the vehicle itself and the vehicle in front refer to the longitudinal distance between the vehicle itself and the target vehicle and the longitudinal distance between the vehicle itself and the vehicle in front. Moreover, when there are multiple target vehicles, the target vehicle for collecting the first relative speed and the first relative distance here refers to the nearest target vehicle located behind and adjacent to the vehicle itself in the target lane, and it is not necessary to collect the relative speeds and relative distances of all target vehicles.

[0075] In an optional embodiment, the preset lane-changing conditions further include the road requirements for lane-changing related to the environment where the vehicle is located;

[0076] Identifying whether the environment where the vehicle is located meets the preset lane-changing conditions includes:

[0077] Collect the road data around the vehicle itself;

[0078] Identify whether the above surrounding road data meets the road requirements indicated by the preset lane change conditions.

[0079] In addition to the above distance requirements, the preset lane change conditions may also include road requirements. Road requirements refer to whether the road where the vehicle is located can change lanes. For example, whether there are obstacles in front of the target lane within a preset range that hinder the vehicle from changing lanes, whether the lane lines between the current lane where the vehicle is located and the target lane are broken lines that can be used for lane change, and whether it has traveled beyond the necessary lane change point, etc. Among them, the necessary lane change point refers to a specific position where a lane change operation must be completed under the condition of reviewing traffic rules. If it has traveled beyond the necessary lane change point, the current lane change action cannot be achieved. As an example, during the process of the vehicle changing lanes to the ramp, the necessary lane change point may be the confluence point of the highway main road and the ramp at the ramp entrance.

[0080] Collect the surrounding road data of the vehicle through an image acquisition sensor, so as to identify whether it meets the road requirements indicated by the preset lane change conditions.

[0081] Further, when the preset lane change conditions include distance requirements and road requirements, the above method further includes:

[0082] In response to the sum of the above first distance and the above second distance being greater than the above distance requirement and the above road data meeting the above road requirements, determine that the environment where the vehicle is located meets the above preset lane change conditions; when the preset lane change conditions are met, control the vehicle to change lanes to the target lane;

[0083] In response to the sum of the above first distance and the above second distance being less than or equal to the above distance requirement and / or the above road data not meeting the above road requirements, determine that the environment where the vehicle is located does not meet the above preset lane change conditions.

[0084] In an alternative embodiment, the above method further includes: obtaining the identity identifier of the above target vehicle from the vehicle cooperative lane change platform;

[0085] The above sending a lane change request to the target vehicle in the target lane includes:

[0086] Send a lane change request to the above target vehicle according to the above identity identifier.

[0087] When the environment where the vehicle is located does not meet the preset lane change conditions, a lane change request can be sent to the target vehicle through vehicle wireless communication technology. It can be understood that in the case of multiple target vehicles, the target vehicle to which the lane change request is sent should be all target vehicles to reduce the impact of the vehicle's lane change on the current traffic conditions.

[0088] When using vehicle wireless communication technology for vehicle - to - vehicle communication, it is in a broadcast state, that is, all vehicles within the broadcast range can receive the content broadcast by the vehicle. In the embodiment of the present invention, only a lane - change request needs to be sent to the target vehicle. Therefore, feature data such as the license plate number of the target vehicle can be collected through an image - acquisition sensor, so as to obtain the identity identifier of the target vehicle from the vehicle cooperative lane - change platform based on the feature data of the target vehicle. Among them, in the vehicle cooperative lane - change platform, each vehicle has a unique identity identifier, which is used for vehicle - to - vehicle communication to confirm the vehicle identity.

[0089] After obtaining the identity identifier of the target vehicle, the communication frequency with the target vehicle can be determined based on the identity identifier of the target vehicle. Furthermore, when sending a lane - change request, the lane - change request can be sent only to the target vehicle based on the above - mentioned communication frequency, so that other vehicles are not affected.

[0090] In an optional embodiment, the above - mentioned lane - change success information includes an account resource update password, where the above - mentioned account resource update password is a password generated according to the above - mentioned prompt information and associated with the identity identifier of the above - mentioned target vehicle;

[0091] The above - mentioned target vehicle updates the account resources of the above - mentioned target vehicle according to the above - mentioned lane - change success information, including:

[0092] The above - mentioned target vehicle updates the account resources indicated by the above - mentioned prompt information to the account corresponding to the above - mentioned target vehicle according to the above - mentioned account resource update password.

[0093] After the vehicle changes to the target lane, it is necessary to generate lane - change success information according to the previous prompt information, inform the target vehicle that the vehicle has successfully changed lanes and allocate account resources to the target vehicle. To prevent the allocated account resources from being stolen and to facilitate the user of the target vehicle to recharge, an account resource update password corresponding to the quantity of the account resources to be allocated indicated in the prompt information can be generated. And this account resource update password should be associated with the identity identifier of the target vehicle. In the case where the identity identifiers do not match, the account resource update password cannot be used to recharge the account resources, which can not only prevent the account resource update password from being stolen but also prevent the account resource update password from being sent to other vehicles. After receiving the account resource update password, the target vehicle can update the account resources according to it.

[0094] As an example, after this vehicle changes to the target lane, a lane change success message can be generated according to the prompt information, including an account resource update password associated with the identity identifier 654321 of the target vehicle generated based on the 100 points indicated in the prompt information, and the lane change success message is sent to the target vehicle through vehicle wireless communication technology. After receiving the lane change success message, the user of the target vehicle can, at their convenience, recharge 100 points to their own account on the vehicle cooperative lane change platform according to the account resource update password. Even if the lane change success message is mis-sent to other vehicles or intercepted by others, since the account resource update password is associated with the identity identifier 654321 of the target vehicle, the 100 points corresponding to the account resource update password cannot be stolen by other vehicles or others due to the mismatch of the identity identifier when using the account resource update password.

[0095] In an alternative embodiment, the above method further includes: analyzing the traffic conditions and determining the driving plan indicated by the vehicle's autonomous driving system;

[0096] In the case where the analysis result indicates traffic congestion and it is determined that the driving plan indicated by the vehicle's autonomous driving system is that this vehicle performs a necessary lane change action, trigger the step of identifying whether the environment where this vehicle is located meets the preset lane change conditions.

[0097] It can be understood that before identifying whether the environment where this vehicle is located meets the preset lane change conditions, traffic data can be collected through sensors and the current traffic conditions can be analyzed, and at the same time, the driving plan indicated by the vehicle's autonomous driving system can be determined.

[0098] In the case where the analysis result indicates traffic congestion, determine whether the driving plan indicated by the vehicle's autonomous driving system is that this vehicle performs a necessary lane change action. When the driving plan is that this vehicle performs a necessary lane change action, then trigger the step of identifying whether the environment where this vehicle is located meets the preset lane change conditions; when the driving plan is that this vehicle performs a non-necessary lane change action, then stop performing the non-necessary lane change action, and there is no need to trigger the step of identifying whether the environment where this vehicle is located meets the preset lane change conditions.

[0099] In the case where the analysis result indicates that the traffic is not congested, drive according to the driving plan.

[0100] Among them, such as Figure 4 、 Figure 5 、 Figure 6 and Figure 7As shown in the figure, necessary lane change refers to lane change actions that are performed based on driving purpose requirements or for the purpose of ensuring driving safety while meeting traffic rules, such as changing to the corresponding turning lane before turning at an intersection, entering or exiting a highway or ramp, merging lanes, avoiding obstacles ahead or abnormal vehicles that affect driving safety, etc. Non-essential lane change actions refer to other lane change actions that are not for safety or driving needs, such as random overtaking and random lane changes, etc.

[0101] It should be noted that Figures 4 - 7 Only the vehicle traveling on the road is shown as an example, and the target vehicle and other vehicles are not shown.

[0102] The vehicle cooperative lane changing method is described in detail below through a specific embodiment.

[0103] like Figure 8 As shown, the vehicle cooperative lane changing method according to the embodiment of the present invention includes the following steps S801 to S811:

[0104] Step S801, analyzing the traffic conditions and determining the driving plan indicated by the autonomous driving system of the vehicle;

[0105] Step S802, when the analysis result indicates traffic congestion and it is determined that the driving plan indicated by the autonomous driving system of the vehicle is for the vehicle to perform a necessary lane change action, identifying whether the environment in which the vehicle is located meets the preset lane change conditions;

[0106] Among them, the preset lane change conditions include distance requirements and road requirements;

[0107] Step S803, obtaining a first relative speed and a first relative distance of the target vehicle in the target lane relative to the vehicle, and a second relative speed and a second relative distance of a front vehicle adjacent to the vehicle in the target lane relative to the vehicle;

[0108] Step S804, determining a first distance between the vehicle and the target vehicle according to the first relative speed and the first relative distance, and determining a second distance between the vehicle and the front vehicle according to the second relative speed and the second relative distance;

[0109] Step S805, collecting road data around the vehicle;

[0110] Step S806, in response to the sum of the first distance and the second distance being greater than the distance requirement and the road data meeting the road requirement, determining that the environment of the vehicle meets the preset lane change condition, and controlling the vehicle to change lanes to a target lane;

[0111] Step S807: In response to the sum of the first distance and the second distance being less than or equal to the distance requirement and / or the road data not meeting the road requirement, determine that the environment where the vehicle is located does not meet the preset lane-changing condition;

[0112] Step S808: Obtain the identity identifier of the target vehicle from the vehicle cooperative lane-changing platform, and send a lane-changing request to the target vehicle according to the identity identifier; wherein, the lane-changing request includes a prompt message related to the account resources of the target vehicle;

[0113] Step S809: In response to receiving the feedback result indicating consent to the lane-changing request sent by the target vehicle and the environment where the vehicle is located meeting the preset lane-changing condition, control the vehicle to change lanes to the target lane;

[0114] Step S810: Generate a lane-changing success message according to the prompt message, wherein the lane-changing success message includes an account resource update password associated with the identity identifier of the target vehicle;

[0115] Step S811: Send the lane-changing success message to the target vehicle, so that the target vehicle updates the account resources indicated by the prompt message to the account corresponding to the target vehicle according to the account resource update password in the lane-changing success message.

[0116] According to the vehicle cooperative lane-changing method of the embodiment of the present invention, by sending a lane-changing request to the target vehicle when the environment where the vehicle is located does not meet the preset lane-changing condition, changing lanes to the target lane when the target vehicle agrees to the lane-changing request and the environment where the vehicle is located meets the preset lane-changing condition, and sending a lane-changing success message including an account resource update password to the target vehicle, so that the target vehicle can update the account resources according to it. Based on the communication between vehicles, it promotes the cooperative lane-changing between vehicles by means of account resource rewards, provides lane-changing conditions for vehicles with lane-changing needs, and improves the vehicle lane-changing success rate and vehicle passing efficiency.

[0117] At the same time, by determining whether the driving plan of the vehicle is a necessary lane-changing action before identifying whether the environment where the vehicle is located meets the preset lane-changing condition, the occurrence of self-interested non-necessary lane-changing actions during road driving is reduced.

[0118] Figure 9 It is a schematic diagram of the main modules of the vehicle cooperative lane-changing device according to the embodiment of the present invention. As Figure 9As shown in the figure, the vehicle cooperative lane-changing device 900 according to an embodiment of the present invention includes: an identification module 901, configured to identify whether the environment where the vehicle is located meets a preset lane-changing condition; a request sending module 902, configured to send a lane-changing request to a target vehicle in a target lane in response to an identification result indicating that the preset lane-changing condition is not met; wherein, the lane-changing request includes a prompt message related to the account resources of the target vehicle; a lane-changing module 903, configured to control the vehicle to change lanes to the target lane in response to receiving a feedback result indicating consent to the lane-changing request sent by the target vehicle and the environment where the vehicle is located meets the preset lane-changing condition; an information sending module 904, configured to send a lane-changing success message to the target vehicle after the vehicle changes lanes to the target lane, so that the target vehicle updates the account resources of the target vehicle according to the lane-changing success message; the lane-changing success message is generated based on the prompt message.

[0119] In an optional embodiment of the present invention, the preset lane-changing condition includes a distance requirement for lane-changing related to the environment where the vehicle is located. The identification module 901 is further configured to: obtain a first relative speed and a first relative distance of the target vehicle in the target lane relative to the vehicle and a second relative speed and a second relative distance of the vehicle in front adjacent to the vehicle in the target lane relative to the vehicle; determine a first distance between the vehicle and the target vehicle according to the first relative speed and the first relative distance, and determine a second distance between the vehicle and the vehicle in front according to the second relative speed and the second relative distance; identify whether the sum of the first distance and the second distance meets the distance requirement indicated by the preset lane-changing condition.

[0120] In an optional embodiment of the present invention, the preset lane-changing condition further includes a road requirement for lane-changing related to the environment where the vehicle is located. The identification module 901 is further configured to: collect road data around the vehicle; identify whether the surrounding road data meets the road requirement indicated by the preset lane-changing condition.

[0121] In an optional embodiment of the present invention, the vehicle cooperative lane-changing device 900 further includes: a determination module, configured to determine that the environment where the vehicle is located meets the preset lane-changing condition in response to the sum of the first distance and the second distance being greater than the distance requirement and the road data meeting the road requirement; determine that the environment where the vehicle is located does not meet the preset lane-changing condition in response to the sum of the first distance and the second distance being less than or equal to the distance requirement and / or the road data not meeting the road requirement.

[0122] In an alternative embodiment of the present invention, the vehicle cooperative lane-changing device 900 further includes: an acquisition module, configured to acquire the identity identifier of the target vehicle from the vehicle cooperative lane-changing platform. The request sending module 902 is further configured to send a lane-changing request to the target vehicle according to the identity identifier.

[0123] In an alternative embodiment of the present invention, the lane-changing success information includes an account resource update password, where the account resource update password is a password generated according to the prompt information and associated with the identity identifier of the target vehicle. The information sending module 904 is further configured to update the account resources indicated by the prompt information to the account corresponding to the target vehicle by the target vehicle according to the account resource update password.

[0124] In an alternative embodiment of the present invention, the vehicle cooperative lane-changing device 900 further includes: an analysis module, configured to analyze the traffic condition and determine the driving plan indicated by the vehicle's own autonomous driving system; when the analysis result indicates traffic congestion and it is determined that the driving plan indicated by the vehicle's own autonomous driving system is that the vehicle performs a necessary lane-changing action, trigger the step of identifying whether the environment where the vehicle is located meets the preset lane-changing conditions.

[0125] According to the vehicle cooperative lane-changing device of the embodiment of the present invention, by sending a lane-changing request to the target vehicle when the environment where the vehicle is located does not meet the preset lane-changing conditions, and changing lanes to the target lane when the target vehicle agrees to the lane-changing request and the environment where the vehicle is located meets the preset lane-changing conditions, and sending lane-changing success information including an account resource update password to the target vehicle, so that the target vehicle can update the account resources according to it. Based on the communication between vehicles, the cooperation of lane-changing between vehicles is promoted by means of account resource rewards, providing lane-changing conditions for vehicles with lane-changing needs, and improving the lane-changing success rate of vehicles and the vehicle passing efficiency.

[0126] Figure 10 An exemplary system architecture 1000 is shown to which the vehicle cooperative lane-changing method or vehicle cooperative lane-changing device according to the embodiment of the present invention can be applied.

[0127] As Figure 10 shown, the system architecture 1000 may include the vehicle 1001 itself, the network 1002, and the target vehicle 1003. The network 1002 is used to provide a medium for the communication link between the vehicle 1001 itself and the target vehicle 1003. The network 1002 may be a wireless communication link or the like.

[0128] The vehicle 1001 can communicate with the target vehicle 1003 via the network 1002 to receive or send data, etc. The target vehicle 1003 can be a vehicle located behind the vehicle on the target lane after the vehicle 1001 generates a lane change demand to change lanes to the target lane. The vehicle 1001 can send a lane change request to the target vehicle 1003 when the preset lane change conditions are not met, and receive a feedback result indicating consent to the lane change request sent by the target vehicle 1003, and perform a lane change when the preset lane change conditions are met. The target vehicle 1003 can update its account resources according to the prompt information related to its own account resources indicated in the lane change request.

[0129] It should be noted that the vehicle cooperative lane change method provided by the embodiments of the present invention is generally executed by the control unit of the vehicle 1001. Correspondingly, the vehicle cooperative lane change device is generally arranged in the vehicle 1001.

[0130] It should be understood that Figure 10 the number of the network and the target vehicle in

[0131] is merely illustrative. According to the actual needs, there can be any number of networks and target vehicles. Figure 11 is merely illustrative. According to the actual needs, there can be any number of networks and target vehicles. Figure 11 The illustrated computer system 1100 is merely an example and should not impose any limitation on the functions and usage scope of the embodiments of the present invention.

[0132] 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 computer system 1100 are also stored. The CPU 1101, the ROM 1102, and the 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.

[0133] The following components are connected to the I / O interface 1105: an input section 1106 including a keyboard, a mouse, etc.; an output section 1107 including such as a cathode ray tube (CRT), a liquid crystal display (LCD), etc. and a speaker, etc.; a storage section 1108 including a hard disk, etc.; 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 mounted on the drive 1110 as required so that a computer program read from thereon is installed into the storage section 1108 as required.

[0134] Specifically, according to the embodiments disclosed by the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed by the present invention include a computer program product which includes a computer program carried on a computer-readable medium, and the computer program includes program codes for performing the methods shown in the flowcharts. In such an embodiment, the computer program can be downloaded and installed from a network via the communication section 1109, and / or installed from the removable medium 1111. When the computer program is executed by a central processing unit (CPU) 1101, the above-described functions defined in the system of the present invention are executed.

[0135] It should be noted that the computer-readable medium shown in the present invention can be a computer-readable signal medium, 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 a 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, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction 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 code. 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. A computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on a computer-readable medium can be transmitted using any appropriate medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0136] 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 can represent a module, a program segment, 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 can occur in a different order than that marked in the accompanying drawings. For example, two consecutive blocks shown can actually be executed substantially in parallel, and they can 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, and the combination of blocks in the block diagram or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0137] The modules involved in the embodiments of the present invention can be implemented in software or in hardware. The described modules can also be provided in a processor. For example, it can be described as: a processor includes an identification module, a request sending module, a lane change module, and an information sending module. Among them, the names of these modules do not constitute a limitation on the module itself in some cases. For example, the identification module can also be described as "a module for identifying whether the environment where the vehicle is located meets the preset lane change conditions".

[0138] 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 it can exist alone without being assembled into the device. The above computer-readable medium carries one or more programs. When the above one or more programs are executed by the device, the device includes: identifying whether the environment where the vehicle is located meets the preset lane change conditions; in response to the identification result indicating that the above preset lane change conditions are not met, sending a lane change request to a target vehicle in a target lane; where the above lane change request includes prompt information related to the account resources of the above target vehicle; in response to receiving a feedback result indicating consent to the lane change request sent by the above target vehicle and the environment where the vehicle is located meets the above preset lane change conditions, controlling the vehicle to change lanes to the above target lane; after the vehicle changes lanes to the above target lane, sending a lane change success message to the target vehicle, so that the above target vehicle updates the account resources of the above target vehicle according to the above lane change success message; the above lane change success message is generated based on the above prompt information.

[0139] According to the technical solution of the embodiments of the present invention, by sending a lane change request to a target vehicle when the environment where the vehicle is located does not meet the preset lane change conditions, changing lanes to the target lane when the target vehicle consents to the lane change request and the environment where the vehicle is located meets the preset lane change conditions, and sending a lane change success message including an account resource update password to the target vehicle, so that the target vehicle can update the account resources according to it. Based on the communication between vehicles, by means of account resource rewards, it promotes the collaborative lane change between vehicles, provides lane change conditions for vehicles with lane change needs, and improves the vehicle lane change success rate and vehicle traffic efficiency.

[0140] The above specific embodiments do not constitute a limitation on 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 principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A vehicle cooperative lane-changing method, characterized in that, Including: Identifying whether the environment where the vehicle is located meets the preset lane-changing conditions; In response to the recognition result indicating that the preset lane-changing conditions are not met, sending a lane-changing request to the target vehicle in the target lane; wherein, the lane-changing request includes prompt information related to the account resources of the target vehicle; In response to receiving the feedback result indicating consent to the lane-changing request sent by the target vehicle and the environment where the vehicle is located meets the preset lane-changing conditions, controlling the vehicle to change lanes to the target lane; After the vehicle changes lanes to the target lane, sending a lane-changing success message to the target vehicle, so that the target vehicle updates the account resources of the target vehicle according to the lane-changing success message; the lane-changing success message is generated based on the prompt information.

2. The vehicle cooperative lane change method according to claim 1, characterized in that The preset lane-changing conditions include the distance requirement for lane-changing related to the environment where the vehicle is located; The identifying whether the environment where the vehicle is located meets the preset lane-changing conditions includes: Obtaining the first relative speed and the first relative distance of the target vehicle in the target lane relative to the vehicle and the second relative speed and the second relative distance of the vehicle in front adjacent to the vehicle in the target lane relative to the vehicle; Determining the first distance between the vehicle and the target vehicle according to the first relative speed and the first relative distance, and determining the second distance between the vehicle and the vehicle in front according to the second relative speed and the second relative distance; Identifying whether the sum of the first distance and the second distance meets the distance requirement indicated by the preset lane-changing conditions.

3. The vehicle cooperative lane-changing method according to claim 2, wherein The preset lane-changing conditions further include the road requirement for lane-changing related to the environment where the vehicle is located; The identifying whether the environment where the vehicle is located meets the preset lane-changing conditions includes: Collecting the road data around the vehicle; Identifying whether the surrounding road data meets the road requirement indicated by the preset lane-changing conditions.

4. The vehicle cooperative lane change method according to claim 3, wherein The method further includes: In response to the sum of the first distance and the second distance being greater than the distance requirement and the road data meeting the road requirement, determining that the environment where the vehicle is located meets the preset lane-changing conditions; In response to the sum of the first distance and the second distance being less than or equal to the distance requirement and / or the road data not meeting the road requirement, determining that the environment where the vehicle is located does not meet the preset lane-changing conditions.

5. The vehicle cooperative lane change method according to claim 1, characterized in that The method further includes: obtaining the identity identifier of the target vehicle from the vehicle cooperative lane-changing platform; The sending a lane-changing request to the target vehicle in the target lane includes: Sending a lane-changing request to the target vehicle according to the identity identifier.

6. The vehicle cooperative lane-changing method according to claim 5, wherein, The lane-changing success message includes an account resource update password, wherein the account resource update password is a password generated according to the prompt information and associated with the identity identifier of the target vehicle; The target vehicle updating the account resources of the target vehicle according to the lane-changing success message includes: The target vehicle updating the account resources indicated by the prompt information to the account corresponding to the target vehicle according to the account resource update password.

7. The vehicle cooperative lane-changing method according to claim 1, wherein The method further includes: Analyzing the traffic conditions and determining the driving plan indicated by the vehicle's autopilot system; When the analysis result indicates traffic congestion and it is determined that the driving plan indicated by the vehicle's automatic driving system is that the vehicle needs to perform a necessary lane change action, the step of identifying whether the environment where the vehicle is located meets the preset lane change conditions is triggered.

8. A vehicle cooperative lane-changing device, characterized in that, It includes: An identification module, configured to identify whether the environment where the vehicle is located meets the preset lane change conditions; A request sending module, configured to send a lane change request to the target vehicle in the target lane in response to the identification result indicating that the preset lane change conditions are not met; wherein, the lane change request includes prompt information related to the account resources of the target vehicle; A lane change module, configured to control the vehicle to change lanes to the target lane in response to receiving a feedback result indicating consent to the lane change request sent by the target vehicle and the environment where the vehicle is located meets the preset lane change conditions; An information sending module, configured to send a lane change success message to the target vehicle after the vehicle changes lanes to the target lane, so that the target vehicle updates the account resources of the target vehicle according to the lane change success message; the lane change success message is generated based on the prompt information.

9. An electronic device for vehicle cooperative lane change, characterized in that, It includes: One or more processors; A storage device, configured to store one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1-7.

10. A computer-readable medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the method according to any one of claims 1-7.

Images