Vehicle lane changing speed determination method and device, equipment, storage medium and product

Abstract

The invention discloses a vehicle lane changing speed determination method and device, equipment, a storage medium and a product. The current speed of the vehicle waiting for lane changing at the current moment, environment information and vehicle data of an obstacle vehicle on the target lane are obtained, the environment information comprises road information and closed scene information, and the closed scene information comprises whether the vehicle waiting for lane changing is in a closed scene and the distance between the vehicle waiting for lane changing and a closed point when the vehicle waiting for lane changing is in the closed scene; the vehicle data comprises a vehicle type, an obstacle vehicle speed, a longitudinal relative distance and a longitudinal relative vehicle speed; based on the current vehicle speed, the road information, the vehicle type, the longitudinal relative distance and the longitudinal relative vehicle speed, the initial motion state of the vehicle waiting for lane changing is determined; filtering the initial motion state to obtain a target motion state; according to the target motion state, the closed scene information and the obstacle speed are combined, and the target speed of the vehicle waiting for lane changing is determined. The safety of the lane changing process of the vehicle is effectively guaranteed, and the practicability of the method is improved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of vehicles, and in particular, to a method, device, equipment, storage medium and product for determining the lane-changing speed of a vehicle. Background Art

[0002] At present, with the booming development of intelligent vehicle technology, the domain controller (Advanced Driver Assistance System Domain Controller, ADAS) has become the core hub of the Advanced Driver Assistance System (ADAS). With its powerful integration ability, this component integrates a variety of sensors, actuators and complex control algorithms, and efficiently processes a series of key tasks such as perception, decision-making, execution, safety and communication. By analyzing the real-time data of sensors such as cameras and radars, the ADAS domain controller can accurately perceive the information of the vehicle's surrounding environment, make reasonable decisions based on preset algorithms, and control the actuators to achieve the safe driving of the vehicle, laying a solid foundation for the development of autonomous driving technology.

[0003] However, although the ADAS domain controller plays an important role in the process of vehicle intelligence, in the lane-changing scenario of autonomous vehicles, the existing methods for realizing vehicle lane-changing based on this controller have problems of low safety and poor practicability. Summary of the Invention

[0004] The present invention provides a method, device, equipment, storage medium and product for determining the lane-changing speed of a vehicle, so as to solve the problems of low safety and poor practicability existing in the existing methods for realizing vehicle lane-changing based on this controller.

[0005] According to one aspect of the present invention, there is provided a method for determining the lane-changing speed of a vehicle, including:

[0006] Obtain the current vehicle speed, environmental information and vehicle data of the obstacle vehicle on the target lane of the vehicle to be lane-changed at the current moment; wherein, the environmental information includes road information and closed-scene information, the road information includes the positional relationship between the vehicle to be lane-changed and the ramp, and the road diversion or merging situation, the closed-scene information includes whether the vehicle to be lane-changed is in a closed scene and the distance between the vehicle to be lane-changed and the closed point when the vehicle to be lane-changed is in the closed scene, and the vehicle data includes vehicle type, obstacle vehicle speed, longitudinal relative distance and longitudinal relative vehicle speed;

[0007] Based on the current vehicle speed, the road information, the vehicle type, the longitudinal relative distance and the longitudinal relative vehicle speed, determine the initial motion state of the vehicle to be lane-changed;

[0008] Filter the initial motion state to obtain the target motion state;

[0009] Based on the target motion state, and in combination with the closed-scene information and the obstacle vehicle speed, determine the target vehicle speed of the vehicle to change lanes.

[0010] According to another aspect of the present invention, there is provided a device for determining a vehicle lane-changing speed, including:

[0011] A data acquisition module, configured to acquire the current vehicle speed, environmental information, and vehicle data of an obstacle vehicle on a target lane of a vehicle to change lanes at a current moment; wherein, the environmental information includes road information and closed-scene information, the road information includes the positional relationship between the vehicle to change lanes and a ramp, and the road diversion or merging situation, the closed-scene information includes whether the vehicle to change lanes is in a closed scene and the distance between the vehicle to change lanes and a closed point when the vehicle to change lanes is in the closed scene, and the vehicle data includes vehicle type, obstacle vehicle speed, longitudinal relative distance, and longitudinal relative vehicle speed;

[0012] A state determination module, configured to determine an initial motion state of the vehicle to change lanes based on the current vehicle speed, the road information, the vehicle type, the longitudinal relative distance, and the longitudinal relative vehicle speed;

[0013] A state filtering module, configured to filter the initial motion state to obtain a target motion state;

[0014] A vehicle speed determination module, configured to determine the target vehicle speed of the vehicle to change lanes according to the target motion state, in combination with the closed-scene information and the obstacle vehicle speed.

[0015] According to another aspect of the present invention, there is provided an electronic device, the electronic device includes:

[0016] At least one processor; and

[0017] A memory communicatively connected to the at least one processor; wherein,

[0018] The memory stores a computer program executable by the at least one processor, and when the computer program is executed by the at least one processor, the at least one processor is enabled to execute the vehicle lane-changing speed determination method according to any embodiment of the present invention.

[0019] According to another aspect of the present invention, there is provided a computer-readable storage medium, the computer-readable storage medium stores computer instructions, and when the computer instructions are executed by a processor, the vehicle lane-changing speed determination method according to any embodiment of the present invention is implemented.

[0020] According to another aspect of the present invention, there is provided a computer program product, which includes a computer program that, when executed by a processor, implements the vehicle lane-changing speed determination method according to any embodiment of the present invention.

[0021] The technical solution provided by the embodiments of the present invention includes obtaining the current vehicle speed, environmental information, and vehicle data of the obstacle vehicle on the target lane of the vehicle to be lane-changed at the current moment; wherein, the environmental information includes road information and closed-scene information, the road information includes the positional relationship between the vehicle to be lane-changed and the ramp, and the road diversion or merging situation, the closed-scene information includes whether the vehicle to be lane-changed is in a closed scene and the distance from the vehicle to be lane-changed to the closed point when it is in the closed scene, and the vehicle data includes vehicle type, obstacle vehicle speed, longitudinal relative distance, and longitudinal relative vehicle speed; based on the current vehicle speed, the road information, the vehicle type, the longitudinal relative distance, and the longitudinal relative vehicle speed, determining the initial motion state of the vehicle to be lane-changed; filtering the initial motion state to obtain the target motion state; and according to the target motion state, combining the closed-scene information and the obstacle vehicle speed, determining the target vehicle speed of the vehicle to be lane-changed. Through the above technical solution, after obtaining the target motion state, the target vehicle speed during vehicle lane-changing is calculated in combination with the closed-scene information, effectively ensuring the safety of the vehicle lane-changing process and improving the practicability of this method.

[0022] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. Description of the Drawings

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0024] Figure 1 is a flowchart of a vehicle lane-changing speed determination method provided by Embodiment 1 of the present invention;

[0025] Figure 2 is a schematic structural diagram of a vehicle lane-changing speed determination device provided by Embodiment 2 of the present invention;

[0026] Figure 3 is a schematic structural diagram of an electronic device provided by Embodiment 3 of the present invention. Detailed Embodiments

[0027] To enable those skilled in the art to better understand the solution of the present invention, the following will clearly and completely describe the technical solution in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0028] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0029] Embodiment 1

[0030] Figure 1 is a flowchart of a method for determining the lane-changing speed of a vehicle provided in Embodiment 1 of the present invention. This embodiment is applicable to the situation of determining the vehicle speed during lane change. This method can be executed by a vehicle lane-changing speed determination device, which can be implemented in the form of hardware and / or software, and can be configured in an electronic device, such as a domain controller of a vehicle. As Figure 1 shown, the method includes:

[0031] S110. Obtain the current vehicle speed, environmental information, and vehicle data of the obstacle vehicle on the target lane of the vehicle to be lane-changed at the current moment; wherein, the environmental information includes road information and closed-scene information, the road information includes the positional relationship between the vehicle to be lane-changed and the ramp, and the road diversion or confluence situation, the closed-scene information includes whether the vehicle to be lane-changed is in a closed scene and the distance from the vehicle to be lane-changed to the closed point when it is in the closed scene, and the vehicle data includes vehicle type, obstacle vehicle speed, longitudinal relative distance, and longitudinal relative vehicle speed.

[0032] In this embodiment, a closed scenario can be understood as a road area with traffic restrictions or requirements, such as ramp closures, construction sections, and toll stations. A closed point is a key node with a clear position and traffic constraints in the closed scenario, such as the starting point of a ramp closure, the starting point of a construction section, or the position of a toll booth in a toll station. The longitudinal relative distance can be understood as the distance of the obstacle vehicle relative to the vehicle to be lane-changed in the driving direction. The longitudinal relative vehicle speed can be understood as the speed difference between the obstacle vehicle and the vehicle to be lane-changed in the driving direction. The obstacle vehicle speed can be understood as the speed of the obstacle vehicle. The vehicle type can be understood as the category divided according to the vehicle length of the obstacle vehicle, including small vehicles, medium-sized vehicles, and large vehicles, etc., where large vehicles such as buses and trucks.

[0033] Specifically, the current vehicle speed is obtained through the sensing device of the vehicle to be lane-changed, the environmental information is obtained from the high-precision map, and the vehicle data of the obstacle vehicle on the target lane is obtained by the environmental perception device.

[0034] S120. Based on the current vehicle speed, the road information, the vehicle type, the longitudinal relative distance, and the longitudinal relative vehicle speed, determine the initial motion state of the vehicle to be lane-changed.

[0035] In this embodiment, the initial motion state can be understood as the motion state that the vehicle to be lane-changed is about to enter, such as accelerating, decelerating, and maintaining a constant speed.

[0036] Specifically, based on the current vehicle speed, road information, vehicle type, longitudinal relative distance, and longitudinal relative vehicle speed, a preset state algorithm can be used to determine the initial motion state of the vehicle to be lane-changed. This embodiment does not limit the preset state algorithm.

[0037] S130. Filter the initial motion state to obtain the target motion state.

[0038] Specifically, to avoid repeated jumps in the vehicle motion state, the initial motion state is filtered using the target motion state at the previous moment to obtain the target motion state.

[0039] Exemplarily, a counter function Cnt(t) is defined, where t is the moment (unit: frame):

[0040]

[0041] If Cnt(t - 1) == 0 and Cnt(t) > 0, then take the initial motion state at the current moment as the target motion state;

[0042] If Cnt(t) > 0, the target motion state at the previous moment is used as the target motion state at the current moment, that is, the target motion state at the previous moment is maintained. By filtering the target motion state through the timer function set above, the continuity and stability of the target motion state can be effectively maintained.

[0043] S140. Determine the target vehicle speed of the vehicle to be lane-changed according to the target motion state, in combination with the closed-scene information and the obstacle vehicle speed.

[0044] Specifically, considering that when the vehicle to be lane-changed is in a closed scene, there may be situations where it cannot pass safely and smoothly. Therefore, the target vehicle speed of the vehicle to be lane-changed can be determined according to the target motion state, in combination with the closed-scene information and the obstacle vehicle speed, to ensure that the vehicle to be lane-changed can pass through the closed point safely and smoothly, and avoid the risks brought by too fast or too slow vehicle speed.

[0045] The technical solution provided in the first embodiment of the present invention obtains the current vehicle speed, environmental information, and vehicle data of the obstacle vehicle on the target lane of the vehicle to be lane-changed at the current moment; wherein, the environmental information includes road information and closed-scene information, the road information includes the position relationship between the vehicle to be lane-changed and the ramp, and the road diversion or merging situation, the closed-scene information includes whether the vehicle to be lane-changed is in a closed scene and the distance between the vehicle to be lane-changed and the closed point when the vehicle to be lane-changed is in the closed scene, and the vehicle data includes vehicle type, obstacle vehicle speed, longitudinal relative distance, and longitudinal relative vehicle speed; based on the current vehicle speed, the road information, the vehicle type, the longitudinal relative distance, and the longitudinal relative vehicle speed, determine the initial motion state of the vehicle to be lane-changed; filter the initial motion state to obtain the target motion state; determine the target vehicle speed of the vehicle to be lane-changed according to the target motion state, in combination with the closed-scene information and the obstacle vehicle speed. Through the above technical solution, after obtaining the target motion state, the target vehicle speed during vehicle lane change is calculated in combination with the closed-scene information, effectively ensuring the safety of the vehicle lane change process and improving the practicability of the method.

[0046] In some embodiments, the target motion state includes acceleration and deceleration; determining the target vehicle speed of the vehicle to change lanes according to the target motion state, in combination with the closed-scene information and the obstacle vehicle speed, includes: based on the target motion state and the closed-scene information, determining whether the closed-scene deceleration trigger condition is satisfied, where the preset closed-scene condition includes that the target motion state is deceleration, and the vehicle to change lanes is in a closed scene and the distance between the vehicle to change lanes and the closed point is less than or equal to a first preset distance value; if the closed-scene deceleration trigger condition is satisfied, determining the target vehicle speed of the vehicle to change lanes based on the distance between the vehicle to change lanes and the closed point; if the closed-scene deceleration trigger condition is not satisfied, determining the target vehicle speed of the vehicle to change lanes based on the obstacle vehicle speed. Through the above technical solution, calculating the target vehicle speed in combination with the closed-scene information effectively ensures the safety of vehicle lane change and enhances the practicability of the solution.

[0047] In this embodiment, the closed-scene deceleration trigger condition can be understood as a pre-set condition for triggering the determination of the target vehicle speed of the vehicle to change lanes based on the distance between the vehicle to change lanes and the closed point. The first preset distance value can be a pre-set distance value, such as 150 m.

[0048] Specifically, based on the target motion state and the closed-scene information, it is determined whether the closed-scene deceleration trigger condition is satisfied. When the target motion state is deceleration, and the vehicle to change lanes is in a closed scene and the distance between the vehicle to change lanes and the closed point is less than or equal to the first preset distance value, the closed-scene deceleration trigger condition is satisfied, and the target vehicle speed of the vehicle to change lanes is determined based on the distance between the vehicle to change lanes and the closed point; otherwise, if the closed-scene deceleration trigger condition is not satisfied, the target vehicle speed of the vehicle to change lanes is determined based on the obstacle vehicle speed.

[0049] Example 1: Taking the obstacle vehicles including the vehicle in front and the vehicle behind as an example for illustration, where the vehicle behind is the first vehicle in the target lane behind the vehicle to change lanes, and the vehicle in front is the first vehicle in the target lane in front of the vehicle to change lanes:

[0050] If the target motion state is deceleration, and the vehicle to change lanes is in a closed scene and the distance d between the vehicle to change lanes and the closed point end is less than or equal to 150 m, then the target vehicle speed v tar is:

[0051] v tar = 0.4211·d end - 18.95

[0052] If the target motion state is deceleration, the vehicle to change lanes is not in a closed scene or the distance d between the vehicle to change lanes and the closed point endIf it is greater than 150 m, then based on the vehicle speed of the vehicle ahead and the vehicle speed of the vehicle behind, calculate the target vehicle speed in the following manner:

[0053]

[0054] Among them, represents the slowest vehicle speed among the obstacle vehicles, represents the vehicle speed of the vehicle ahead, represents the vehicle speed of the vehicle behind.

[0055] If the target motion state is acceleration, then based on the vehicle speed of the vehicle ahead and the vehicle speed of the vehicle behind, calculate the target vehicle speed in the following manner:

[0056]

[0057] Among them, represents the fastest vehicle speed among the obstacle vehicles.

[0058] Example 2: Taking the case where the obstacle vehicle only includes the vehicle ahead or the obstacle vehicle only includes the vehicle behind as an example for illustration:

[0059] If the target motion state is deceleration, and the vehicle to be lane-changed is in a closed scenario and the distance d between the vehicle to be lane-changed and the closed point end is less than or equal to 150 m, then the target vehicle speed v tar is:

[0060] v tar = 0.4211·d end - 18.95

[0061] If the target motion state is deceleration, the vehicle to be lane-changed is not in a closed scenario or the distance d between the vehicle to be lane-changed and the closed point end is greater than 150 m, then based on the obstacle vehicle speed, calculate the target vehicle speed in the following manner:

[0062] v tar = min(0.8·v obj , v obj - 10 km / h)

[0063] Among them, v obj represents the vehicle speed of the vehicle ahead when there is only the vehicle ahead; represents the vehicle speed of the vehicle behind when there is only the vehicle behind.

[0064] If the target motion state is acceleration, then based on the obstacle vehicle speed, calculate the target vehicle speed in the following manner:

[0065] v tar = max(1.2·v obj , v obj + 10 km / h)

[0066] Optionally, if the target motion state is uniform, the target vehicle speed is the target vehicle speed at the previous moment.

[0067] In some embodiments, determining the initial motion state of the vehicle to be lane-changed based on the current vehicle speed, the road information, the vehicle type, the longitudinal relative distance, and the longitudinal relative vehicle speed includes: determining the collision time between the vehicle to be lane-changed and the obstacle vehicle based on the longitudinal relative distance and the longitudinal relative vehicle speed; determining the target safety distance between the vehicle to be lane-changed and the obstacle vehicle based on the current vehicle speed, the road information, and the vehicle type; and determining the initial motion state of the vehicle to be lane-changed based on the collision time, the target safety distance, and the longitudinal relative distance. Through the above technical solution, the safety of the vehicle during the lane-changing process is effectively improved.

[0068] In this embodiment, the target safety distance can be understood as the ideal distance that should be maintained between the vehicle to be lane-changed and the obstacle vehicle on the target lane to ensure driving safety during the lane-changing process of the vehicle.

[0069] Specifically, the collision time TTC between the vehicle to be lane-changed and the obstacle vehicle can be calculated in the following manner:

[0070]

[0071] where x rel represents the longitudinal relative distance, and vx rel represents the longitudinal relative vehicle speed.

[0072] Based on the current vehicle speed, the road information, and the vehicle type, the target safety distance between the vehicle to be lane-changed and the obstacle vehicle can be calculated; furthermore, based on the collision time, the target safety distance, and the longitudinal relative distance, the initial motion state of the vehicle to be lane-changed is determined.

[0073] In some embodiments, the obstacle vehicle includes a rear vehicle, and the rear vehicle is the first vehicle located behind the vehicle to be lane-changed on the target lane; determining the target safety distance between the vehicle to be lane-changed and the obstacle vehicle based on the current vehicle speed, the road information, and the vehicle type includes: determining the target safety distance between the vehicle to be lane-changed and the rear vehicle based on the current vehicle speed, a preset basic safety distance, a preset user reaction time, and a first scenario compensation value, where the first scenario compensation value is determined based on the road information and the vehicle type.

[0074] In this embodiment, the preset basic safety distance can be understood as the minimum safety interval that is preset and used as a basic reference value when calculating the target safety distance. The preset user response time can be understood as the average time interval that is preset and used to represent the time from when the driver perceives a change in the traffic condition to when the driver starts to take corresponding actions.

[0075] Specifically, in the case where the obstacle vehicle only includes the vehicle behind:

[0076] Based on the road information and vehicle type, the first scenario compensation value is determined through the following algorithm:

[0077]

[0078] Wherein:

[0079]

[0080] Wherein, Δd scene represents the first scenario compensation value, and w 2 represents the weight matrix set according to the actual situation. For example, w 2 can be set to [10, 0, 10, 0]. It is calculated through the indicator function I(·), which takes the value of 1 when the scenario condition inside the function is satisfied, and 0 otherwise. n represents the total number of scenario conditions, and i is the index variable used to represent different scenario conditions.

[0081] Furthermore, based on the current vehicle speed, the preset basic safety distance, the preset user response time, and the first scenario compensation value, the target safety distance between the vehicle to be lane-changed and the vehicle behind is determined through the following algorithm:

[0082] RSD = d base + v ego ·t response + Δd scene

[0083] Wherein, d base represents the preset basic safety distance, for example, 2.5 m; v ego represents the current vehicle speed of the vehicle to be lane-changed; t response represents the preset user response time, for example, 0.2 s.

[0084] Through the above technical solution, when the obstacle vehicle is only the vehicle behind, the dynamic calculation of the target safety distance is realized, and the basic safety distance is compensated, laying a foundation for further ensuring the safety of vehicle lane change.

[0085] In some embodiments, the initial motion state includes acceleration and deceleration; the vehicle type includes large vehicles, where a large vehicle is a vehicle with a vehicle length greater than a preset vehicle length threshold; determining the initial motion state of the vehicle to change lanes based on the collision time, the target safety distance, and the longitudinal relative distance includes: if a first preset condition is satisfied, determining the initial motion state of the vehicle to change lanes as acceleration, where the first preset condition includes that the vehicle behind is a large vehicle, and the longitudinal relative vehicle speed is less than a first preset value, and the absolute value of the longitudinal relative distance is less than the target safety distance, and the distance between the vehicle to change lanes and the ramp is less than a second preset distance value; if a second preset condition is satisfied, determining the initial motion state of the vehicle to change lanes as deceleration, where the second preset condition includes that the difference between the collision time and the threshold of the collision time is less than a second preset value, or the absolute value of the longitudinal relative distance is less than the target safety distance and the longitudinal relative vehicle speed is greater than a third preset value, where the threshold of the collision time is determined based on the current vehicle speed and the longitudinal relative vehicle speed.

[0086] In this embodiment, the preset vehicle length threshold can be a threshold set according to the actual situation. The first preset value, the second preset value, and the third preset value are values set according to the actual situation. These three preset values can be the same, for example, all 0, or they can be different. The second preset distance value can be understood as a preset distance value, such as 800 m. The first preset condition can be understood as a pre-set condition for determining that the initial motion state of the vehicle to change lanes is acceleration. The second preset condition can be understood as a pre-set condition for the initial motion state of the vehicle to change lanes to be deceleration.

[0087] Specifically, in the case where the obstacle vehicle only includes the vehicle behind:

[0088] Based on the current vehicle speed and the longitudinal relative vehicle speed, the threshold TTC of the collision time can be determined through the following algorithm threshold :

[0089] TTC threshold =α·TTC vehSpd +β·TTC relVx

[0090] where α and β represent weight coefficients that can be determined according to the actual situation, such as α = 0.9, β = 0.2, TTC vehSpd represents the current vehicle speed threshold of the vehicle to change lanes, and TTC relVx represents the threshold of the longitudinal relative vehicle speed.

[0091] TTC vehSpd is determined in the following manner:

[0092]

[0093] Among them,

[0094]

[0095] Among them, w 3 represents the weight matrix set according to the actual situation. For example, w 3 = [4, 4.5, 5, 6]. It is calculated by the indicator function I(·), which takes the value of 1 when the vehicle speed condition in the function is satisfied, otherwise 0. n represents the total number of vehicle speed conditions, and i is the index variable used to represent different vehicle speed conditions.

[0096] TTC relVx is determined in the following way:

[0097]

[0098] Among them,

[0099]

[0100] Among them, w 4 represents the weight matrix set according to the actual situation. For example, w 4 = [5.5, 6, 6.5, 7]. It is calculated by the indicator function I(·), which takes the value of 1 when the longitudinal relative vehicle speed condition in the function is satisfied, otherwise 0. n represents the total number of longitudinal relative vehicle speed conditions, and i is the index variable used to represent different longitudinal relative vehicle speed conditions.

[0101] For the vehicle behind obj rear :

[0102] The first preset condition can be expressed as: the vehicle type of obj rear is a large vehicle, and vx rel < 0, and |x rel | < RSD, and the distance between the vehicle to change lanes and the ramp is less than 800 m;

[0103] The second preset condition can be expressed as: TTC - TTC threshold < 0, or, |x rel | < RSD and vx rel > 0;

[0104] Among them, vx rel is the longitudinal relative vehicle speed, x rel is the longitudinal relative distance, RSD is the target safety distance, TTC is the time to collision, and TTC threshold is the threshold of the time to collision.

[0105] If the first preset condition is satisfied, the initial motion state of the vehicle to change lanes is determined to be accelerating. If the second preset condition is satisfied, the initial motion state of the vehicle to change lanes is determined to be decelerating.

[0106] Through the above technical solution, the dynamic calculation of the threshold of the obstacle time is realized, laying a foundation for ensuring the safety of the vehicle lane-changing process. Further, when the obstacle vehicle is a vehicle behind, the initial motion state of the vehicle to change lanes is comprehensively judged considering multiple factors, effectively improving the accuracy and adaptability of the lane-changing decision.

[0107] Optionally, if neither the first preset condition nor the second preset condition is satisfied, the initial motion state is uniform speed, that is, maintaining the current vehicle speed at the current moment.

[0108] In some embodiments, the obstacle vehicle includes a vehicle in front, and the vehicle in front is the first vehicle in the target lane in front of the vehicle to change lanes. The determining the target safety distance between the vehicle to change lanes and the obstacle vehicle based on the current vehicle speed, the road information, and the vehicle type includes: determining the basic safety distance between the vehicle to change lanes and the vehicle in front based on the current vehicle speed, the speed of the obstacle vehicle, the braking response time, the longitudinal acceleration, and the maximum deceleration under comfortable braking of the vehicle to change lanes; determining the target safety distance between the vehicle to change lanes and the vehicle in front based on the basic safety distance, the vehicle speed compensation value, and the second scenario compensation value, where the vehicle speed compensation value is determined based on the current vehicle speed, and the second scenario compensation value is determined based on the road information and the vehicle type.

[0109] In this embodiment, the braking response time can be understood as a preset time interval for indicating the time from when the vehicle to change lanes receives a braking signal to when it starts to produce a braking effect. The longitudinal acceleration can be understood as the acceleration of the vehicle to change lanes in the driving direction. The maximum deceleration under comfortable braking can be understood as a preset value for indicating the maximum deceleration degree that the vehicle to change lanes can reach on the premise of ensuring riding comfort.

[0110] Specifically, in the case where the obstacle vehicle only includes the vehicle in front:

[0111] The basic safety distance RSS between the vehicle to change lanes and the vehicle in front is determined by the following method base :

[0112]

[0113] where v ego represents the current vehicle speed; t brake represents the braking response time of the vehicle to change lanes; a ego represents the longitudinal acceleration; v front represents the speed of the vehicle in front; adec_max Represents the maximum deceleration during comfortable braking of the host vehicle, such as -6 m / s 2 .

[0114] Based on the basic safety distance, vehicle speed compensation value, and second-scenario compensation value, the target safety distance RSS between the vehicle to be lane-changed and the vehicle ahead is determined in the following manner:

[0115] RSS = RSS base + ΔRSS speed + ΔRSS scene

[0116] ΔRSS speed = λ·v ego 2

[0117] Wherein, ΔRSS speed is the vehicle speed compensation value, which is determined based on the vehicle speed compensation factor λ and the current vehicle speed. The vehicle speed compensation factor is a pre-set value, such as 0.01; ΔRSS scene is the second-scenario compensation value, which is determined based on the road information and vehicle type in the following manner:

[0118]

[0119] Wherein:

[0120]

[0121] Wherein, w 1 represents the weight matrix set according to the actual situation. For example, w 1 can be set to [10, 5, 10, 5]. It is calculated through the indicator function I(·), which takes the value of 1 when the scenario conditions within the function are satisfied, and 0 otherwise. n represents the total number of scenario conditions, and i is the index variable used to represent different scenario conditions.

[0122] Through the above technical solutions, the dynamic calculation of the target safety distance is realized when there is only the vehicle ahead as the obstacle vehicle, laying a foundation for further ensuring the safety of vehicle lane-changing.

[0123] In some embodiments, the target motion state includes acceleration and deceleration; determining the initial motion state of the vehicle to change lanes based on the time to collision, the target safety distance, and the longitudinal relative distance includes: if a third preset condition is satisfied, determining the initial motion state of the vehicle to change lanes to be deceleration, where the third preset condition includes that when the difference between the longitudinal relative distance and the target safety distance is less than a fourth preset value, the time to collision is greater than a fifth preset value, or the time to collision is less than a sixth preset value; if a fourth preset condition is satisfied, determining the target motion state of the vehicle to change lanes to be acceleration, where the fourth preset condition includes that the difference between the longitudinal relative distance and the target safety distance is less than the fourth preset value, and the time to collision is greater than a seventh preset value, and the time to collision is less than or equal to an eighth preset value; where the fifth preset value is greater than or equal to the eighth preset value, and the seventh preset value is greater than the fourth preset value.

[0124] In this embodiment, the third preset condition can be understood as a pre-set condition for determining that the initial motion state of the vehicle to change lanes is deceleration. The fourth preset condition can be understood as a pre-set condition for determining that the initial motion state of the vehicle to change lanes is acceleration. The fourth preset value, the fifth preset value, the sixth preset value, the seventh preset value, and the eighth preset value are pre-set values. Among them, the fifth preset value is greater than or equal to the eighth preset value, and the seventh preset value is greater than the fourth preset value. For example, the fourth preset value can be set to 0, the fifth preset value to 6, the sixth preset value to 0, the seventh preset value to 3, and the eighth preset value to 6.

[0125] Specifically, in the case where the obstacle vehicle only includes the vehicle ahead:

[0126] The third preset condition can be expressed as: when x rel - RSS < the fourth preset value, TTC > the fifth preset value, or TTC < the sixth preset value;

[0127] The fourth preset condition can be expressed as: x rel - RSS < the fourth preset value and the seventh preset value < TTC ≤ the eighth preset value;

[0128] Among them, x rel is the longitudinal relative distance, RSS is the target safety distance, and TTC is the time to collision.

[0129] If the third preset condition is satisfied, determine that the initial motion state of the vehicle to change lanes is deceleration, and if the fourth preset condition is satisfied, determine that the initial motion state of the vehicle to change lanes is acceleration.

[0130] Through the above technical solutions, when the obstacle vehicle is the vehicle ahead, the initial motion state of the vehicle to be lane-changed is comprehensively judged considering multiple factors, effectively improving the accuracy and adaptability of lane-changing decisions.

[0131] Optionally, if neither the third preset condition nor the fourth preset condition is satisfied, the initial motion state is uniform motion, that is, the current vehicle speed at the current moment is maintained.

[0132] In some embodiments, the obstacle vehicle includes a vehicle ahead and a vehicle behind. The vehicle behind is the first vehicle in the target lane behind the vehicle to be lane-changed; the vehicle ahead is the first vehicle in the target lane in front of the vehicle to be lane-changed; the target motion states include acceleration, deceleration, and uniform motion.

[0133] Determining the initial motion state of the vehicle to be lane-changed based on the time to collision, the target safety distance, and the longitudinal relative distance includes: determining the first motion state of the vehicle to be lane-changed based on the time to collision, the target safety distance, and the longitudinal relative distance between the vehicle ahead and the vehicle to be lane-changed; determining the second motion state of the vehicle to be lane-changed based on the time to collision, the target safety distance, and the longitudinal relative distance between the vehicle behind and the vehicle to be lane-changed; in the case where the first motion state and the second motion state are different, if any one of the motion states is deceleration, determining the initial motion state of the vehicle to be lane-changed as deceleration, and if one motion state is uniform motion and the other is acceleration, determining the initial motion state of the vehicle to be lane-changed as uniform motion; if the first motion state and the second motion state are the same, determining the initial motion state of the vehicle to be lane-changed as the first motion state.

[0134] Specifically, in the case where the obstacle vehicle includes a vehicle ahead and a vehicle behind:

[0135] To determine the first motion state of the vehicle to be lane-changed based on the time to collision, the target safety distance, and the longitudinal relative distance between the vehicle ahead and the vehicle to be lane-changed, the method of calculating the initial motion state in the foregoing embodiments where the obstacle vehicle only includes the vehicle ahead can be used to calculate the first motion state; similarly, to determine the second motion state of the vehicle to be lane-changed based on the time to collision, the target safety distance, and the longitudinal relative distance between the vehicle behind and the vehicle to be lane-changed, the method of calculating the initial motion state in the foregoing embodiments where the obstacle vehicle only includes the vehicle behind can be used to calculate the second motion state.

[0136] Furthermore, when the first motion state and the second motion state are different, if there is any deceleration in either motion state, determine the initial motion state of the vehicle to be lane-changed as deceleration. If one motion state is uniform motion and the other is acceleration, determine the initial motion state of the vehicle to be lane-changed as uniform motion. If the first motion state and the second motion state are the same, determine the initial motion state of the vehicle to be lane-changed as the first motion state.

[0137] Through the above technical solution, in the scenario where the obstacle vehicle includes the vehicle in front and the vehicle behind, the first motion state of the vehicle in front is calculated by integrating multiple factors, and the second motion state of the vehicle behind is calculated by integrating multiple factors. Furthermore, the initial motion state is determined by integrating the first motion state and the second motion state, effectively improving the accuracy and adaptability of lane-changing decisions in this scenario and laying a solid foundation for further improving the safety of the vehicle during lane-changing.

[0138] Embodiment 2

[0139] Figure 2 is a schematic structural diagram of a vehicle lane-changing speed determination device provided by Embodiment 2 of the present invention. As Figure 2 shown, the device includes:

[0140] A data acquisition module 21, configured to acquire the current vehicle speed, environmental information, and vehicle data of the obstacle vehicle on the target lane of the vehicle to be lane-changed at the current moment; wherein, the environmental information includes road information and closed-scene information, the road information includes the positional relationship between the vehicle to be lane-changed and the ramp, and the road diversion or merging situation, the closed-scene information includes whether the vehicle to be lane-changed is in a closed scene and the distance between the vehicle to be lane-changed and the closed point when the vehicle to be lane-changed is in the closed scene, and the vehicle data includes vehicle type, obstacle vehicle speed, longitudinal relative distance, and longitudinal relative vehicle speed;

[0141] A state determination module 22, configured to determine the initial motion state of the vehicle to be lane-changed based on the current vehicle speed, the road information, the vehicle type, the longitudinal relative distance, and the longitudinal relative vehicle speed;

[0142] A state filtering module 23, configured to filter the initial motion state to obtain the target motion state;

[0143] A vehicle speed determination module 24, configured to determine the target vehicle speed of the vehicle to be lane-changed according to the target motion state, in combination with the closed-scene information and the obstacle vehicle speed.

[0144] The technical solution provided by Embodiment 2 of the present invention calculates the target vehicle speed during vehicle lane-changing in combination with the closed-scene information after obtaining the target motion state, effectively ensuring the safety of the vehicle during the lane-changing process and improving the practicability of the method.

[0145] Optionally, the target motion state includes acceleration and deceleration;

[0146] Optionally, the vehicle speed determination module 24 includes:

[0147] A scenario judgment unit, configured to judge whether a closed scenario deceleration trigger condition is satisfied based on the target motion state and the closed scenario information, where the preset scenario closing condition includes that the target motion state is deceleration, and the vehicle to be lane-changed is in a closed scenario and the distance between the vehicle to be lane-changed and the closed point is less than or equal to a first preset distance value;

[0148] A first vehicle speed determination unit, configured to determine the target vehicle speed of the vehicle to be lane-changed based on the distance between the vehicle to be lane-changed and the closed point if the closed scenario deceleration trigger condition is satisfied;

[0149] A second vehicle speed determination unit, configured to determine the target vehicle speed of the vehicle to be lane-changed based on the obstacle vehicle speed if the closed scenario deceleration trigger condition is not satisfied.

[0150] Optionally, the state determination module 22 includes:

[0151] A time determination unit, configured to determine the collision time between the vehicle to be lane-changed and the obstacle vehicle based on the longitudinal relative distance and the longitudinal relative vehicle speed;

[0152] A distance determination unit, configured to determine the target safety distance between the vehicle to be lane-changed and the obstacle vehicle based on the current vehicle speed, the road information, and the vehicle type;

[0153] A state determination unit, configured to determine the initial motion state of the vehicle to be lane-changed based on the collision time, the target safety distance, and the longitudinal relative distance.

[0154] Optionally, the obstacle vehicle includes a rear vehicle, and the rear vehicle is the first vehicle located behind the vehicle to be lane-changed on the target lane;

[0155] Optionally, the distance determination unit is specifically configured to determine the target safety distance between the vehicle to be lane-changed and the rear vehicle based on the current vehicle speed, a preset basic safety distance, a preset user reaction time, and a first scenario compensation value, where the first scenario compensation value is determined based on the road information and the vehicle type.

[0156] Optionally, the initial motion state includes acceleration and deceleration; the vehicle type includes a large vehicle, and the large vehicle is a vehicle with a vehicle length greater than a preset vehicle length threshold;

[0157] Optionally, the state determination unit includes:

[0158] A first acceleration determination subunit, configured to determine that an initial motion state of the vehicle to change lanes is acceleration if a first preset condition is satisfied, where the first preset condition includes that the vehicle behind is a large vehicle, a longitudinal relative vehicle speed is less than a first preset value, an absolute value of the longitudinal relative distance is less than the target safety distance, and a distance between the vehicle to change lanes and a ramp is less than a second preset distance value;

[0159] A first deceleration determination subunit, configured to determine that an initial motion state of the vehicle to change lanes is deceleration if a second preset condition is satisfied, where the second preset condition includes that a difference between the time to collision and a threshold value of the time to collision is less than a second preset value, or the absolute value of the longitudinal relative distance is less than the target safety distance and the longitudinal relative vehicle speed is greater than a third preset value, where the threshold value of the time to collision is determined based on the current vehicle speed and the longitudinal relative vehicle speed.

[0160] Optionally, the obstacle vehicle includes a vehicle ahead, and the vehicle ahead is the first vehicle located ahead of the vehicle to change lanes on the target lane;

[0161] Optionally, the distance determination unit includes:

[0162] A basic distance determination subunit, configured to determine a basic safety distance between the vehicle to change lanes and the vehicle ahead based on the current vehicle speed, the obstacle vehicle speed, a braking response time, a longitudinal acceleration, and a maximum deceleration under comfortable braking of the vehicle to change lanes;

[0163] A distance determination subunit, configured to determine a target safety distance between the vehicle to change lanes and the vehicle ahead based on the basic safety distance, a vehicle speed compensation value, and a second scenario compensation value, where the vehicle speed compensation value is determined based on the current vehicle speed, and the second scenario compensation value is determined based on the road information and the vehicle type.

[0164] Optionally, the target motion state includes acceleration and deceleration;

[0165] Optionally, the state determination unit includes:

[0166] A second deceleration determination subunit, configured to determine that an initial motion state of the vehicle to change lanes is deceleration if a third preset condition is satisfied, where the third preset condition includes that when a difference between the longitudinal relative distance and the target safety distance is less than a fourth preset value, the time to collision is greater than a fifth preset value, or the time to collision is less than a sixth preset value;

[0167] A second acceleration determination subunit, configured to determine that the target motion state of the to-be-laned vehicle is acceleration if a fourth preset condition is satisfied, where the fourth preset condition includes that the difference between the longitudinal relative distance and the target safety distance is less than a fourth preset value, and the time to collision is greater than a seventh preset value and less than or equal to an eighth preset value;

[0168] Wherein, the fifth preset value is greater than or equal to the eighth preset value, and the seventh preset value is greater than the fourth preset value.

[0169] Optionally, the obstacle vehicle includes a vehicle ahead and a vehicle behind, where the vehicle behind is the first vehicle in the target lane behind the to-be-laned vehicle; the vehicle ahead is the first vehicle in the target lane ahead of the to-be-laned vehicle; the target motion state includes acceleration, deceleration, and uniform motion;

[0170] Optionally, the state determination unit includes:

[0171] A first state determination subunit, configured to determine the first motion state of the to-be-laned vehicle based on the time to collision, the target safety distance, and the longitudinal relative distance between the vehicle ahead and the to-be-laned vehicle;

[0172] A second state determination subunit, configured to determine the second motion state of the to-be-laned vehicle based on the time to collision, the target safety distance, and the longitudinal relative distance between the vehicle behind and the to-be-laned vehicle;

[0173] A first initial state determination subunit, configured to, when the first motion state and the second motion state are different, if there is any motion state of deceleration, determine that the initial motion state of the to-be-laned vehicle is deceleration, and if there is one motion state of uniform motion and the other motion state is acceleration, determine that the initial motion state of the to-be-laned vehicle is uniform motion;

[0174] A second initial state determination subunit, configured to determine that the initial motion state of the to-be-laned vehicle is the first motion state if the first motion state and the second motion state are the same.

[0175] The vehicle lane-changing speed determination device provided by the embodiments of the present invention can execute the vehicle lane-changing speed determination method provided by any embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the method.

[0176] Embodiment III

[0177] Figure 3It is a schematic structural diagram of an electronic device provided in Embodiment 3 of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0178] As Figure 3 shown, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc. The memory stores a computer program executable by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. The input / output (I / O) interface 15 is also connected to the bus 14.

[0179] Multiple components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0180] The processor 11 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 11 include but are not limited to a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the vehicle lane change speed determination method.

[0181] In some embodiments, the vehicle lane change speed determination method may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed onto the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the vehicle lane change speed determination method described above may be executed. Alternatively, in other embodiments, the processor 11 may be configured to execute the vehicle lane change speed determination method by any other suitable means (e.g., by means of firmware).

[0182] The various embodiments of the systems and techniques described above in this document may be implemented in digital electronic circuitry, integrated circuit systems, field programmable gate arrays (FPGA), application specific integrated circuits (ASIC), application specific standard products (ASSP), systems on a chip (SOC), complex programmable logic devices (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include: being implemented in one or more computer programs executable and / or interpretable on a programmable system including at least one programmable processor, which may be a special-purpose or general-purpose programmable processor that receives data and instructions from a storage system, at least one input device, and at least one output device, and transmits the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0183] The computer program for implementing the method of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus, such that the computer program, when executed by the processor, causes the functions / operations specified in the flowchart and / or block diagram to be implemented. The computer program may be executed entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine, or entirely on the remote machine or server.

[0184] In the context of the present invention, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, 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 disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0185] In order to provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0186] The systems and techniques described herein can be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local area network (LAN), wide area network (WAN), blockchain network, and the Internet.

[0187] A computing system may include a client and a server. The client and the server are generally far from each other and usually interact via a communication network. The relationship between the client and the server is created by computer programs running on respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system, solving the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

[0188] It should be understood that various forms of the processes shown above can be used, with steps reordered, added, or deleted. For example, the steps recited in the present invention can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved, and no limitation is imposed herein.

[0189] The above specific embodiments do not constitute a limitation to the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to 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.

[0190] The embodiments of the present invention also provide a computer program product, including a computer program and / or instructions, which, when executed by a processor, implement the vehicle lane-changing speed determination method provided in any embodiment of the present application.

[0191] In the process of implementing the computer program product, computer program code for performing the operations of the present invention can be written in one or more programming languages or combinations thereof. The programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, executed as an independent software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network - including a local area network (LAN) or a wide area network (WAN) - or can be connected to an external computer (for example, by using an Internet service provider to connect through the Internet).

[0192] Note that the above is only the preferred embodiment of the present invention and the technical principles applied. Those skilled in the art will understand that the present invention is not limited to the specific embodiments here, and various obvious changes, re-adjustments and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments only. Without departing from the concept of the present invention, more other equivalent embodiments can be included, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A method for determining the speed of a vehicle when changing lanes, characterized in that, Including: Obtain the current vehicle speed, environmental information of the vehicle to change lanes at the current moment, and vehicle data of the obstacle vehicle on the target lane; wherein, the environmental information includes road information and closed-scene information, the road information includes the positional relationship between the vehicle to change lanes and the ramp, and the road diversion or merging situation, the closed-scene information includes whether the vehicle to change lanes is in a closed scene and the distance from the vehicle to change lanes to the closed point when the vehicle to change lanes is in the closed scene, and the vehicle data includes vehicle type, obstacle vehicle speed, longitudinal relative distance, and longitudinal relative speed; Based on the current vehicle speed, the road information, the vehicle type, the longitudinal relative distance, and the longitudinal relative speed, determine the initial motion state of the vehicle to change lanes; Filter the initial motion state to obtain the target motion state; According to the target motion state, in combination with the closed-scene information and the obstacle vehicle speed, determine the target vehicle speed of the vehicle to change lanes.

2. The method according to claim 1, wherein The target motion state includes acceleration and deceleration; The step of determining the target vehicle speed of the vehicle to change lanes according to the target motion state, in combination with the closed-scene information and the obstacle vehicle speed, includes: Based on the target motion state and the closed-scene information, judge whether the closed-scene deceleration trigger condition is satisfied, wherein the preset closed-scene condition includes that the target motion state is deceleration, and the vehicle to change lanes is in a closed scene and the distance from the vehicle to change lanes to the closed point is less than or equal to the first preset distance value; If the closed-scene deceleration trigger condition is satisfied, then determine the target vehicle speed of the vehicle to change lanes based on the distance from the vehicle to change lanes to the closed point; If the closed-scene deceleration trigger condition is not satisfied, then determine the target vehicle speed of the vehicle to change lanes based on the obstacle vehicle speed.

3. The method according to claim 1, characterized in that, The step of determining the initial motion state of the vehicle to change lanes based on the current vehicle speed, the road information, the vehicle type, the longitudinal relative distance, and the longitudinal relative speed includes: Based on the longitudinal relative distance and the longitudinal relative speed, determine the collision time between the vehicle to change lanes and the obstacle vehicle; Based on the current vehicle speed, the road information, and the vehicle type, determine the target safe distance between the vehicle to change lanes and the obstacle vehicle; Based on the collision time, the target safe distance, and the longitudinal relative distance, determine the initial motion state of the vehicle to change lanes.

4. The method according to claim 3, characterized in that, The obstacle vehicle includes a rear vehicle, and the rear vehicle is the first vehicle on the target lane located behind the vehicle to change lanes; The step of determining the target safe distance between the vehicle to change lanes and the obstacle vehicle based on the current vehicle speed, the road information, and the vehicle type includes: Based on the current vehicle speed, a preset basic safe distance, a preset user reaction time, and a first-scene compensation value, determine the target safe distance between the vehicle to change lanes and the rear vehicle, wherein the first-scene compensation value is determined based on the road information and the vehicle type.

5. The method according to claim 4, characterized in that, The initial motion state includes acceleration and deceleration; the vehicle type includes a large vehicle, and the large vehicle is a vehicle with a vehicle length greater than a preset vehicle length threshold; Determining the initial motion state of the vehicle to change lanes based on the collision time, the target safety distance, and the longitudinal relative distance includes: If a first preset condition is satisfied, determining the initial motion state of the vehicle to change lanes as accelerating, where the first preset condition includes that the vehicle behind is a large vehicle, and the longitudinal relative vehicle speed is less than a first preset value, and the absolute value of the longitudinal relative distance is less than the target safety distance, and the distance between the vehicle to change lanes and the ramp is less than a second preset distance value; If a second preset condition is satisfied, determining the initial motion state of the vehicle to change lanes as decelerating, where the second preset condition includes that the difference between the collision time and the threshold value of the collision time is less than a second preset value, or the absolute value of the longitudinal relative distance is less than the target safety distance and the longitudinal relative vehicle speed is greater than a third preset value, where the threshold value of the collision time is determined based on the current vehicle speed and the longitudinal relative vehicle speed.

6. The method according to claim 3, characterized in that, The obstacle vehicle includes the vehicle in front, and the vehicle in front is the first vehicle in the target lane in front of the vehicle to change lanes; Determining the target safety distance between the vehicle to change lanes and the obstacle vehicle based on the current vehicle speed, the road information, and the vehicle type includes: Determining the basic safety distance between the vehicle to change lanes and the vehicle in front based on the current vehicle speed, the speed of the obstacle vehicle, the braking response time, the longitudinal acceleration, and the maximum deceleration under comfortable braking of the vehicle to change lanes; Determining the target safety distance between the vehicle to change lanes and the vehicle in front based on the basic safety distance, the vehicle speed compensation value, and the second scenario compensation value, where the vehicle speed compensation value is determined based on the current vehicle speed, and the second scenario compensation value is determined based on the road information and the vehicle type.

7. The method according to claim 6, characterized in that, The target motion state includes accelerating and decelerating; Determining the initial motion state of the vehicle to change lanes based on the collision time, the target safety distance, and the longitudinal relative distance includes: If a third preset condition is satisfied, determining the initial motion state of the vehicle to change lanes as decelerating, where the third preset condition includes that when the difference between the longitudinal relative distance and the target safety distance is less than a fourth preset value, the collision time is greater than a fifth preset value, or the collision time is less than a sixth preset value; If a fourth preset condition is satisfied, determining the target motion state of the vehicle to change lanes as accelerating, where the fourth preset condition includes that the difference between the longitudinal relative distance and the target safety distance is less than a fourth preset value, and the collision time is greater than a seventh preset value, and the collision time is less than or equal to an eighth preset value; Wherein, the fifth preset value is greater than or equal to the eighth preset value, and the seventh preset value is greater than the fourth preset value.

8. The method according to claim 3, characterized in that, The obstacle vehicle includes the vehicle in front and the vehicle behind, and the vehicle behind is the first vehicle in the target lane behind the vehicle to change lanes; the vehicle in front is the first vehicle in the target lane in front of the vehicle to change lanes; the target motion state includes accelerating, decelerating, and maintaining a constant speed; Determining an initial motion state of the vehicle to be lane-changed based on the collision time, the target safety distance, and the longitudinal relative distance includes: Determining a first motion state of the vehicle to be lane-changed based on the collision time, the target safety distance, and the longitudinal relative distance between the vehicle in front and the vehicle to be lane-changed; Determining a second motion state of the vehicle to be lane-changed based on the collision time, the target safety distance, and the longitudinal relative distance between the vehicle behind and the vehicle to be lane-changed; When the first motion state and the second motion state are different, if any one of the motion states is deceleration, determining the initial motion state of the vehicle to be lane-changed as deceleration; if one motion state is uniform speed and the other motion state is acceleration, determining the initial motion state of the vehicle to be lane-changed as uniform speed; If the first motion state and the second motion state are the same, determining the initial motion state of the vehicle to be lane-changed as the first motion state.

9. A vehicle lane-changing speed determination device, characterized in that, Including: A data acquisition module, configured to acquire the current vehicle speed, environmental information, and vehicle data of an obstacle vehicle on the target lane of the vehicle to be lane-changed at the current moment; wherein, the environmental information includes road information and closed-scene information, the road information includes the positional relationship between the vehicle to be lane-changed and the ramp, and the road diversion or merging situation, the closed-scene information includes whether the vehicle to be lane-changed is in a closed scene and the distance between the vehicle to be lane-changed and the closed point when the vehicle to be lane-changed is in the closed scene, and the vehicle data includes vehicle type, obstacle vehicle speed, longitudinal relative distance, and longitudinal relative vehicle speed; A state determination module, configured to determine an initial motion state of the vehicle to be lane-changed based on the current vehicle speed, the road information, the vehicle type, the longitudinal relative distance, and the longitudinal relative vehicle speed; A state filtering module, configured to filter the initial motion state to obtain a target motion state; A vehicle speed determination module, configured to determine a target vehicle speed of the vehicle to be lane-changed according to the target motion state, in combination with the closed-scene information and the obstacle vehicle speed.

10. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the vehicle lane-changing speed determination method according to any one of claims 1-8.

11. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing a processor to implement the vehicle lane-changing speed determination method according to any one of claims 1-8 when executed.

12. A computer program product, characterized in that, The computer program product includes a computer program that implements the vehicle lane-changing speed determination method according to any one of claims 1-8 when executed by a processor.

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