Lane selection method, electronic equipment, vehicle and product

Abstract

The invention relates to a lane selection method, electronic equipment, a vehicle and a product, and relates to the technical field of intelligent driving control. According to the method, at least one primary lane is determined according to the current position of the vehicle and the position of the next turning point in the navigation route of the vehicle; and then, according to the lane information of each primarily-selected lane, selecting a target lane which is suggested to be driven in for the vehicle from at least one primarily-selected lane. According to the invention, the accuracy and flexibility of lane selection for the vehicle can be improved, and then the safety, experience and traffic efficiency of automatic driving of the vehicle are improved.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle driving intelligent control, and in particular to a lane selection method, electronic equipment, vehicle, computer-readable storage medium, and computer program product. Background Art

[0002] Nowadays, the City Navigation on Autopilot (CNOA) function can control the vehicle to drive automatically during certain periods of time. When approaching a traffic light intersection, the autonomous vehicle usually adopts the simplest strategy and chooses the available queue lane closest to the vehicle.

[0003] However, traditional lane selection methods directly select the lane closest to the vehicle without considering other lane information, resulting in inaccurate and inflexible lane selection. For example, a vehicle may enter a lane with heavy traffic, reducing traffic efficiency, or enter a lane that poses a safety hazard. Summary of the Invention

[0004] The embodiments of the present application provide a lane selection method, which improves the accuracy and flexibility of lane selection for a vehicle, thereby improving the safety, experience and traffic efficiency of the vehicle's autonomous driving, so as to at least partially solve the above-mentioned technical problems.

[0005] To achieve the above-mentioned object, according to a first aspect of the present application, a lane selection method is provided, which is applied to a vehicle, wherein the method is communicatively connected with the vehicle, and the method comprises:

[0006] Determining at least one preliminary lane based on a current position of the vehicle and a position of a next turning point in a navigation route of the vehicle;

[0007] A target lane recommended for the vehicle to enter is selected from at least one of the initially selected lanes according to the lane information of each of the initially selected lanes.

[0008] Optionally, determining at least one pre-selected lane based on the current position of the vehicle and the position of the next turning point includes:

[0009] Determining a target intersection position corresponding to the current position of the vehicle; the target intersection position is the position of the nearest traffic light intersection in front of the vehicle;

[0010] At least one of the preliminarily selected lanes is determined based on the distance between the next turning point and the target intersection.

[0011] Optionally, determining at least one of the preliminarily selected lanes based on the distance between the next turning point and the target intersection includes:

[0012] When the distance between the next turning point and the target intersection is within a first distance range, all lanes that the vehicle can enter in the current road section are determined as the primary lanes;

[0013] When the distance between the next turning point and the target intersection is within a second distance range, determining the distances between all currently available lanes and the next turning point based on the current position of the vehicle, and determining the remaining available lanes, except for the lane corresponding to the lane with the greatest distance from the next turning point, as the initially selected lanes;

[0014] When the distance between the next turning point and the target intersection is within a third distance range, determining the lane closest to the next turning point as the primary lane;

[0015] The minimum value of the first distance range is greater than the maximum value of the second distance range, and the minimum value of the second distance range is greater than the maximum value of the third distance range.

[0016] Optionally, selecting a target lane recommended for the vehicle to enter from at least one of the preliminarily selected lanes based on lane information of each of the preliminarily selected lanes includes:

[0017] determining a re-selected lane from at least one of the preliminarily selected lanes according to lane information of each preliminarily selected lane;

[0018] A safety assessment is performed on the selected lane to obtain a safety assessment result, and the target lane is determined based on the safety assessment result.

[0019] Optionally, determining a re-selected lane from at least one of the preliminarily selected lanes based on lane information of each preliminarily selected lane includes:

[0020] If there is only one initially selected lane, determining the current initially selected lane as the re-selected lane;

[0021] If there are multiple preliminary lanes, the preliminary lane with the shortest vehicle queuing distance is determined as the re-selected lane, wherein the vehicle queuing distance is the distance between the last vehicle in each preliminary lane and the target intersection.

[0022] Optionally, performing a safety assessment on the reselected lane to obtain a safety assessment result, and determining the target lane based on the safety assessment result, includes:

[0023] Detecting whether the rear vehicle in the reselected lane is a large vehicle;

[0024] If the rear vehicle of the reselected lane is not a large vehicle, the safety assessment result of the reselected lane is determined to be safe, and the reselected lane is determined as the target lane;

[0025] If the rear vehicle of the reselected lane is a large vehicle, the safety assessment result of the reselected lane is determined to be unsafe, and a reselected lane is determined from the at least one initially selected lane and safety assessment is performed again.

[0026] Optionally, the method further includes:

[0027] When the rear vehicles of all the initially selected lanes as reselected lanes are the large vehicles, the lane with the shortest queuing distance among the reselected lanes is determined as the target lane;

[0028] The vehicle is controlled to enter the target lane while maintaining a first preset condition; the first preset condition is that the distance between the vehicle and the rear vehicle in the selected lane is greater than a first threshold.

[0029] Optionally, the method further includes:

[0030] When the target lane satisfies a second preset condition, the vehicle is controlled not to enter the target lane temporarily, and is controlled to enter the target lane again when the second condition is no longer satisfied; wherein the second preset condition includes at least one of the following conditions:

[0031] There is a vehicle in the target lane within a fourth distance range behind the vehicle, with a speed greater than a second threshold;

[0032] There is a vehicle in the target lane within a fifth distance range in front of the vehicle, with a speed less than a third threshold;

[0033] The distance between the vehicle and the sign prohibiting entry into the target lane is less than a fourth threshold.

[0034] According to a second aspect of the present application, a computer-readable storage medium is further provided, wherein program instructions are stored in the computer-readable storage medium, and when the program instructions are executed, the method described above is implemented.

[0035] According to a third aspect of the present application, a computer program product is further provided, wherein the computer program product comprises program instructions, and when the program instructions are executed by a processor, the method described above is implemented.

[0036] According to a fourth aspect of the present application, an electronic device is also provided for executing the method described above.

[0037] According to a fifth aspect of the present application, a vehicle is also provided, comprising the electronic device as described above, or executing the method as described above.

[0038] In an embodiment of the present application, at least one preliminary lane can be determined by first combining the current position of the vehicle and the position of the next turning point, and then a safe and reasonable target lane can be determined for the vehicle more accurately and flexibly based on the more comprehensive lane information of the initial lane. This not only improves the accuracy and flexibility of lane selection for the vehicle, but also improves the safety, experience and traffic efficiency of the vehicle's autonomous driving.

[0039] Other features and advantages of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] To more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present application. Those skilled in the art can also derive other drawings based on these drawings without inventive effort.

[0041] In order to more completely understand the present application and its beneficial effects, the following description will be given in conjunction with the accompanying drawings, wherein the same drawing numbers represent the same parts in the following description.

[0042] Figure 1 is a flowchart of a lane selection method provided in an exemplary embodiment of the present application;

[0043] Figure 2 is a schematic diagram of the target intersection position and the next turning point position corresponding to the vehicle provided in an exemplary embodiment of the present application;

[0044] Figure 3 is a schematic diagram of a process for determining a target lane provided in an exemplary embodiment of the present application;

[0045] Figure 4 is a schematic diagram of a flow chart for determining whether a vehicle enters a target lane provided in an exemplary embodiment of the present application;

[0046] Figure 5 is a block diagram of an electronic device provided in an exemplary embodiment of the present application;

[0047] Figure 6 is a block diagram of a vehicle provided in an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0048] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0049] Today, City Pilot assisted driving has become a crucial component of advanced assisted driving systems. CNOA effectively assists the driver with lateral and longitudinal control of the vehicle through perception, decision-making, and control units, thereby enhancing the intelligent driving experience. At traffic lights, existing CNOA technology solutions typically employ a straightforward strategy: directing the vehicle into the available queuing lane closest to the vehicle. This approach is simple to implement, allows for quick decision-making, and satisfies basic traffic needs in most situations.

[0050] However, this simple lane selection strategy has obvious shortcomings in actual implementation. First, the nearest lane is not necessarily the best choice. If the traffic in that lane is long, it will lead to low vehicle traffic efficiency and reduce the driving experience of the drivers and passengers. Secondly, if the vehicle at the end of the nearest lane is a large vehicle such as a dump truck or a hazardous chemical transport truck, it will not only give the drivers and passengers a sense of oppression and reduce their trust in the CNOA function, but it may also affect the traffic efficiency and driving experience due to the slow start and loud noise of large vehicles, and even pose a safety hazard of cargo falling. In addition, if the vehicle needs to turn immediately after passing the intersection and chooses a lane that is not conducive to subsequent turning, for example, if it needs to turn left but chooses the rightmost lane, it may cause the vehicle to change lanes continuously after passing the intersection, increasing the possibility of missing the intersection, safety risks and traffic violations.

[0051] Based on this, the embodiment of the present application can first combine the current position of the vehicle and the position of the next turning point to determine at least one preliminary lane, and then combine the more comprehensive lane information of the initial lane to more accurately and flexibly determine a safe and reasonable target lane for the vehicle, thereby not only improving the accuracy and flexibility of lane selection for the vehicle, but also improving the safety, experience and traffic efficiency of the vehicle's autonomous driving.

[0052] Based on the above problems, this application provides a lane selection method.

[0053] The present application is described below with reference to specific embodiments.

[0054] Figure 1 is a schematic diagram of a lane selection method provided in an embodiment of the present application, such as Figure 1 As shown, the method may include the following steps S201-S202, which are specifically as follows:

[0055] Step S201: Determine at least one initially selected lane based on the current position of the vehicle and the position of the next turning point in the vehicle's navigation route.

[0056] The next turning point in the vehicle's navigation route refers to the specific location where the vehicle actually turns (such as left turn, right turn or U-turn) after the current lane or road section in the vehicle's driving path planning.

[0057] In order to more accurately describe the next turning point position of this application, Figure 2 As shown, the current vehicle is about to arrive at a new intersection. Although the intersection has a "turning point position" for the vehicle to turn, assuming that in the navigation route of the vehicle, the vehicle should actually turn at the next intersection of the "turning point position", the "next turning point position" of the vehicle can be determined.

[0058] In some embodiments, the current position of the vehicle and the position of the next turning point can be combined to first determine at least one preliminary lane for the vehicle. For example, the spatial distance between the current position of the vehicle and the next turning point, or the projection distance along a certain direction, can be considered to determine a smooth and safe preliminary lane for the vehicle, so that the optimal lane can be further determined for the vehicle from at least one preliminary lane.

[0059] In some embodiments, step S201 may include:

[0060] First, determine the target intersection position corresponding to the current position of the vehicle; the target intersection position is the position of the nearest traffic light intersection in front of the vehicle;

[0061] Next, at least one preliminary lane is determined based on the distance between the next turning point and the target intersection.

[0062] The target intersection position refers to the first intersection with a traffic light that the vehicle is about to reach in the current driving direction. Figure 2 As shown, the vehicle is about to arrive at a new intersection, which is equipped with a traffic light. For the vehicle, this intersection is the target intersection, and the position of this intersection is the target intersection position.

[0063] In some embodiments, at least one preselected lane can be determined based on the distance between the next turning point and the target intersection. It will be appreciated that since the vehicle's position changes in real time during travel, in the scenario of this application, the target intersection corresponding to the vehicle can be identified in advance, and preselected lanes can be selected for the vehicle based on the distance between the target intersection and the next turning point.

[0064] Specifically, when the distance between the target intersection and the next turning point is large, multiple preliminary lanes can be comprehensively and flexibly determined for the vehicle. Conversely, when the distance between the target intersection and the next turning point is small, indicating that the vehicle is about to reach the next turning point, one or a small number of preliminary lanes can be further selected for the vehicle. This allows the optimal target lane to be quickly determined based on these one or a small number of preliminary lanes.

[0065] It should be noted that before screening the preliminary lanes for the vehicle, it is possible to prioritize excluding multiplexed lanes that can travel in multiple directions, such as lanes that can both go straight and turn, so that the finally selected lane has a higher degree of smoothness.

[0066] In some embodiments, at least one preliminary lane may be determined according to the following method:

[0067] When the distance between the next turning point and the target intersection is within a first distance range, all lanes that the vehicle can enter in the current road section are determined as preliminary lanes;

[0068] When the distance between the next turning point and the target intersection is within a second distance range, the distances between all currently available lanes and the next turning point are determined based on the current position of the vehicle, and the available lanes other than the lane corresponding to the lane with the farthest distance from the next turning point are determined as the primary lanes;

[0069] When the distance between the next turning point and the target intersection is within a third distance range, the lane closest to the next turning point is determined as the primary lane;

[0070] The minimum value of the first distance range is greater than the maximum value of the second distance range, and the minimum value of the second distance range is greater than the maximum value of the third distance range. That is, the first distance range is larger than the second distance range as a whole, and the second distance range is larger than the third distance range as a whole. For example, the first distance range may be greater than 500 meters, the second distance range may be 250-500 meters, and the third distance range may be less than 250 meters.

[0071] However, it should be noted that the specific values of the first, second and third distance ranges can be pre-adjusted or adjusted in real time according to the control accuracy requirements of autonomous driving. This embodiment does not limit the specific values of the first, second and third distance ranges.

[0072] like Figure 3As shown, in the specific implementation, for the sake of description, it is assumed that each distance range adopts the above specific values. When the distance between the next turning point and the target intersection is greater than 500 meters, the vehicle still has a long driving distance from the upcoming turning point and the target intersection. In this case, all lanes that the vehicle can enter in the current road section are regarded as preliminary lanes, that is, the system will not restrict or filter the lanes. At this time, the vehicle can freely choose any lane to drive without considering the specific lane requirements for the turn in advance. This is because the distance is far, and the vehicle still has sufficient space and time to change and adjust lanes. To ensure that the vehicle has sufficient freedom in the long-distance range and is not restricted to a specific lane too early, it can cope with temporary traffic conditions that may arise ahead, such as lane closures or temporary congestion.

[0073] When the distance between the next turning point and the target intersection is between 250 meters and 500 meters, it means that the vehicle is gradually approaching the position where it needs to turn, but there is still a certain amount of room for adjustment. Within this distance range, the system can evaluate the relative distances of all optional lanes and the next turning point based on the current driving position of the vehicle. Specifically, all lanes other than the lane farthest from the next turning point (for example, the outermost lane) are considered as preliminary lanes. The purpose of this is to avoid the vehicle being in a lane position that is too remote and unable to complete the turning operation smoothly when it is about to approach the turning point. Gradually guide the vehicle to a lane closer to the turning point, reserving sufficient space for subsequent turning operations, reducing the need for temporary lane changes before turning, and improving driving safety and smoothness.

[0074] When the distance between the next turning point and the target intersection is less than 250 meters, the vehicle is nearing the turn and enters a precise control phase. Within this distance, the system guides the vehicle into the lane closest to the turning point, identifying that lane as the only primary lane. In this scenario, the vehicle must be fully prepared for the upcoming turn to ensure accurate and safe steering. This ensures smooth arrival at the target turning point and avoids missed turns or the need for emergency lane changes due to improper lane selection. This reduces driving risks in complex road conditions and improves turning safety.

[0075] As you can understand, the three distance ranges above are mutually exclusive and decrease in order from largest to smallest. They are divided based on the different requirements of the vehicle during a turning maneuver. Vehicles in the first distance range can freely choose lanes, regardless of turning requirements. In the second distance range, lane adjustments are considered, aiming the vehicle closer to the target lane at the turning point. In the third distance range, the vehicle is guided into the lane closest to the turning point in preparation for the upcoming turn.

[0076] By dividing the distance between the next turning point and the target intersection into different ranges, the present invention can flexibly adjust the vehicle's lane selection strategy according to different stages of the vehicle's driving path. This dynamic adjustment mechanism maximizes traffic efficiency while ensuring driving safety, avoiding unnecessary lane changes or missed turns due to improper lane selection. Furthermore, this strategy can better cope with complex and changing urban traffic environments, providing a more intelligent lane selection solution for autonomous driving systems.

[0077] Step S202: Select a target lane recommended for the vehicle to enter from at least one of the initially selected lanes based on the lane information of each initially selected lane.

[0078] Lane information for a preselected lane refers to various data and parameters used to determine and screen the preselected lane's suitability for subsequent selection as a target lane. This information can be used to comprehensively assess the lane's efficiency, safety, and adaptability, providing data support for subsequent selection of a secondary lane. For example, lane information for a preselected lane may include vehicle queue length, average lane speed, lane width, and vehicle types.

[0079] The lane information for the preliminary lane selection in this application serves as the data foundation for determining the optimal driving lane, comprehensively covering all important information about the vehicle's current road section and the target intersection. By comprehensively evaluating lane information, reasonable preliminary lane selection decisions can be made in different situations, providing a basis for subsequent secondary lane selection. This multi-dimensional data analysis and judgment method can significantly improve vehicle driving efficiency and safety in complex traffic environments.

[0080] In some embodiments, step S202 may include:

[0081] First, based on lane information of each preliminarily selected lane, a reselected lane is determined from at least one preliminarily selected lane;

[0082] Next, a safety assessment is performed on the selected lanes to obtain a safety assessment result, and the target lane is determined based on the safety assessment result.

[0083] Specifically, the system can further filter out lanes suitable for current driving conditions based on the detailed lane information for each pre-selected lane. This information includes lane flow, lane speed, lane type, type and number of vehicles ahead, and traffic signal status. By integrating this data, the system can determine which pre-selected lanes meet the requirements of subsequent driving strategies and select those that meet the requirements as pre-selected lanes.

[0084] After the candidate lanes are selected, a detailed safety assessment can be conducted on each candidate lane. The purpose of the safety assessment is to determine the safety of each lane under the current traffic conditions, such as evaluating the potential risk factors and stability of the candidate lanes.

[0085] In some embodiments, the target lane to be selected by the vehicle can be determined based on the safety assessment results of the selected lanes. The target lane is the lane that best meets the current driving requirements and safety conditions, and the vehicle will continue to travel in this lane or prepare to enter the target intersection.

[0086] In this application, by gradually screening and evaluating the preliminary lanes, secondary lanes, and target lanes, the system is able to optimally plan the vehicle's driving path from a global perspective. It first selects a qualifying preliminary lane from all available lanes, then screens and evaluates the safety of the secondary lanes based on detailed lane information. Finally, the safest lane is selected as the target lane. This multi-level lane selection mechanism not only improves driving safety and stability, but also enables flexible response to complex and changing traffic environments, providing a more intelligent lane selection strategy for autonomous driving systems.

[0087] In some embodiments, the selected lane may be determined by:

[0088] If there is only one primary lane, the current primary lane is determined as the secondary lane;

[0089] If there are multiple preliminary lanes, the preliminary lane with the shortest vehicle queuing distance will be determined as the re-selected lane, where the vehicle queuing distance is the distance between the last vehicle in each preliminary lane and the target intersection.

[0090] In specific implementations, when the system determines during the initial lane selection process that only one eligible lane is available on the current road section, meaning the vehicle has only one suitable initial lane before the target intersection, it can directly select this lane as the secondary lane, as there are no other available lanes for comparison and selection. Since there is only one available initial lane, the vehicle can only travel in this lane, eliminating the need to further compare and select other lanes for queuing or safety. Directly selecting the only initial lane as the secondary lane simplifies the system's decision-making process and provides driving guidance to the vehicle as quickly as possible.

[0091] Accordingly, when the system identifies multiple eligible lanes for selection during the preliminary lane selection process, i.e., the vehicle has multiple preliminary lanes available for entry on the current road section, the vehicle queue distances of these preliminary lanes can be compared, and the lane with the shortest queue distance can be determined as the secondary lane.

[0092] The vehicle queue distance refers to the distance between the last vehicle in each preselected lane and the target intersection. Specifically, if the last vehicle in a lane is closer to the target intersection, the queue distance for that lane is shorter; if it is farther away from the target intersection, the queue distance for that lane is longer.

[0093] Lanes with shorter queue distances typically mean vehicles are closer to their target intersection and require less waiting time. Selecting the lane with the shortest queue distance can reduce waiting time and improve traffic efficiency. When a vehicle is in a lane with a shorter queue distance, there is less need to change lanes as it approaches the target intersection, which helps reduce unnecessary lane changes and mitigates safety risks. If some of the preselected lanes have longer queue distances, this usually means there are a large number of vehicles ahead or congestion is severe, and entering these lanes may increase travel time and waiting time. Therefore, by selecting the lane with the shortest queue distance, congestion can be effectively avoided.

[0094] When there is only one preliminary lane, the system directly uses that lane as the reselected lane without further comparison. In this case, the system's selection process is simple and clear, avoiding redundant judgment logic. For situations where there are multiple preliminary lanes, the queue distances of all feasible preliminary lanes can be calculated, and the specific distance between the rear vehicle of each lane and the target intersection can be determined. The lane with the shortest queue distance can be selected first because this lane usually represents more favorable traffic conditions. Under the same traffic conditions, a lane with a shorter queue distance means that the vehicle can pass the target intersection faster. If the traffic conditions ahead change, such as a sudden large number of vehicles or unexpected situations in a lane, the queue distances of all preliminary lanes can be re-evaluated, and the selection of the reselected lane can be dynamically adjusted.

[0095] In specific applications, the position of the last vehicle in each preselected lane can be accurately identified. This position is typically acquired through onboard sensors (such as radar and cameras) or traffic data (such as road condition monitoring information). Based on the position of the last vehicle and the location of the target intersection, the system can calculate the queue distance for each lane using actual distance data on the road.

[0096] Through the above-mentioned decision-making mechanism, this application can flexibly adjust the lane selection strategy under different traffic conditions, improve the vehicle's driving efficiency, and at the same time reduce unnecessary lane changing operations to ensure driving safety.

[0097] In some embodiments, the target lane may be determined by:

[0098] Detect whether the rear vehicle in the selected lane is a large vehicle;

[0099] If the rear vehicle in the reselected lane is not a large vehicle, the safety assessment result of the reselected lane is determined to be safe, and the reselected lane is determined as the target lane;

[0100] If the rear vehicle of the reselected lane is a large vehicle, the safety assessment result of the reselected lane is determined to be unsafe, and a reselected lane is determined from at least one of the primary selected lanes for safety assessment again.

[0101] After confirming your lane selection, the system can detect the type of the vehicle behind you in that lane. This vehicle is the last vehicle traveling or parked in that lane, farthest from the target intersection. The system uses onboard sensing devices (such as cameras and radar) or traffic data to obtain this information.

[0102] Large vehicles generally refer to vehicles that are large, heavy, and slow to start and brake, including but not limited to trucks, muck trucks, hazardous chemical transporters, buses, and construction vehicles. These vehicles have different driving characteristics from ordinary passenger cars and can significantly impact the driving efficiency and safety of surrounding vehicles in traffic.

[0103] Specifically, if the vehicle behind the selected lane is not detected as a large vehicle, the lane will be deemed safe. At this point, the selected lane will be directly determined as the target lane, and the vehicle can continue driving along this lane until reaching the target intersection.

[0104] Accordingly, when the trailing vehicle is a regular passenger car or small vehicle, these vehicles start and accelerate quickly, generally not significantly impacting the movement of vehicles behind them. In this case, the lane's safety and traffic efficiency are relatively high, so it can be directly selected as the target lane. This selection method helps improve traffic efficiency and reduces the pressure and line of sight obstruction caused by larger vehicles behind.

[0105] In some embodiments, if the rear vehicle in a reselected lane is detected to be a large vehicle, the system will determine the safety assessment result for that lane as unsafe. The system can return to the initial lane selection stage, re-determine a reselected lane from the at least one remaining preselected lane, and re-evaluate the safety of the newly selected lane. Large vehicles often start slowly and accelerate unevenly in traffic, easily creating a bottleneck effect during rush hour, resulting in reduced traffic efficiency in that lane. Furthermore, the bulk of large vehicles may obstruct the view of vehicles behind them, making it difficult for the autonomous driving system to accurately perceive the road conditions ahead, thereby increasing driving risks. If the rear vehicle is a large vehicle, that lane may not be selected as the target lane to avoid the safety hazards and reduced traffic efficiency caused by the large vehicle. In this case, the system can revert to the initial lane selection stage, reselect another suitable reselected lane, and re-evaluate the safety.

[0106] When reselecting a lane, the previously unsafe lane (i.e., the lane with a large vehicle as the rear vehicle) can be excluded and a new lane can be selected from the remaining pre-selected lanes. The system can consider the queue distance, vehicle type, and other lane information of all remaining pre-selected lanes to select the most suitable lane as the new pre-selected lane. The same safety assessment process can be performed on the new pre-selected lane, i.e., detecting the rear vehicle type and determining whether it is safe. If the rear vehicle of the newly selected pre-selected lane is still a large vehicle, the system will continue to reselect and assess the safety of the pre-selected lane until a lane that meets the safety requirements is found.

[0107] It can be understood that by detecting the type of vehicle at the rear of the reselected lane and adjusting the lane selection strategy based on whether it is a large vehicle, the driving safety risks caused by large vehicles can be effectively reduced. For example, large vehicles' slow start and obstructed vision may increase the risk of collision or emergency braking. Selecting a lane with an ordinary vehicle at the rear can reduce the decrease in traffic efficiency caused by the poor acceleration of the large vehicle at the rear. In this way, the vehicle can pass the target intersection more smoothly, improving the overall driving efficiency and driving experience. When the rear vehicle is detected as a large vehicle, the system can make a quick judgment and return to the preliminary lane selection stage to reselect the reselected lane. Based on this flexible decision-making mechanism, the autonomous driving system can make better lane selection in complex and changing traffic environments.

[0108] As can be seen from the above, this application effectively improves the intelligence and safety of lane selection by detecting and evaluating the type of vehicle following the selected lane. If the following vehicle is a standard vehicle, the lane can be directly selected as the target lane, improving traffic efficiency. If the following vehicle is a large vehicle, the system deems the lane unsafe and re-selects and re-evaluates the selected lane. This strategy can significantly reduce the driving risks posed by large vehicles and optimize vehicle traffic flow in complex traffic environments.

[0109] In some embodiments, the method of the present application may further include:

[0110] First, when all the vehicles behind the initially selected lanes are large vehicles when they are selected as re-selected lanes, the lane with the shortest queue distance among the re-selected lanes is determined as the target lane;

[0111] Next, the vehicle is controlled to enter the target lane while maintaining a first preset condition; the first preset condition is that the distance between the vehicle and the rear vehicle in the selected lane is greater than a first threshold.

[0112] Understandably, when all vehicles behind all selected lanes are large vehicles, there are no other lanes available to avoid the impact of these vehicles. Therefore, the system selects the lane with the shortest queue distance as the target lane, allowing the vehicle to pass through the target intersection as quickly as possible, reducing the safety risks and reduced traffic efficiency caused by prolonged delays behind large vehicles. Selecting the lane with the shortest queue distance reduces waiting times, improves traffic efficiency, and avoids the longer wait times and complicated lane changes that may occur in other lanes.

[0113] Among them, the first preset condition means that the distance between the vehicle and the rear vehicle of the selected lane must be greater than a preset safety threshold. Specifically, this safety threshold is a distance parameter, such as 5 meters, which is used to ensure a safe distance between the vehicle and the large vehicle in front. The system can detect the distance between the current lane and the rear vehicle of the target lane through the on-board sensor, and compare the distance with the first threshold. If the distance is less than the threshold (such as less than 5 meters), the system will reduce the vehicle speed or suspend the lane change operation until the distance to the rear vehicle of the target lane is greater than the threshold before executing the lane change. When the distance is insufficient, the vehicle will temporarily maintain its current lane and will not rush to enter the target lane, thereby avoiding the risk of rear-end collision caused by abrupt lane changes.

[0114] This application addresses complex scenarios where all preselected lanes are followed by large vehicles. By selecting the lane with the shortest queue distance as the target lane and entering the target lane when safety conditions are met, it effectively improves driving safety and traffic efficiency. By setting a first safety threshold, it ensures that vehicles maintain a safe distance between each other during lane changes and driving, preventing rear-end collisions and further improving the reliability and adaptability of the autonomous driving system.

[0115] In some embodiments, the method of the present application may further include:

[0116] When the target lane meets the second preset condition, the vehicle is controlled not to enter the target lane temporarily, and is controlled to enter the target lane again when the second condition is no longer met. The second preset condition includes at least one of the following conditions:

[0117] There is a vehicle in the target lane within a fourth distance range behind the vehicle, with a speed greater than a second threshold;

[0118] There is a vehicle in the target lane within a fifth distance range in front of the vehicle, with a speed less than a third threshold;

[0119] The distance between the vehicle and the sign prohibiting entry into the target lane is less than a fourth threshold.

[0120] like Figure 4As shown, to ensure driving safety and efficiency in complex traffic environments, the traffic conditions in the target lane can be dynamically monitored, and a second preset condition can be used to determine whether to allow the vehicle to enter the target lane immediately. The second preset condition is used to temporarily suspend the vehicle's entry into the target lane when potential risks or unfavorable conditions exist in the target lane, thereby avoiding traffic conflicts or unnecessary risks.

[0121] In some embodiments, if there are one or more fast-moving vehicles behind the vehicle in the target lane with a speed exceeding a certain safety threshold (for example, the second threshold is 60 km / h), and the distance between these vehicles and the vehicle is within a preset fourth distance range (for example, within 50 meters), it is determined that there is a potential risk of rear-end collision or driving conflict.

[0122] If a high-speed vehicle is behind you in the target lane, rashly entering the target lane could result in the vehicle behind you not having enough time to decelerate, leading to a rear-end collision. This is particularly common on highways and busy urban expressways. By setting a fourth distance range, you can ensure that your vehicle can only enter the target lane when the distance between you and the vehicle behind is safe, thus avoiding the danger of sudden deceleration from high-speed vehicles.

[0123] In some embodiments, if there is one or more slow vehicles in front of the vehicle in the target lane, with a driving speed lower than a certain safety threshold (such as the third threshold of 20 km / h), and the distance between these vehicles and the vehicle is within a fifth distance range (for example, within 30 meters), it is determined that driving efficiency is low.

[0124] If there's a slow-moving vehicle ahead in the target lane, the vehicle may be forced to slow down if it enters that lane, reducing traffic efficiency and even causing congestion and traffic conflicts. By setting a fifth distance range, the system can temporarily suspend entry into the target lane when a slow-moving vehicle is detected ahead, maintaining smooth and efficient driving.

[0125] In some embodiments, if the distance between the vehicle and the sign prohibiting entry into the target lane is less than a certain safety threshold (such as the fourth threshold being 20 meters), it is determined that the vehicle should not enter the target lane. No-entry signs are generally used to restrict access to certain lanes, such as bus lanes, construction-closed lanes, or lanes prohibited during special periods. When a vehicle approaches these signs, if it rashly enters the target lane, it may violate traffic regulations or cause traffic chaos. By setting the fourth threshold, the system can be reminded to temporarily postpone entering the target lane when the vehicle is close to the no-entry sign, and enter the target lane again when it is away from the sign or within the permitted time period to ensure the legality and safety of driving.

[0126] In some embodiments, if any of the second preset conditions is detected in the target lane (e.g., a high-speed vehicle behind, a low-speed vehicle ahead, or a no-entry sign), the vehicle may be temporarily suspended from entering the target lane. Specifically, the vehicle may be controlled to remain in the current lane until the risk factor for the target lane is eliminated, that is, the second preset condition is no longer met, at which point the system controls the vehicle to enter the target lane.

[0127] In some embodiments, the vehicle's speed and driving status can be adjusted to maintain the vehicle's current lane. For example, if there is a fast-moving vehicle behind the target lane, the vehicle can be controlled to slow down appropriately, waiting for the vehicle behind to pass or slow down before changing lanes. If there is a slow-moving vehicle ahead, the vehicle can be controlled to accelerate or decelerate to ensure that it is not affected by the slow-moving vehicle ahead when entering the target lane. If approaching a no-entry sign, the vehicle can wait until the sign is passed or the sign restriction is lifted before changing lanes.

[0128] When it is detected that the target lane no longer meets the second preset condition (such as the high-speed vehicle behind is out of the preset distance range, the slow vehicle in front no longer obstructs driving, or it is far away from the no-entry sign), the system can immediately evaluate the current traffic conditions and control the vehicle to enter the target lane while ensuring safety.

[0129] By setting a second pre-condition, the system can temporarily suspend entry into the target lane if a potential safety hazard exists, avoiding driving hazards such as rear-end collisions with high-speed vehicles or obstructions from slower vehicles ahead. By temporarily suspending entry into the target lane when there are slower vehicles ahead, the system effectively avoids forced deceleration after entering the lane, minimizing traffic efficiency losses. When a vehicle approaches a no-entry sign, the system automatically determines whether to enter the target lane, preventing violations such as violating traffic regulations or entering a closed lane.

[0130] This application achieves dynamic monitoring and decision-making adjustments of the target lane's traffic conditions by setting a second preset condition. When the second preset condition is met (such as a high-speed vehicle behind, a slow vehicle ahead, or a no-entry sign), the vehicle can temporarily suspend entry into the target lane and reenter after the condition is lifted to ensure driving safety, efficiency, and legality. Based on this strategy, it can flexibly respond to various potential risks in complex traffic environments, providing higher intelligence and safety for the autonomous driving system.

[0131] Figure 5 FIG. 1 is a block diagram of an electronic device 300 according to an exemplary embodiment. Figure 5 As shown, the electronic device 300 may include: a processor 301 , a memory 302 , and may further include one or more of a multimedia component 303 , an input / output (I / O) component 304 , and a communication component 305 .

[0132] The processor 301 is used to control the overall operation of the electronic device 300 to complete all or part of the steps in the lane selection method described above. The memory 302 is used to store various types of data to support the operation of the electronic device 300. This data may include, for example, instructions for any application or method operating on the electronic device 300, as well as application-related data such as contact information, sent and received messages, images, audio, video, etc. The memory 302 may be implemented by any type of volatile or non-volatile storage device, or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The multimedia component 303 may include a screen and an audio component. The screen may be, for example, a touch screen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signal may be further stored in the memory 302 or sent through the communication component 305. The audio component also includes at least one speaker for outputting audio signals. The I / O component 304 provides an interface between the processor 301 and other interface modules, and the above-mentioned other interface modules may be a keyboard, a mouse, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 305 is used for wired or wireless communication between the electronic device 300 and other devices. Wireless communication, such as WiFi, Bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB IOT, eMTC, or other 5G, etc., or a combination of one or more of them, is not limited here. Therefore, the corresponding communication component 305 may include: WiFi module, Bluetooth module, NFC module, etc.

[0133] In an exemplary embodiment, the electronic device 300 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to execute the above-mentioned lane selection method.

[0134] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided. When executed by a domain controller, the program instructions implement the steps of the lane selection method described above. For example, the computer-readable storage medium may be the aforementioned memory 302 including the program instructions. The program instructions may be executed by the processor 301 of the electronic device 300 to perform the following steps:

[0135] Determining at least one preliminary lane based on the current position of the vehicle and the position of the next turning point in the navigation route of the vehicle;

[0136] A target lane recommended for the vehicle to enter is selected from at least one of the preliminary selected lanes based on the lane information of each preliminary selected lane.

[0137] Figure 6 is a block diagram of a vehicle provided in an embodiment of the present application, such as Figure 6 As shown, the vehicle 400 includes the electronic device 300 described above.

[0138] An embodiment of the present application also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program for electronic data exchange, and the computer program enables a computer to execute part or all of the steps of any one of the charging control methods described in the above method embodiments.

[0139] It should be noted that for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that this application is not limited by the order of the actions described, because according to this application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by this application.

[0140] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0141] In the several embodiments provided in this application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0142] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0143] In addition, the functional units in the various embodiments of the application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software program modules.

[0144] If the integrated unit is implemented in the form of a software program module and sold or used as an independent product, it can be stored in a computer-readable storage unit. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage unit, including a number of instructions for enabling a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage unit includes: U disk, read-only memory (ROM), random access memory (RAM), mobile hard disk, magnetic disk or optical disk, etc., various media that can store program codes.

[0145] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage unit, which may include: a flash drive, a read-only storage unit, a random access memory, a magnetic disk or an optical disk, etc.

[0146] The preferred embodiments of the present application are described in detail above in conjunction with the accompanying drawings. However, the present application is not limited to the specific details in the above embodiments. Within the technical concept of the present application, various simple modifications can be made to the technical solution of the present application, and these simple modifications all fall within the scope of protection of the present application.

[0147] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any appropriate manner unless there is any contradiction. In order to avoid unnecessary repetition, this application will not further describe various possible combinations.

[0148] In addition, the various implementation methods of the present application may be arbitrarily combined, and as long as they do not violate the concept of the present application, they should also be regarded as the contents disclosed in the present application.

Claims

1. A lane selection method, characterized in that: The method comprises: Determining at least one preliminary lane based on a current position of the vehicle and a position of a next turning point in a navigation route of the vehicle; A target lane recommended for the vehicle to enter is selected from at least one of the initially selected lanes according to the lane information of each of the initially selected lanes.

2. The lane selection method according to claim 1, characterized in that: The determining of at least one pre-selected lane based on the current position of the vehicle and the position of the next turning point in the navigation route of the vehicle includes: Determining a target intersection position corresponding to the current position of the vehicle; the target intersection position is the position of the nearest traffic light intersection in front of the vehicle; At least one of the preliminarily selected lanes is determined based on the distance between the next turning point and the target intersection.

3. The lane selection method according to claim 2, characterized in that: The determining of at least one of the preliminarily selected lanes based on the distance between the next turning point and the target intersection includes: When the distance between the next turning point and the target intersection is within a first distance range, all lanes that the vehicle can enter in the current road section are determined as the primary lanes; When the distance between the next turning point and the target intersection is within a second distance range, determining the distances between all currently available lanes and the next turning point based on the current position of the vehicle, and determining the remaining available lanes, except for the lane corresponding to the lane with the greatest distance from the next turning point, as the initially selected lanes; When the distance between the next turning point and the target intersection is within a third distance range, determining the lane closest to the next turning point as the primary lane; The minimum value of the first distance range is greater than the maximum value of the second distance range, and the minimum value of the second distance range is greater than the maximum value of the third distance range.

4. The lane selection method according to claim 3, characterized in that: The selecting, based on the lane information of each of the preliminarily selected lanes, a target lane recommended for the vehicle to enter from at least one of the preliminarily selected lanes includes: determining a re-selected lane from at least one of the preliminarily selected lanes according to lane information of each preliminarily selected lane; A safety assessment is performed on the selected lane to obtain a safety assessment result, and the target lane is determined based on the safety assessment result.

5. The lane selection method according to claim 4, characterized in that: The determining of a re-selected lane from at least one of the preliminarily selected lanes based on lane information of each preliminarily selected lane comprises: If there is only one initially selected lane, determining the current initially selected lane as the re-selected lane; If there are multiple preliminary lanes, the preliminary lane with the shortest vehicle queuing distance is determined as the re-selected lane, wherein the vehicle queuing distance is the distance between the last vehicle in each preliminary lane and the target intersection position.

6. The lane selection method according to claim 4, characterized in that: The performing of a safety assessment on the reselected lane to obtain a safety assessment result, and determining the target lane based on the safety assessment result, includes: Detecting whether the rear vehicle in the reselected lane is a large vehicle; If the rear vehicle of the reselected lane is not a large vehicle, the safety assessment result of the reselected lane is determined to be safe, and the reselected lane is determined as the target lane; If the rear vehicle of the reselected lane is a large vehicle, the safety assessment result of the reselected lane is determined to be unsafe, and a reselected lane is determined from the at least one initially selected lane and safety assessment is performed again.

7. The lane selection method according to claim 6, characterized in that: The method further comprises: When the rear vehicles of all the initially selected lanes as reselected lanes are the large vehicles, the lane with the shortest queuing distance among the reselected lanes is determined as the target lane; The vehicle is controlled to enter the target lane while maintaining a first preset condition; the first preset condition is that the distance between the vehicle and the rear vehicle in the selected lane is greater than a first threshold.

8. The lane selection method according to any one of claims 1 to 7, characterized in that: The method further comprises: When the target lane satisfies a second preset condition, the vehicle is controlled not to enter the target lane temporarily, and is controlled to enter the target lane again when the second condition is no longer satisfied; wherein the second preset condition includes at least one of the following conditions: There is a vehicle in the target lane within a fourth distance range behind the vehicle, with a speed greater than a second threshold; There is a vehicle in the target lane within a fifth distance range in front of the vehicle, with a speed less than a third threshold; The distance between the vehicle and the sign prohibiting entry into the target lane is less than a fourth threshold.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores program instructions, which implement the method according to any one of claims 1 to 8 when executed.

10. A computer program product, characterized in that The computer program product comprises program instructions, and when the program instructions are executed by a processor, the method according to any one of claims 1 to 8 is implemented.

11. An electronic device, characterized in that: Used to perform the method according to any one of claims 1 to 8.

12. A vehicle, characterized in that: The electronic device comprises the electronic device described in claim 11, or performs the method described in any one of claims 1 to 8.

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