Vehicle formation lane changing processing method and device, electronic equipment and storage medium

Abstract

The invention provides a vehicle formation lane change processing method and device, electronic equipment and a storage medium, and according to the embodiment of the invention, the lane change state and the lane change target road of a pilot vehicle are determined by obtaining the driving information of the pilot vehicle, the map information and the driving information of non-formation vehicles; predicting a lane changing starting point, a lane changing time period and a driving track in the lane changing time period of the following vehicle; obtaining a lane change starting point and a lane segment of the position of the driving track of the following vehicle, and selecting a target non-formation vehicle in the lane segment and a driving track of the target non-formation vehicle in the lane change time period; and calculating a coordinate distance between the track point of the following vehicle and the track point of the target non-formation vehicle in the lane changing time period, and marking the lane segment as an interactive risk lane segment when the coordinate distance is smaller than a preset safety threshold value. Therefore, the following vehicle can pre-judge the lane changing risk by acquiring the pilot vehicle and the real-time road condition information, and real-time early warning is performed to guarantee the lane changing safety.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology for vehicle platooning, and in particular to a method, apparatus, electronic device, and storage medium for vehicle platooning lane changing. Background Technology

[0002] With the development of autonomous driving technology, applying it to vehicle platooning is one of the important future applications of autonomous driving. Autonomous driving in vehicle platooning refers to two or more vehicles arranged longitudinally in a formation, maintaining a certain distance between adjacent vehicles (generally a short distance of less than 10 meters), dynamically forming a convoy for autonomous driving. In the platoon, the lead vehicle can be the navigator, and the other vehicles are followers. The navigator can be driven manually, while the followers can be driven autonomously. Real-time communication between the navigator and followers typically uses V2V (vehicle-to-vehicle) technology, with the followers traveling by following the navigator's historical driving trajectory.

[0003] However, in autonomous driving platooning, the lead vehicle and the following vehicles travel on the same trajectory but arrive at the same trajectory point at different times. In lane-changing scenarios, for example, if the lead vehicle successfully changes lanes to another lane at one moment, while the following vehicle encounters other non-platooned vehicles around the lane-changing trajectory point at another moment, there is a risk of collision if the following vehicle continues to change lanes. This safety risk problem caused by the difference in the start time of lane changing, which makes the interaction environment of the lead vehicle and the following vehicle or the vehicles in front and behind inconsistent, urgently needs to be solved. Summary of the Invention

[0004] This application provides a vehicle platooning lane-changing processing method, apparatus, electronic device, and storage medium, applied to following vehicles traveling in platoons, to solve one or more of the aforementioned technical problems.

[0005] In a first aspect, embodiments of this application provide a vehicle platooning lane-changing processing method, applied to following vehicles traveling in platoons, comprising: acquiring driving information of a lead vehicle, map information within the geographical area where the vehicle platoon is located, and driving information of non-platooning vehicles within the geographical area where the vehicle platoon is located, wherein the driving information of the lead vehicle includes at least its position information, orientation information, speed information, and turn signal information; determining the lane-changing state and target road of the lead vehicle based on the driving information of the lead vehicle and the map information, and predicting the lane-changing starting point, lane-changing time period, and driving trajectory of the following vehicles within the lane-changing time period based on the lane-changing state and the target road; predicting the driving trajectory of the non-platooning vehicles based on the map information and the driving information of the non-platooning vehicles, and acquiring the lane-changing starting point... The system selects the lane segment where the following vehicle's trajectory is located, and selects the target non-platooned vehicle's trajectory within the lane segment during the lane change time period, as well as the target non-platooned vehicle corresponding to the target non-platooned vehicle's trajectory. It then selects multiple time nodes with a preset time interval within the lane change time period, and determines the following vehicle trajectory point and the target non-platooned vehicle trajectory point corresponding to the multiple time nodes from the following vehicle's trajectory and the target non-platooned vehicle's trajectory. The system calculates the coordinate distance between the following vehicle trajectory point and the target non-platooned vehicle trajectory point located at the same time node. When the coordinate distance is less than a preset safety threshold, it adds an interactive risk lane segment identifier to the lane segment where the target non-platooned vehicle's trajectory point is located within the lane change time period.

[0006] Secondly, embodiments of this application provide a vehicle platooning lane-changing processing device, applied to following vehicles traveling in platoons, comprising: an information acquisition module, used to acquire the driving information of the lead vehicle, map information within the geographical area where the vehicle platoon is located, and driving information of non-platooning vehicles within the geographical area where the vehicle platoon is located, wherein the driving information of the lead vehicle includes at least its position information, orientation information, speed information, and turn signal information; a status determination module, used to determine the lane-changing status and target road of the lead vehicle based on the driving information of the lead vehicle and the map information, and predict the lane-changing starting point, lane-changing time period, and driving trajectory of the following vehicles within the lane-changing time period based on the lane-changing status and target road; and a trajectory prediction module, used to predict the driving trajectory of the non-platooning vehicles based on the map information and the driving information of the non-platooning vehicles. The system acquires the lane segment where the lane change starting point and the following vehicle's trajectory are located. It selects the trajectory of a target non-platooned vehicle within the lane segment during the lane change time period from the non-platooned vehicle trajectories, as well as target non-platooned vehicles corresponding to that trajectory. An identifier addition module selects multiple time nodes with a preset time interval within the lane change time period. Based on these multiple time nodes, it determines the following vehicle trajectory points and target non-platooned vehicle trajectory points corresponding to the multiple time nodes from the following vehicle trajectories and the target non-platooned vehicle trajectories. It calculates the coordinate distance between the following vehicle trajectory points and the target non-platooned vehicle trajectory points located at the same time node. When the coordinate distance is less than a preset safety threshold, it adds an interactive risk lane segment identifier to the lane segment where the target non-platooned vehicle trajectory point is located within the lane change time period.

[0007] Thirdly, embodiments of this application provide an electronic device, including a memory, a processor, and a computer program stored in the memory, wherein the processor, when executing the computer program, implements the method described in any of the above-mentioned embodiments.

[0008] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the method described in any of the above-mentioned embodiments.

[0009] According to the embodiments of this application, firstly, the driving information of the lead vehicle, map information within the geographical area where the vehicle convoy is located, and driving information of non-convoy vehicles within the geographical area where the vehicle convoy is located are obtained. The driving information of the lead vehicle includes at least its position, orientation, speed, and turn signal information. Then, based on the driving information of the lead vehicle and the map information, the lane-changing status and target road of the lead vehicle are determined. Based on the lane-changing status and target road, the lane-changing starting point, lane-changing time period, and driving trajectory of the following vehicles within the lane-changing time period are predicted. Then, based on the map information and the driving information of the non-convoy vehicles, the driving trajectory of the non-convoy vehicles is predicted, and the position of the lane-changing starting point and the driving trajectory of the following vehicles are obtained. The system selects lane segments from the non-platooned vehicle trajectories, identifying target non-platooned vehicles within these segments during the lane-changing period, as well as corresponding target non-platooned vehicles. Finally, it selects multiple time nodes with preset time intervals within the lane-changing period. Based on these time nodes, it determines the corresponding follower vehicle trajectory points and target non-platooned vehicle trajectory points from the following vehicle trajectories and the target non-platooned vehicle trajectories. It calculates the coordinate distance between follower vehicle trajectory points and target non-platooned vehicle trajectory points at the same time node. When the coordinate distance is less than a preset safety threshold, it adds an interactive risk lane segment identifier to the lane segment where the target non-platooned vehicle trajectory point is located within the lane-changing period. This allows following vehicles to anticipate lane-changing risks by acquiring information from the lead vehicle and real-time traffic conditions, providing real-time warnings to ensure lane-changing safety.

[0010] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application, it can be implemented according to the contents of the specification. In order to make the above and other objects, features and advantages of this application more obvious and understandable, specific embodiments of this application are given below. Attached Figure Description

[0011] In the accompanying drawings, unless otherwise specified, the same reference numerals throughout the various drawings denote the same or similar parts or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings depict only some embodiments according to this application and should not be construed as limiting the scope of this application.

[0012] Figure 1 A schematic flowchart of a vehicle platooning lane-changing processing scheme provided in an embodiment of this application is shown;

[0013] Figure 2 A schematic diagram of a simulation calculation scenario of a vehicle platooning lane-changing processing scheme provided in an embodiment of this application is shown;

[0014] Figure 3 A flowchart of a vehicle platooning lane-changing processing method provided in an embodiment of this application is shown;

[0015] Figure 4 This paper illustrates a logical diagram of the lane-changing state transition of the lead vehicle in a vehicle platooning lane-changing processing scheme provided in an embodiment of this application.

[0016] Figure 5 This illustration shows a segment of interactive risk lanes displayed on the client side in a vehicle platooning lane-changing processing scheme provided in an embodiment of this application.

[0017] Figure 6 This illustration shows a segment of the prior risk lane displayed on the client side in a vehicle platooning lane-changing processing scheme provided in an embodiment of this application.

[0018] Figure 7 This application shows a structural block diagram of a vehicle platooning lane-changing processing device provided in an embodiment of the present application; and

[0019] Figure 8 A block diagram of an electronic device used to implement embodiments of this application is shown. Detailed Implementation

[0020] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the concept or scope of this application. Therefore, the drawings and description are considered to be exemplary in nature and not restrictive.

[0021] To facilitate understanding of the technical solutions of the embodiments of this application, the relevant technologies of the embodiments of this application are described below. The following relevant technologies are optional solutions and can be combined with the technical solutions of the embodiments of this application in any way, and all of them fall within the protection scope of the embodiments of this application.

[0022] In some scenarios, assessing lane-changing risk in a convoy can be achieved by acquiring global traffic information through vehicle-to-infrastructure (V2I) communication, fusing perception data to calculate the convoy's state, and generating lane-changing instructions based on that state. However, this method requires network connectivity with official vehicle management systems, which is often impossible for general autonomous driving systems due to cost and policy restrictions. Therefore, this approach is limited by scenario constraints and cannot be widely applied to common scenarios. Furthermore, it is limited by information transmission delays on cloud platforms, making it difficult to send timely lane-changing warnings to the lead vehicle. Alternatively, one can identify the convoy's lane-changing intention based on environmental information along the path ahead of the lead vehicle and then calculate the collision time to assess lane-changing risk. However, this method only considers the current speed of the lane-changing vehicles and obstacles in the target lane, omitting information such as the obstacle's future trajectory prediction. This can lead to highly inaccurate lane-changing risk assessments in scenarios where there are high-speed or accelerating vehicles approaching from behind the target road. Meanwhile, both of the above methods are applied to the autonomous driving state of the platoon leader vehicle, do not involve interaction with the driver, and are not suitable for scenarios where the platoon leader vehicle is driven by a driver and the driver's behavior needs to be constrained and reminded.

[0023] Based on this, this application proposes a vehicle platoon lane-changing processing scheme that identifies platooning behavior, uses the future trajectories of platoon members to determine whether the platooning poses a safety risk, and uses visualization and voice prompts to indicate whether the preceding vehicle is safe and whether to cancel the lane change, in order to solve one or more of the above problems.

[0024] Figure 1 A flowchart illustrating a vehicle platooning lane-changing processing scheme provided in an embodiment of this application is shown. This vehicle platooning lane-changing processing scheme can be applied to following vehicles traveling in platoons. Figure 1 As shown, this solution can include three main parts: lane change status recognition for the lead vehicle, lane change risk assessment for the following vehicle, and visualization and voice prompts for the driver. These three parts can achieve the workflow of this solution through information interaction. Specifically, the lane change status recognition for the lead vehicle can output the lane change status and target lane of the lead vehicle to the client. The lane change risk assessment for the following vehicle can output the lane change risk type of the adjacent lane of the following vehicle to the client. Both outputs are input into the visualization and voice prompt module on the lead vehicle driver's client, enabling visualization of lane change risk lanes and providing voice prompts to suggest to the driver to cancel the lane change or change lanes with caution.

[0025] First, the system can acquire the driving information of the lead vehicle, map information within the geographical area of ​​the vehicle convoy, and driving information of non-convoy vehicles within the geographical area of ​​the vehicle convoy. The driving information of the lead vehicle (lead vehicle status information) includes at least its position, orientation, speed, and turn signal information. The map information may include road information. The status information of the lead vehicle can be obtained from the following vehicles via V2V (vehicle-to-vehicle communication) technology.

[0026] Secondly, based on the driving information of the lead vehicle and map information (including road information), the lane-changing status of the lead vehicle can be identified to determine its lane-changing status and target road (lead vehicle lane-changing status and target road). Since the trajectory of the following vehicles always follows that of the lead vehicle, the lane-changing starting point, lane-changing time period, and the following vehicle's trajectory within the lane-changing time period can be predicted based on the lead vehicle's lane-changing status and target road.

[0027] Secondly, the trajectories of non-platooned vehicles can be predicted based on map information and the driving information of non-platooned vehicles. This involves obtaining the lane-changing starting point of the following vehicle and the lane segment where its trajectory is located. From the non-platooned vehicle trajectories, the trajectory of the target non-platooned vehicle within the lane segment during the lane-changing period, as well as target non-platooned vehicles with corresponding trajectories, can be selected. The lane segment can be determined by using the following vehicle's current lane and the adjacent lanes based on the road structure in the acquired map information. The area formed by the current lane and adjacent lanes within a certain longitudinal range of the following vehicle's current position is then defined as the lane segment for which non-platooned vehicle trajectory prediction is needed. Furthermore, the trajectories of non-platooned vehicles within the lane segment during the lane-changing period (including the future trajectories of other vehicles in adjacent lanes) can be predicted based on map information and the driving information of non-platooned vehicles. During the lane-changing period, non-platooned vehicles whose vehicle bodies encroach on lanes or whose future trajectories encroach on that lane segment are considered potential interacting vehicles with the following vehicle.

[0028] Finally, a lane-changing risk assessment can be performed based on the future trajectories of the following vehicle, the interacting social vehicle, and road information. This can be achieved by selecting multiple time points with preset time intervals within the lane-changing period. Based on these time points, the trajectory points of the following vehicle and the target non-platform vehicle corresponding to these time points are determined from their respective trajectories. The coordinate distance between the trajectory points of the following vehicle and the target non-platform vehicle at the same time point is calculated. When the coordinate distance is less than a preset safety threshold, the lane segment where the non-platform vehicle's trajectory point is located within the lane-changing period is marked as an interactive risk lane segment. In other words, by analyzing the trajectory points on the future trajectories of the following vehicle and the interacting social vehicle (non-platform vehicle), the lateral and longitudinal distances between the two points are determined frame by frame at preset time intervals. If the lateral or longitudinal distance in any frame is less than the specified safety threshold, the lane segment where the interacting social vehicle (non-platform vehicle) is located is considered to have an interactive lane-changing risk, and the corresponding lane segment can be marked as an interactive lane-changing risk lane segment.

[0029] Furthermore, for lane segments and their adjacent lane segments that have been marked in the map information as containing at least one of the following information: uphill / downhill, high-curvature curves, and intersections, or for lane segments traveling in the opposite direction or traveling at high speed in the following vehicle trajectory and their adjacent lane segments, such lane segments can be classified into the scenario of "prior lane change risk", that is, the corresponding lane segments can be marked as lane segments with prior lane change risk.

[0030] Information related to lane change risk segments and prior lane change risk segments (such as the lane change risk type of the following vehicle in the adjacent lane) can be sent to the lead vehicle client and / or the following vehicle client. The client can display the location information of non-platooning vehicles and issue reminders in the form of voice broadcasts to achieve driver-side visualization and voice reminders. This allows the driver of the lead vehicle to interact with the autonomous driving system of the following vehicles. It can be applied to scenarios in autonomous driving platoons where the lead vehicle is driven by a driver and driver behavior needs to be constrained and reminded.

[0031] Figure 2 This illustration shows a simulated calculation scenario of a vehicle platooning lane-changing processing scheme provided in an embodiment of this application. As mentioned above, in this embodiment, the driving trajectory of non-platooning vehicles can be predicted based on map information and driving information of non-platooning vehicles. By obtaining the lane-changing starting point and the lane segment where the following vehicle's driving trajectory is located, the target non-platooning vehicle's driving trajectory within the lane segment during the lane-changing time period and the target non-platooning vehicle corresponding to the target non-platooning vehicle's driving trajectory are selected from the non-platooning vehicle's driving trajectory.

[0032] Specific simulation scenarios can be as follows: Figure 2 As shown, firstly, based on lane information and the driving information of non-platooned vehicles in the map information, the driving trajectory of non-platooned vehicles can be predicted. The driving information of non-platooned vehicles includes at least their position, orientation, speed, and / or acceleration information. Secondly, based on the lane-change starting point and the driving trajectory of the following vehicle, the area formed by the horizontal coordinate axis where the lane-change starting point is located (the dashed lines A1 and A2), the vertical lane where the driving trajectory of the following vehicle is located, and the horizontal coordinate axis where the endpoint of the driving trajectory of the following vehicle during the lane-change period is located (the dashed lines A3 and A4) can be considered as a lane segment. The vertical lane where the driving trajectory of the following vehicle is located is... Figure 2 The lane change destination is divided by three lane lines, along with the adjacent lanes. In other words, it can... Figure 2 The rectangular areas of A1, A2, A3, and A4 are designated as lane segments.

[0033] Next, the travel trajectories of target non-platooned vehicles located in lane segments during the lane change time period can be selected from the non-platooned vehicle travel trajectories, along with corresponding target non-platooned vehicles. Then, multiple time nodes with preset time intervals are selected within the lane change time period. Based on these multiple time nodes, the trajectory points of following vehicles and target non-platooned vehicles corresponding to these time nodes are determined from the travel trajectories of following vehicles and target non-platooned vehicles. The coordinate distance between the trajectory points of following vehicles and target non-platooned vehicles located at the same time node is calculated. When the coordinate distance is less than a preset safety threshold, an interactive risk lane segment identifier is added to the lane segment where the trajectory point of the target non-platooned vehicle is located during the lane change time period.

[0034] For example, the collision threshold could be located within a pre-defined lane segment, such as... Figure 2 The preset safety threshold (collision threshold) is located within the rectangular area of ​​A1, A2, A3, and A4. Figure 2 The following vehicle's trajectory is a left lane change. Therefore, the preset safety threshold (collision threshold) located to the right of the following vehicle's trajectory can only consider the lateral distance from the following vehicle's trajectory (represented as a line with the same shape as the following vehicle's trajectory). The preset safety threshold (collision threshold) located to the left of the following vehicle's trajectory needs to be defined over a larger range, considering both the lateral and longitudinal distances from the following vehicle's trajectory (represented as a line with a different shape than the following vehicle's trajectory, such as...). Figure 2 (Possibly a broken line).

[0035] Therefore, this application proposes a scheme that adopts an intelligent queue formation mode, which enables following vehicles to combine information from the lead vehicle and information collected by the vehicle's sensors, and to judge the risk of lane changing by the lead vehicle driver based on real-time road conditions around the following vehicles and prior information of some scenarios. When there is a risk of lane changing, a warning will be given to the driver.

[0036] The execution entity in this application embodiment can be an application, service, instance, functional module in software form, virtual machine (VM), container, or cloud server, or hardware device with data processing function (such as server or terminal device) or hardware chip (such as CPU, GPU, FPGA, NPU, AI accelerator card, or DPU). The device for implementing vehicle platooning lane changing processing can be deployed on the computing device of the application providing the corresponding service or on a cloud computing platform providing computing power, storage, and network resources. The cloud computing platform can provide services in the following modes: IaaS (Infrastructure as a Service), PaaS (Platform as a Service), SaaS (Software as a Service), or DaaS (Data as a Service). Taking the platform providing SaaS (Software as a Service) as an example, the cloud computing platform can utilize its own computing resources to provide training for the vehicle platooning lane changing processing model or the execution of the vehicle platooning lane changing processing module. The specific application architecture can be built according to service requirements. For example, the platform can provide building services based on the above model to application parties or individuals using platform resources, and further invoke the above model and implement online or offline vehicle platooning lane change processing functions based on vehicle platooning lane change processing requests submitted by relevant client or server devices.

[0037] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use and processing of the relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and corresponding operation portals are provided for users to choose to authorize or refuse.

[0038] The technical solution of this application and how it solves the aforementioned technical problems are described in detail below with specific embodiments. The listed specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0039] This application provides a method for handling lane changes in vehicle platooning, applicable to following vehicles traveling in platoons, such as... Figure 3 The diagram shown is a flowchart of a vehicle platooning lane-changing processing method 300 according to an embodiment of this application. The method 300 may include:

[0040] In step S301, the driving information of the lead vehicle, the map information of the geographical area where the vehicle formation is located, and the driving information of non-formation vehicles within the geographical area where the vehicle formation is located are obtained. The driving information of the lead vehicle includes at least the position information, orientation information, speed information, and turn signal information of the lead vehicle.

[0041] The geographical area of ​​the vehicle platoon can be determined by acquiring location information from the global positioning system (e.g., GPS) of the lead and following vehicles. Then, a geographical area within a certain threshold range is selected from the surrounding area as the geographical area of ​​the vehicle platoon. Based on this geographical area, corresponding internal or external interfaces can be called to retrieve map information within that geographical area, including lane information and lane markings.

[0042] The driving information of non-platooning vehicles can be obtained by using the vehicle sensors (such as lidar, cameras, etc.) of the lead vehicle and following vehicles in the vehicle platoon to perceive the surrounding environment of the vehicles. The driving information of non-platooning vehicles can include their position information, orientation information, speed information and / or acceleration information.

[0043] In step S302, based on the driving information of the lead vehicle and the map information, the lane-changing status and target road of the lead vehicle are determined, and the lane-changing starting point, lane-changing time period, and driving trajectory of the following vehicle within the lane-changing time period are predicted based on the lane-changing status and target road.

[0044] The driving information of the lead vehicle includes at least its position, orientation, speed, and turn signal information. The lane-changing status and target road of the lead vehicle are determined based on its driving information and map information.

[0045] In one possible implementation, the aforementioned lane-changing state includes at least one of preparing to change lanes, changing lanes in progress, stopping lane changes, and / or ending lane changes. The method of predicting the lane-changing starting point, lane-changing time period, and the driving trajectory of the following vehicle within the lane-changing time period based on the lane-changing state and the target lane can first determine the lane-changing starting point, lane-changing time period, and the driving trajectory of the leading vehicle within the lane-changing time period based on the lane-changing state and the target lane. Then, the driving parameters of the following vehicle are obtained, the lane-changing starting point of the leading vehicle is determined as the lane-changing starting point of the following vehicle, and the lane-changing time period and the driving trajectory of the following vehicle within the lane-changing time period are calculated. The driving parameters include the speed and / or acceleration of the following vehicle.

[0046] Figure 4 This diagram illustrates the logic of the lane-changing state transition of the lead vehicle in a vehicle platooning lane-changing processing scheme provided in an embodiment of this application. Figure 4 As shown, the lane-changing states of the lead vehicle—Pre Lane Change, Lane Changing, Lane Change Abort, and Lane Change End—can transition between each other under certain conditions. For example, it can transition from Lane Change Abort to Pre Lane Change, from Pre Lane Change to Lane Changing, and from Lane Changing to Lane Change Abort or Lane Change End. These states can also transition between "None" and "No State," where "None" refers to a situation where the lead vehicle is not in a lane-changing state or its corresponding lane cannot be obtained. Specifically, Pre Lane Change, Lane Change Abort, and Lane Change End can all transition to "None," and "None" can also transition to Pre Lane Change. In a special case, there might be a transition from "None" to "Lane Changing." For instance, if the corresponding lane for the lead vehicle cannot be obtained, the system may be in a "None" state. However, if other information about the lead vehicle is obtained and calculated, it can be determined that the lead vehicle is in a lane-changing state, in which case "None" can transition to "Lane Changing."

[0047] In this embodiment of the application, the transition of the lane change state is actually determined based on some preset conditions (state machine jump). These preset conditions may be the position information, orientation information, speed information, turn signal information, and map information of the lead vehicle.

[0048] For example, position information may include lateral or longitudinal distance, lateral speed, lateral or longitudinal movement distance, etc.; orientation information may include information on orientation at any angle (forward, backward, up, down, left, right, etc.); speed information may include lateral or longitudinal speed, etc.; turn signal information may include turning on or off, or continuously turning on or off, front, rear, left, and right turn signals, etc. For example, if the turn signal information is that the left turn signal is on, it indicates preparation for a left lane change; if the position information shows movement (meeting the conditions of lateral and longitudinal aspects, such as deviating from the left side of the lane center line to a certain extent) and the left turn signal is on, it indicates a lane change is in progress; if the leading vehicle and following vehicles or the vehicles in front and behind have a longitudinal distance relative to the lane lines and the orientation angle of the vehicles in front and behind is greater than a certain angle, it indicates a U-turn, etc. This application does not impose any restrictions on this.

[0049] For example, if the lateral distance between the lead vehicle and the center line of the target lane is less than 0.6 meters, and the lateral speed of the lead vehicle is less than 0.1 m / s, and the average speed of the lead vehicle over the past 10 time intervals is less than 0.2 m / s, then the lane-changing status of the lead vehicle can change from lane-changing in progress to lane-changing completed. Another example is when the lead vehicle is changing lanes. Based on the lead vehicle's orientation, speed, and turn signal information, if the previous lane-changing status of the lead vehicle was a left lane change, and the lead vehicle's current lane is either the starting lane of the lane change or on the right side of the current lane, and if the lead vehicle's lateral speed to the right at the current moment is greater than a threshold and its orientation is to the right, then the lane change is considered aborted. Yet another example is when the lead vehicle's turn signal information is used to determine whether the lead vehicle is preparing to change lanes based on the rising edge of the lead vehicle's turn signal. If the lead vehicle's lane-changing state continues for a certain period (e.g., 8 seconds), or if the lead vehicle's lateral position is within a preset threshold range, then the lead vehicle can be considered to have changed from lane-changing in progress to lane-changing completed. In certain special scenarios, a certain priority can be set. For example, if the duration of the lane-changing preparation state exceeds 20 seconds, the state will change from preparing to lane-changing to not changing lanes. Another example is when the left turn signal is always on; if a turn signal indicating the opposite direction appears (e.g., the navigating vehicle is in the process of changing lanes to the right based on lateral distance), the "changing lanes" state can have a higher priority than "preparing to change lanes," because there's a possibility of accidentally activating the wrong turn signal. From a computer calculation perspective, the direction of the lane-changing preparation can be determined first. If the direction matches, the threshold range for transitioning from preparing to changing lanes to actually changing lanes can be set smaller (making the transition easier) than the threshold range for transitioning from no state to actually changing lanes. Of course, there are many combinations and possibilities for determining the navigating vehicle's lane-changing state and target road based on the navigating vehicle's driving information and map information, and this application does not impose any restrictions on this.

[0050] In step S303, the driving trajectory of the non-platooned vehicles is predicted based on the map information and the driving information of the non-platooned vehicles. The lane segment where the lane change starting point and the driving trajectory of the following vehicle are located is obtained. The driving trajectory of the target non-platooned vehicle located in the lane segment during the lane change time period and the target non-platooned vehicle with a corresponding relationship to the driving trajectory of the target non-platooned vehicle are selected from the driving trajectory of the non-platooned vehicles.

[0051] Since the embodiments of this application are applied to vehicle formation, in the absence of interference from non-formation vehicles, the driving trajectory of the following vehicle is the same as that of the lead vehicle. Therefore, the lane-changing starting point and driving trajectory of the lead vehicle obtained in advance can be determined as the lane-changing starting point and future driving trajectory of the following vehicle.

[0052] Among them, the driving information of non-platooning vehicles can be obtained by following vehicles through their own vehicle sensors; or it can be obtained by the lead vehicle and following vehicles through their vehicle sensors and synchronized after communicating through the V2V communication protocol.

[0053] When predicting the trajectories of non-platooned vehicles based on map information and their driving information, a neural network model can be used. The acquired map information, historical trajectories of non-platooned vehicles, their vehicle positions, and orientations can be used as inputs to the neural network model. The output can be multimodal (multiple behaviors) predicted trajectories of the non-platooned vehicles. These predicted trajectories can include multiple future predicted trajectories for a single non-platooned vehicle and the probability of each trajectory, or multiple future predicted trajectories for multiple non-platooned vehicles and the probability of each trajectory. For example, the trajectory and probability of going straight, or the trajectory and probability of a non-platooned vehicle inserting into the middle of a platoon (a non-platooned vehicle entering a lane segment). This application does not impose any restrictions on the neural network model used for prediction or its training method.

[0054] In one possible implementation, the method described above—predicting the trajectory of the non-platooned vehicles based on the map information and the driving information of the non-platooned vehicles, obtaining the lane change starting point and the lane segment where the following vehicle's trajectory is located, and selecting the target non-platooned vehicle's trajectory within the lane segment during the lane change time period and the target non-platooned vehicles corresponding to the target non-platooned vehicle's trajectory—can first predict the trajectory of the non-platooned vehicles based on the lane information in the map information and the driving information of the non-platooned vehicles; then, based on the lane change starting point and the following vehicle's trajectory, the method can ... following vehicle's trajectory, the method can first predict the trajectory of the non-platooned vehicles based on the lane information in the map information and the driving information of the non-platooned vehicles; then, based on the following vehicle's trajectory, the method can first predict the trajectory of the non-platooned vehicles based on the lane information in the map information and the driving information of the non-platooned vehicles; then, based on the following vehicle's trajectory, the method can first predict the trajectory of the non-platooned vehicles based on the lane information in the map information and the driving information of the non-platooned vehicles. The following vehicle's trajectory is defined as the area formed by the lateral coordinate axis where the lane change start point is located, the longitudinal lane where the following vehicle's trajectory is located, and the lateral coordinate axis where the following vehicle's trajectory ends during the lane change time period, which is considered as the lane segment. Finally, the target non-platooning vehicle's trajectory within the lane segment during the lane change time period and the target non-platooning vehicle corresponding to the target non-platooning vehicle's trajectory are selected from the non-platooning vehicle's trajectory. The driving information of the non-platooning vehicle includes at least the non-platooning vehicle's position information, orientation information, speed information, and / or acceleration information.

[0055] As mentioned earlier, the lane change starting point and the lane segment where the following vehicle's trajectory is located can be based on... Figure 2 The method used to determine this will not be elaborated here. The distance threshold range of the determined lane segment in the longitudinal lane can be determined not only based on the endpoint of the following vehicle's trajectory during the lane-changing time period (lane-changing endpoint), but can also be preset, for example, preset to 200 meters. This application does not impose any restrictions on this.

[0056] In step S304, multiple time nodes with a preset time interval are selected within the lane-changing time period. Based on the multiple time nodes, the trajectory points of the following vehicle and the trajectory points of the target non-formation vehicle corresponding to the multiple time nodes are determined from the driving trajectory of the following vehicle and the driving trajectory of the target non-formation vehicle. The coordinate distance between the trajectory points of the following vehicle and the trajectory points of the target non-formation vehicle located at the same time node is calculated. When the coordinate distance is less than a preset safety threshold, the lane segment where the trajectory point of the target non-formation vehicle is located within the lane-changing time period is marked as an interactive risk lane segment.

[0057] The preset time interval can be 0.02 seconds, the same as the time interval for each prediction calculation, or the same as the scanning time interval of the vehicle sensor, etc. This application does not impose any restrictions on the preset time interval or its determination method. The above process can be performed by calculating the coordinate distances between the following vehicle trajectory points and the target non-platoon vehicle trajectory points at all selected time points, and marking the points if the coordinate distances at all time points are less than a preset safety threshold; alternatively, it can be performed by calculating the coordinate distances between the following vehicle trajectory points and the target non-platoon vehicle trajectory points at a subset of selected time points, and this application does not impose any restrictions on this. The coordinate distances can also be calculated based on the position of the lane centerline.

[0058] The preset safety threshold involved in the embodiments of this application can be determined based on the width of the lane where the trajectory point is located, and the preset safety threshold can be half the width of the lane; or it can be determined as needed, and this application does not impose any restrictions on it.

[0059] For example, the above method of calculating the coordinate distance between the following vehicle trajectory point and the target non-platform vehicle trajectory point at the same time node, and adding a segment identifier for the lane segment where the non-platform vehicle trajectory point is located during the lane-changing time period when the coordinate distance is less than a preset safety threshold, can be as follows: First, obtain the coordinates of the following vehicle trajectory point and the target non-platform vehicle trajectory point at the same time node; then calculate the lateral distance between the lateral coordinates of the following vehicle trajectory point and the lateral coordinates of the target non-platform vehicle trajectory point and / or calculate the longitudinal distance between the longitudinal coordinates of the following vehicle trajectory point and the longitudinal coordinates of the target non-platform vehicle trajectory point; finally, if the lateral distance and / or the longitudinal distance is less than the preset safety threshold, add a segment identifier for the lane segment where the target non-platform vehicle trajectory point is located during the lane-changing time period.

[0060] For example, the following safety threshold could be set if the lateral distance between the following vehicle's trajectory point and the target non-platform vehicle's trajectory point is less than a preset safety threshold, or if the longitudinal distance between the following vehicle's trajectory point and the target non-platform vehicle's trajectory point is less than a preset safety threshold, or if both the lateral distance between the following vehicle's trajectory point and the target non-platform vehicle's trajectory point are less than a preset safety threshold. For details, please refer to [link to relevant documentation]. Figure 2 The examples of safety thresholds (collision thresholds) provided in the text are not intended to limit the scope of this application.

[0061] In one possible implementation, the above-mentioned vehicle platooning lane-changing processing scheme may further include: determining a first lane segment from the map information that contains at least one of the following information: uphill / downhill slopes, high-curvature curves, and / or intersections; adding a segment identifier for a first prior risk lane segment to the first lane segment; selecting a lane segment traveling in the opposite direction and / or a lane segment traveling at high speed in the following vehicle's trajectory; adding a segment identifier for a second prior risk lane segment to the selected lane segment; and, when the interactive risk lane segment overlaps with the first prior risk lane segment or the second prior risk lane segment, preferentially displaying the interactive risk lane segment on the client.

[0062] In this embodiment, the lane-changing scenario of the interactive risk lane segment involves a following vehicle whose lane-changing behavior may pose a significant potential collision risk with other vehicles (non-platooned vehicles, regardless of their direction of travel or current position). In contrast, the lane-changing scenario of the prior risk lane segment is generally derived from test data or experience data of platooned autonomous driving. Following vehicles in such scenarios, such as uphill / downhill slopes, sharp curves, intersections, oncoming lanes, and high-speed platooning, may present unpredictable risks. Therefore, the interactive risk lane segment has a higher priority than the prior risk lane segment, and the prior risk lane segment has a higher priority than the risk-free lane segment. This allows the risk type output to the client to be determined based on priority when the same lane segment has two or more risk type identifiers.

[0063] Figure 5 This illustration shows a schematic diagram of an interactive risk lane segment displayed on the client side in a vehicle platooning lane-changing processing scheme provided in an embodiment of this application. In the scenario of an interactive risk lane segment, the client of the lead vehicle driver or the client of the autonomous driving system (where a safety operator can remotely monitor or take over the autonomous vehicle) can display the lead vehicle and following vehicles (or the vehicle in front and the vehicle behind) operating in the lane. It can also display non-platooning vehicles that may insert into the platoon, and the current lane-changing direction, such as to the right. The lane-changing direction above the interactive risk lane can be displayed using a red triangle, and the positions of non-platooning vehicles with interactive risks are displayed in the lane, also in red. If the lead vehicle is in a lane-changing state, the corresponding lane, triangle, and non-platooning vehicle indicators can also flash.

[0064] Figure 6This illustration shows a schematic diagram of a priori risk lane segment displayed on the client side in a vehicle platooning lane-changing processing scheme provided in an embodiment of this application. In the scenario of a priori risk lane segment, the client of the lead vehicle driver or the client of the autonomous driving system (where a safety operator can remotely monitor or take over the autonomous driving vehicle) can display the lead vehicle and following vehicles (or the vehicle in front and the vehicle behind) operating in the lane. It can also display priori identification information and the current lane-changing direction, such as left. The lane-changing direction above the priori risk lane can be displayed using an orange triangle, and the priori identification information of the current lane can also be displayed in the lane, also in orange. If the lead vehicle is in a lane-changing state, the corresponding lane, triangle, and sign can also flash.

[0065] In some embodiments, the adjacent lane segments of the first prior risk lane segment and / or the adjacent lane segments of the high-speed lane segment in the following vehicle's trajectory can be selected, and a segment identifier of the third prior risk lane segment can be added to the selected adjacent lane segments; when the interactive risk lane segment overlaps with the third prior risk lane segment, the interactive risk lane segment is preferentially displayed on the client.

[0066] In other words, if the lane segment following a vehicle is a priori risk lane segment—meaning the following vehicle is in a priori lane-changing risk scenario—the adjacent lane of the following vehicle can be marked as a priori risk lane, except when changing lanes to the opposite lane where only the opposite lane is marked as a priori risk lane. This provides more comprehensive hazard warnings, allowing drivers to adjust their lane-changing strategies promptly and ensuring the safety of vehicle platooning.

[0067] In one possible implementation, the above-mentioned vehicle platooning lane-changing processing scheme may further include: sending the segment information of the interactive risk lane segment, the target non-platooning vehicle, and the driving trajectory of the target non-platooning vehicle to the lead vehicle client, so that the lead vehicle client displays the location information of the target non-platooning vehicle and issues a reminder message in the form of a voice broadcast, the reminder message being "cancel lane change" or "change lane later"; sending the segment information of the interactive risk lane segment, the target non-platooning vehicle, and the driving trajectory of the target non-platooning vehicle to the follow vehicle client, so that the follow vehicle client displays the location information of the target non-platooning vehicle and issues a reminder message in the form of a voice broadcast, the reminder message being "dangerous lane change"; sending the segment information of the first prior risk lane segment, the second prior risk lane segment, and / or the third prior risk lane segment to the lead vehicle client and / or the follow vehicle client, so that the lead vehicle client and / or the follow vehicle client issues a reminder message in the form of a voice broadcast, the reminder message being "change lane with caution".

[0068] In other words, the embodiments of this application can also provide reminders and warnings about dangerous lane changes through voice broadcasts. If the lead vehicle is not in a lane-changing state, it does not need to broadcast a voice message. If the lead vehicle is in a lane-changing state, and the lane segment in the corresponding direction is an interactive risk lane segment, the lead vehicle can broadcast a voice message to remind the driver to cancel the lane change and inform the driver of the location information of non-platoon vehicles with interactive risks. The following vehicles can broadcast a voice message about the danger of lane changing. If the lane segment in the corresponding direction is a priori risk lane segment, the lead vehicle can broadcast a voice message to remind the driver to change lanes with caution, and the following vehicles can broadcast a voice message to change lanes with caution.

[0069] The vehicle platooning lane-changing processing scheme provided in this application proposes that, in the process of autonomous truck platooning, other following vehicles, except for the lead vehicle, first determine the lane-changing status of the lead vehicle based on the information received from the lead vehicle in the V2V (including turn signal information, etc.), and obtain relevant information such as the target lane when the lead vehicle changes lanes. Meanwhile, by categorizing the lane-changing risks that a lead vehicle's lane change may bring to following vehicles into interactive lane-changing risk scenarios and prior lane-changing risk scenarios, and then using the aforementioned risk assessment algorithm (and / or through a neural network model) to determine whether the current lane, adjacent lane, and / or future lane of the following vehicle are interactive risk lanes, and based on road information to determine whether the following vehicle is in a prior risk lane, and finally combining the lane type of the following vehicle, the lane-changing status of the lead vehicle, and the target road for the lane change, the risk lanes and non-platoon vehicles with interactive risks are visually displayed on the driver's end, and voice prompts are given to the driver with driving strategies, such as reminding the driver to cancel the lane change or drive cautiously, etc., the following vehicles can make predictions about lane-changing risks by obtaining information from the lead vehicle and real-time road conditions, and provide real-time warnings to ensure lane-changing safety. This fills the technical gap in scenarios that do not include interaction with the driver and are not applicable to scenarios where the lead vehicle in the platoon is driven by a driver and requires constraints and reminders on the driver's behavior.

[0070] Corresponding to the examples and method embodiments provided in this application, this application also provides a vehicle platooning lane-changing processing device, applied to following vehicles traveling in platoons. For example... Figure 7The diagram shows a structural block diagram of a vehicle platooning lane-changing processing device 700 according to an embodiment of this application. The device 700 may include: an information acquisition module 701, used to acquire the driving information of the lead vehicle, map information within the geographical area where the vehicle platoon is located, and the driving information of non-platooning vehicles within the geographical area where the vehicle platoon is located. The driving information of the lead vehicle includes at least its position information, orientation information, speed information, and turn signal information; a status determination module 702, used to determine the lane-changing status and target road of the lead vehicle based on the driving information of the lead vehicle and the map information, and to predict the lane-changing starting point, lane-changing time period, and the driving trajectory of the following vehicles within the lane-changing time period based on the lane-changing status and the target road; and a trajectory prediction module 703, used to predict the driving trajectory of the non-platooning vehicles based on the map information and the driving information of the non-platooning vehicles. The system obtains the lane segment where the lane change starting point and the following vehicle's trajectory are located. It selects the target non-platooned vehicle's trajectory within the lane segment during the lane change time period, as well as target non-platooned vehicles corresponding to the target non-platooned vehicle's trajectory, from the non-platooned vehicle's trajectory. An identifier addition module 704 selects multiple time nodes with a preset time interval within the lane change time period. Based on these multiple time nodes, it determines the following vehicle's trajectory point and the target non-platooned vehicle's trajectory point corresponding to the multiple time nodes from the following vehicle's trajectory and the target non-platooned vehicle's trajectory. It calculates the coordinate distance between the following vehicle's trajectory point and the target non-platooned vehicle's trajectory point located at the same time node. When the coordinate distance is less than a preset safety threshold, it adds an interactive risk lane segment identifier to the lane segment where the target non-platooned vehicle's trajectory point is located within the lane change time period.

[0071] In one possible implementation, the vehicle platooning lane-changing processing device may further include: a first prior risk lane identification module, used to determine from the map information a first lane segment containing at least one of uphill / downhill slopes, high-curvature curves, and / or intersections, and add a segment identification of a first prior risk lane segment to the first lane segment; a second prior risk lane identification module, used to select lane segments traveling in the opposite direction and / or high-speed lane segments in the following vehicle's trajectory, and add a segment identification of a second prior risk lane segment to the selected lane segment; and an interactive risk first display module, used to prioritize displaying the interactive risk lane segment on the client when the interactive risk lane segment overlaps with the first prior risk lane segment or the second prior risk lane segment.

[0072] In some embodiments, the vehicle platooning lane-changing processing device may further include: a third prior risk lane identification module, configured to select adjacent lane segments of the first prior risk lane segment and / or adjacent lane segments of the high-speed lane segment in the following vehicle's driving trajectory, and add a segment identification of the third prior risk lane segment to the selected adjacent lane segments; and an interactive risk second display module, configured to prioritize displaying the interactive risk lane segment on the client when the interactive risk lane segment overlaps with the third prior risk lane segment.

[0073] In one possible implementation, the above-mentioned vehicle platooning lane-changing processing device may further include: a first information transmission module, used to send the segment information of the interactive risk lane segment, the target non-platooning vehicle, and the driving trajectory of the target non-platooning vehicle to the lead vehicle client, so that the lead vehicle client displays the location information of the target non-platooning vehicle and issues a reminder message in the form of a voice broadcast, the reminder message being "cancel lane change" or "change lane later"; a second information transmission module, used to send the segment information of the interactive risk lane segment, the target non-platooning vehicle, and the driving trajectory of the target non-platooning vehicle to the follow vehicle client, so that the follow vehicle client displays the location information of the target non-platooning vehicle and issues a reminder message in the form of a voice broadcast, the reminder message being "dangerous lane change"; and a third information transmission module, used to send the segment information of the first prior risk lane segment, the second prior risk lane segment, and / or the third prior risk lane segment to the lead vehicle client and / or the follow vehicle client, so that the lead vehicle client and / or the follow vehicle client issues a reminder message in the form of a voice broadcast, the reminder message being "change lane with caution".

[0074] In one possible implementation, the lane-changing state includes at least one of preparing to change lanes, changing lanes in progress, stopping lane changes, and / or ending lane changes. The aforementioned state determination module 702 may include: a lead vehicle state determination submodule, used to determine the lane-changing starting point, lane-changing time period, and the lead vehicle's driving trajectory within the lane-changing time period of the lead vehicle based on the lane-changing state and the target lane-changing road; and a follower vehicle state calculation submodule, used to obtain the driving parameters of the follower vehicle, determine the lane-changing starting point of the lead vehicle as the lane-changing starting point of the follower vehicle, calculate the lane-changing time period of the follower vehicle and the follower vehicle's driving trajectory within the lane-changing time period, wherein the driving parameters include the follower vehicle's speed and / or acceleration.

[0075] In one possible implementation, the trajectory prediction module 703 may include: a non-platoon vehicle trajectory prediction submodule, used to predict the trajectory of the non-platoon vehicle based on lane information in the map information and the driving information of the non-platoon vehicle, wherein the driving information of the non-platoon vehicle includes at least the position information, orientation information, speed information and / or acceleration information of the non-platoon vehicle; a lane segment determination submodule, used to define the area formed by the lateral coordinate axis where the lane change start point is located, the longitudinal lane where the driving trajectory of the following vehicle is located, and the lateral coordinate axis where the end point of the driving trajectory of the following vehicle is located during the lane change time period as the lane segment based on the lane change start point and the driving trajectory of the following vehicle; and a target non-platoon vehicle trajectory selection submodule, used to select the target non-platoon vehicle trajectory located in the lane segment during the lane change time period and the target non-platoon vehicle corresponding to the target non-platoon vehicle trajectory from the non-platoon vehicle trajectory.

[0076] In one possible implementation, the aforementioned identifier addition module 704 may include: a coordinate point acquisition submodule, used to acquire the coordinates of the following vehicle trajectory point and the target non-platform vehicle trajectory point located at the same time node; a distance calculation submodule, used to calculate the lateral distance between the lateral coordinates of the following vehicle trajectory point and the lateral coordinates of the target non-platform vehicle trajectory point and / or calculate the longitudinal distance between the longitudinal coordinates of the following vehicle trajectory point and the longitudinal coordinates of the target non-platform vehicle trajectory point; and an identifier addition submodule, used to add a segment identifier of the interactive risk lane segment to the lane segment where the target non-platform vehicle trajectory point is located during the lane-changing time period if the lateral distance and / or the longitudinal distance is less than a preset safety threshold.

[0077] The functions of each module in each device in the embodiments of this application can be found in the corresponding description in the above method, and they have corresponding beneficial effects, which will not be repeated here.

[0078] Figure 8 This is a block diagram of an electronic device used to implement embodiments of this application. For example... Figure 8 As shown, the electronic device includes a memory 801 and a processor 802. The memory 801 stores a computer program that can run on the processor 802. When the processor 802 executes the computer program, it implements the method described in the above embodiments. The number of memories 801 and processors 802 can be one or more.

[0079] The electronic device also includes:

[0080] The communication interface 803 is used to communicate with external devices and exchange and transmit data.

[0081] If the memory 801, processor 802, and communication interface 803 are implemented independently, they can be interconnected via a bus to communicate with each other. This bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. This bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 8 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0082] Optionally, in a specific implementation, if the memory 801, processor 802, and communication interface 803 are integrated on a single chip, then the memory 801, processor 802, and communication interface 803 can communicate with each other through an internal interface.

[0083] This application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method provided in this application.

[0084] This application also provides a computer program product, which includes a computer program that, when executed by a processor, implements the methods provided in any embodiment of this application.

[0085] This application also provides a chip including a processor for calling and executing instructions stored in a memory, causing a communication device with the chip installed to perform the method provided in this application.

[0086] This application also provides a chip, including: an input interface, an output interface, a processor, and a memory. The input interface, output interface, processor, and memory are connected through an internal connection path. The processor is used to execute code in the memory. When the code is executed, the processor is used to execute the method provided in this application.

[0087] It should be understood that the aforementioned processor can be a Central Processing Unit (CPU), or other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate Arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. General-purpose processors can be microprocessors or any conventional processor. It is worth noting that the processor can be a processor supporting Advanced Reduced Instruction Set Machines (ARM) architecture.

[0088] Further, optionally, the aforementioned memory may include read-only memory and random access memory. The memory may be volatile memory or non-volatile memory, or may include both. Non-volatile memory may include read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory may include random access memory (RAM), which serves as an external cache. By way of example, but not limitation, many forms of RAM are available. Examples include Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDR SDRAM), Enhanced Synchronous DRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), and Direct Rambus RAM (DR RAM).

[0089] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions according to this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another.

[0090] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of those different embodiments or examples.

[0091] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0092] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process. Furthermore, the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functionality involved.

[0093] The logic and / or steps described in the flowchart or otherwise herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus or device (such as a computer-based system, a processor-included system or other system that can fetch and execute instructions from, an instruction execution system, apparatus or device).

[0094] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. All or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware, the program being stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiments.

[0095] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. This storage medium can be a read-only memory, a disk, or an optical disk, etc.

[0096] The above description is merely an exemplary embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various variations or substitutions within the technical scope described in this application, and these should all be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for handling lane changes in vehicle platooning, applied to following vehicles traveling in platoons, comprising: The system acquires the driving information of the lead vehicle, map information of the geographical area where the vehicle formation is located, and driving information of non-formation vehicles within the geographical area where the vehicle formation is located. The driving information of the lead vehicle includes at least its position information, orientation information, speed information, and turn signal information. Based on the driving information of the lead vehicle and the map information, the lane-changing status and target road of the lead vehicle are determined, and the lane-changing starting point, lane-changing time period, and driving trajectory of the following vehicle within the lane-changing time period are predicted based on the lane-changing status and target road. Based on the map information and the driving information of the non-platform vehicles, predict the driving trajectory of the non-platform vehicles, obtain the lane segment where the lane change starting point and the driving trajectory of the following vehicle are located, and select the driving trajectory of the target non-platform vehicle located in the lane segment during the lane change time period and the target non-platform vehicle that has a corresponding relationship with the driving trajectory of the target non-platform vehicle from the driving trajectory of the non-platform vehicles. Multiple time nodes with preset time intervals are selected within the lane change period. Based on the multiple time nodes, the trajectory points of the following vehicles and the trajectory points of the target non-formation vehicles corresponding to the multiple time nodes are determined from the driving trajectories of the following vehicles and the target non-formation vehicles. The coordinate distance between the trajectory points of the following vehicles and the trajectory points of the target non-formation vehicles located at the same time node is calculated. When the coordinate distance is less than a preset safety threshold, the lane segment where the trajectory point of the target non-formation vehicle is located within the lane change period is marked as an interactive risk lane segment.

2. The method according to claim 1, wherein, The method further includes: The map information is used to determine a first lane segment containing at least one of the following: uphill / downhill slopes, sharp curves, and / or intersections; and a segment identifier for a first prior risk lane segment is added to the first lane segment. Select lane segments traveling in the opposite direction and / or high-speed lane segments from the following vehicle's trajectory, and add a segment identifier for the second prior risk lane segment to the selected lane segments. When the interactive risk lane segment overlaps with the first prior risk lane segment or the second prior risk lane segment, the interactive risk lane segment is displayed on the client first.

3. The method according to claim 2, wherein, The method further includes: Select adjacent lane segments of the first prior risk lane segment and / or adjacent lane segments of the high-speed lane segment in the following vehicle's trajectory, and add a segment identifier of the third prior risk lane segment to the selected adjacent lane segments. When the interactive risk lane segment overlaps with the third prior risk lane segment, the interactive risk lane segment is displayed on the client first.

4. The method according to claim 3, wherein, The method further includes: The segment information of the interactive risk lane segment, the target non-platform vehicle, and the driving trajectory of the target non-platform vehicle are sent to the navigator vehicle client, so that the navigator vehicle client can display the location information of the target non-platform vehicle and issue a reminder message in the form of voice broadcast, the reminder message being cancel lane change or lane change later; The segment information of the interactive risk lane segment, the target non-platform vehicle, and the driving trajectory of the target non-platform vehicle are sent to the following vehicle client, so that the following vehicle client can display the location information of the target non-platform vehicle and issue a reminder message in the form of voice broadcast, the reminder message being a lane change hazard; The segment information of the first prior risk lane segment, the second prior risk lane segment, and / or the third prior risk lane segment is sent to the lead vehicle client and / or the follow vehicle client, so that the lead vehicle client and / or the follow vehicle client can issue a reminder message in the form of voice broadcast, the reminder message being "Caution when changing lanes".

5. The method according to claim 1, wherein, The lane-changing state includes at least one of preparing to change lanes, changing lanes in progress, changing lanes aborted, and / or changing lanes completed. The prediction of the lane-changing start point, lane-changing time period, and the following vehicle's trajectory within the lane-changing time period based on the lane-changing state and the target road includes: Based on the lane change status and the target road for lane change, determine the lane change starting point, lane change time period, and the driving trajectory of the lead vehicle during the lane change time period. The driving parameters of the following vehicle are obtained, the lane-changing starting point of the lead vehicle is determined as the lane-changing starting point of the following vehicle, the lane-changing time period of the following vehicle and the driving trajectory of the following vehicle during the lane-changing time period are calculated, and the driving parameters include the speed and / or acceleration of the following vehicle.

6. The method according to claim 1, wherein, The step of predicting the trajectory of the non-platooned vehicles based on the map information and the driving information of the non-platooned vehicles, obtaining the lane segment where the lane change starting point and the trajectory of the following vehicle are located, and selecting the trajectory of a target non-platooned vehicle located in the lane segment during the lane change time period and the target non-platooned vehicle corresponding to the trajectory of the target non-platooned vehicle from the trajectory of the non-platooned vehicles includes: Based on the lane information in the map information and the driving information of the non-platooned vehicles, the driving trajectory of the non-platooned vehicles is predicted. The driving information of the non-platooned vehicles includes at least the position information, orientation information, speed information and / or acceleration information of the non-platooned vehicles. Based on the lane change starting point and the following vehicle's trajectory, the area formed by the lateral coordinate axis where the lane change starting point is located, the longitudinal lane where the following vehicle's trajectory is located, and the lateral coordinate axis where the following vehicle's trajectory ends within the lane change time period is located is defined as the lane segment. Select the target non-platoon vehicle trajectory located in the lane segment during the lane change time period from the non-platoon vehicle trajectory, as well as the target non-platoon vehicle corresponding to the target non-platoon vehicle trajectory.

7. The method according to claim 1, wherein, The calculation of the coordinate distance between the following vehicle trajectory point and the target non-platoon vehicle trajectory point at the same time node, when the coordinate distance is less than a preset safety threshold, adds an interactive risk lane segment identifier to the lane segment where the non-platoon vehicle trajectory point is located during the lane-changing time period, including: Obtain the coordinates of the trajectory points of the following vehicles and the trajectory points of the target non-platoon vehicles located at the same time node; Calculate the lateral distance between the lateral coordinates of the following vehicle trajectory point and the lateral coordinates of the target non-formation vehicle trajectory point, and / or calculate the longitudinal distance between the longitudinal coordinates of the following vehicle trajectory point and the longitudinal coordinates of the target non-formation vehicle trajectory point; If the lateral distance and / or the longitudinal distance are less than a preset safety threshold, add a segment identifier for the lane segment where the trajectory point of the target non-platoon vehicle is located during the lane-changing time period.

8. A vehicle platooning lane-changing processing device, applied to following vehicles traveling in platoons, comprising: The information acquisition module is used to acquire the driving information of the lead vehicle, the map information of the geographical area where the vehicle formation is located, and the driving information of non-formation vehicles within the geographical area where the vehicle formation is located. The driving information of the lead vehicle includes at least the position information, orientation information, speed information, and turn signal information of the lead vehicle. The status determination module is used to determine the lane-changing status and target road of the lead vehicle based on the driving information of the lead vehicle and the map information, and to predict the lane-changing starting point, lane-changing time period, and driving trajectory of the follower vehicle within the lane-changing time period based on the lane-changing status and target road. The trajectory prediction module is used to predict the driving trajectory of the non-platform vehicles based on the map information and the driving information of the non-platform vehicles, obtain the lane segment where the lane change starting point and the driving trajectory of the following vehicle are located, and select the driving trajectory of the target non-platform vehicle located in the lane segment during the lane change time period and the target non-platform vehicle that has a corresponding relationship with the driving trajectory of the target non-platform vehicle from the driving trajectory of the non-platform vehicles. The identifier addition module is used to select multiple time nodes with a preset time interval within the lane change period. Based on the multiple time nodes, it determines the trajectory points of the following vehicle and the trajectory points of the target non-formation vehicle corresponding to the multiple time nodes from the driving trajectory of the following vehicle and the driving trajectory of the target non-formation vehicle. It calculates the coordinate distance between the trajectory points of the following vehicle and the trajectory points of the target non-formation vehicle located at the same time node. When the coordinate distance is less than a preset safety threshold, it adds a segment identifier of the interactive risk lane segment to the lane segment where the trajectory point of the target non-formation vehicle is located within the lane change period.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory, wherein the processor, when executing the computer program, implements the method of any one of claims 1-7.

10. A computer-readable storage medium storing a computer program that, when executed by a processor, implements the method of any one of claims 1-7.

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