Lane changing method and device, electronic equipment, vehicle and storage medium

Abstract

The embodiment of the invention provides a lane changing method and device, electronic equipment, a vehicle and a storage medium. A gap between adjacent vehicles in a vehicle queue running on a target lane changing lane is identified; determining at least one lane changing gap based on the gap between the adjacent vehicles; the safety cost value of each lane changing gap is determined, and the lane changing action of the vehicle is determined according to the safety cost value; and executing a lane changing action, and controlling the vehicle to change the lane to the target lane changing lane. According to the method, all gaps among the vehicles on the target lane changing lane, the front space of the forefront vehicle and the rear space of the rearmost vehicle on the target lane changing lane can be found, unreachable gaps are removed, lane changing safety cost of final candidate gaps is calculated and sorted, the gap with the minimum cost is selected as the gap to be changed, and the lane changing efficiency is improved. And lane changing is initiated after the vehicle arrives at a proper position, so that the vehicle can be effectively ensured to quickly perform lane changing thinking according to actual road conditions under various driving conditions to find out an optimal lane changing scheme, and the lane changing safety of the vehicle is ensured.

Description

Technical Field

[0001] This application relates to the field of driver assistance technology, and more particularly to a lane-changing method, device, electronic device, vehicle, and storage medium. Background Technology

[0002] With the continuous improvement of automotive intelligence, driver assistance systems can assist drivers in controlling the vehicle by monitoring the surrounding environment in real time, thereby effectively reducing the driver's workload, especially in scenarios prone to fatigue such as long-distance driving, and significantly improving driving safety. Lane changing is a common driving behavior during vehicle operation; therefore, a reasonable lane-changing strategy is crucial for improving traffic efficiency.

[0003] In related technologies, lane change decisions of assisted driving systems mainly rely on preset safe distance thresholds for judgment. For example, by judging whether the longitudinal distance between the vehicle in front and the vehicle in the current lane is greater than the safe distance, whether the longitudinal distance between the vehicle in front and the vehicle in the target lane is greater than the safe distance, and whether the longitudinal distance between the vehicle behind and the vehicle in the target lane is greater than the safe distance, a lane change can be initiated when these conditions are met.

[0004] However, lane change control methods based on fixed parameters (such as safety thresholds) in related technologies are relatively simple. When making lane change decisions, they cannot make intelligent judgments based on the current situation to find a more suitable lane change opportunity that is more in line with the current driving environment. When the driver makes a lane change request for efficiency reasons (such as accelerating to overtake or slowing down to give way), the driver assistance system may refuse to execute it because it does not meet certain safety conditions, resulting in frequent human-machine interaction conflicts. This not only reduces the user's driving experience, but may also affect road traffic efficiency, which urgently needs to be solved. Summary of the Invention

[0005] This application provides a lane-changing method and apparatus for a vehicle, aiming to improve upon the limitations of existing lane-changing control methods based on fixed parameters. These methods are relatively simple and cannot make intelligent judgments based on the current situation when making lane-changing decisions, nor can they find a more suitable lane-changing opportunity that is more in line with the current driving environment. Furthermore, when a driver requests a lane change for efficiency reasons, the driver assistance system may refuse to execute the request because it does not meet certain safety conditions, leading to frequent human-machine interaction conflicts. This not only reduces the user's driving experience but may also affect road traffic efficiency.

[0006] The first aspect of this application provides a method for changing lanes of a vehicle, comprising the following steps: identifying the gap between adjacent vehicles in a vehicle queue traveling in a target lane; determining at least one variable lane gap based on the gap between the adjacent vehicles; determining the safety value of each variable lane gap, and determining a lane-changing action of the vehicle based on the safety value of each variable lane gap; executing the lane-changing action and controlling the vehicle to change lanes to the target lane.

[0007] Through the above technical means, the embodiments of this application can identify the gaps between vehicles in the target lane and remove unsuitable gaps under certain conditions, thereby filtering out the variable lane gaps that meet certain conditions. Finally, the safety value of each variable lane gap is calculated according to the actual situation related to safety, and the optimal lane change scheme is finally selected. This avoids the traditional fixed parameter judgment process and can effectively ensure that the vehicle can quickly think about lane change and find the optimal lane change scheme according to the actual road conditions in various driving situations such as navigation lane change and lever lane change, regardless of the vehicle situation in the target lane. This helps to ensure the safety of vehicle lane change and effectively improves the flexibility of this application in different driving scenarios.

[0008] Optionally, in one embodiment of this application, the method further includes: identifying the front clearance of the first vehicle and the rear clearance of the last vehicle in the vehicle queue; generating the lane-changing action of the vehicle based on the safety value of each lane-changing clearance includes: determining the lane-changing action based on the safety value of each lane-changing clearance, the safety value of the front clearance, and the safety value of the rear clearance.

[0009] Through the above technical means, the embodiments of this application can further expand the lane-changing options based on identifying the gaps between adjacent vehicles in the vehicle queue in the target lane-changing lane. By including the overall front space in front of the first vehicle and the overall rear space behind the last vehicle in the gap screening and safety cost assessment scope, it can effectively avoid missing reasonable lane-changing opportunities due to the fact that the adjacent gaps in the queue do not meet the lane-changing conditions. It can also adapt to the actual road conditions of dynamic changes in the vehicle queue. By calculating the safety cost of these additional gaps in multiple dimensions, it provides more alternative solutions for lane-changing decisions, thereby correcting the lane-changing action, making lane-changing choices more comprehensive and flexible, and further improving the feasibility and safety of vehicle lane changes.

[0010] Optionally, in one embodiment of this application, determining at least one variable lane gap based on the gap between adjacent vehicles includes: comparing the linear length corresponding to the gap with a target length threshold; eliminating gaps whose linear length is less than the target length threshold, so as to determine the variable lane gap based on gaps whose linear length is greater than or equal to the target length threshold.

[0011] Through the above technical means, the embodiments of this application can compare the linear lengths of various gaps (gap between adjacent vehicles, gap in front of the first vehicle, and gap behind the last vehicle) in the target lane change lane with a certain length threshold, and quickly eliminate gaps with insufficient linear lengths. This avoids subsequent invalid evaluations of gaps that do not meet the basic lane change space conditions, improves the efficiency of determining the lane change gap, and ensures that the remaining gaps all meet the minimum space requirements for lane changes, providing a safety basis for further screening of lane change gaps. At the same time, the flexible adjustment of the target length threshold can adapt to different driving scenarios and vehicle types, enhancing the practicality and adaptability of this application.

[0012] Optionally, in one embodiment of this application, determining at least one variable lane gap based on the gap between adjacent vehicles includes: calculating the travel distance of the vehicle within a target time based on the vehicle's current speed and acceleration; and determining the variable lane gap based on the travel distance.

[0013] Through the above technical means, the embodiments of this application can further calculate the drivable distance of the vehicle by combining the current speed, acceleration and a certain time after filtering the gaps with basic lane-changing space through the linear length threshold (the gaps whose corresponding linear length is greater than or equal to a certain length threshold). This eliminates unreachable gaps that require a long acceleration and deceleration to reach, and only retains gaps that can be safely reached in a short time. This effectively avoids subsequent invalid evaluation of gaps that have no actual lane-changing feasibility, improves the accuracy and decision-making efficiency of lane-changing gap screening, and can effectively avoid the safety risks caused by long acceleration and deceleration. It fits the time and speed constraints of lane-changing operations in actual driving, so that the screened gaps meet both spatial requirements and accessibility, ensuring the safety of subsequent lane changes. Moreover, it can be adapted to the performance of different vehicles and driving scenarios, which can effectively enhance the practicality and safety of this application.

[0014] Optionally, in one embodiment of this application, determining at least one variable lane gap based on the gap between adjacent vehicles includes: acquiring the driving information of vehicles ahead and / or vehicles behind in the current lane of the vehicle; detecting the collision risk between the vehicle and the vehicles ahead and / or behind based on the driving information of the vehicles ahead and / or the driving information of the vehicles behind; and determining the variable lane gap based on the collision risk.

[0015] Through the above technical means, the embodiments of this application can further obtain the driving information (distance, speed, acceleration) of vehicles in front and behind the vehicle in the lane, based on the screening of basic lane-changing space by linear length threshold and the elimination of inaccessible gaps by target time. And based on the first and second target safety distance thresholds, the collision risk is determined, and dangerous gaps that may collide with vehicles in front and behind due to acceleration, deceleration and lane change are accurately eliminated. The multi-round progressive screening greatly improves the safety and reliability of lane-changing gaps, and can effectively fit the scenario of vehicle dynamic interference in the lane in actual driving, avoiding lane-changing accidents caused by ignoring the vehicle status in the lane. The gaps finally selected can provide a solid guarantee for the safe lane change of vehicles.

[0016] Optionally, in one embodiment of this application, determining the safety cost of each variable lane gap includes: calculating the length of each variable lane gap, the absolute value of the acceleration of the vehicle arriving at each variable lane gap, the relative speed and relative acceleration of the adjacent preceding and following vehicles of each variable lane gap, and the distance between the center of each variable lane gap and the vehicle; and combining the length, the absolute value, the relative speed and relative acceleration, and the distance to determine the safety cost of each variable lane gap.

[0017] Through the above technical means, the embodiments of this application can accurately quantify the risk of a vehicle changing lanes to each variable lane gap by integrating five safety cost items: the length of each variable lane gap, the absolute value of the vehicle's acceleration when reaching each variable lane gap, the relative speed and relative acceleration of the adjacent preceding and following vehicles at each variable lane gap, and the distance between the center of each variable lane gap and the vehicle. After normalization and weighting, the safety cost value is calculated, and the risk of a vehicle changing lanes to each variable lane gap is accurately quantified. Finally, the gap with the smallest safety cost value and below a certain safety cost value threshold is selected as the gap to be changed lanes. The vehicle then drives to the target position that meets a certain safety distance with an appropriate acceleration before changing lanes. This achieves safety assessment from multiple dimensions, effectively ensuring the safety and smoothness of the vehicle's lane change, reducing the risk of collision, and improving the accuracy and reliability of lane change decisions. Furthermore, it supports flexible adjustment of weights and parameters, effectively improving the adaptability of this application in different scenarios.

[0018] A second aspect of this application provides a lane-changing device for a vehicle, comprising: a first identification module for identifying gaps between adjacent vehicles in a vehicle queue traveling in a target lane-changing lane; a first determination module for determining at least one variable lane gap based on the gaps between the adjacent vehicles; a second determination module for determining the safety value of each variable lane gap and determining a lane-changing action of the vehicle based on the safety value of each variable lane gap; and a control module for executing the lane-changing action and controlling the vehicle to change lanes to the target lane-changing lane.

[0019] Through the above technical means, the embodiments of this application can identify the gaps between vehicles in the target lane and remove unsuitable gaps under certain conditions, thereby filtering out the variable lane gaps that meet certain conditions. Finally, the safety value of each variable lane gap is calculated according to the actual situation related to safety, and the optimal lane change scheme is selected. This avoids the traditional fixed parameter judgment process and can effectively ensure that the vehicle can quickly think about lane change and find the optimal lane change scheme according to the actual road conditions in various driving situations such as navigation lane change and lever lane change, regardless of the situation of vehicles in the target lane. This helps to ensure the safety of vehicle lane change and effectively improves the flexibility of this application in different driving scenarios.

[0020] Optionally, in one embodiment of this application, it further includes: a second identification module, used to identify the front gap of the first vehicle and the rear gap of the last vehicle in the vehicle queue; the second determination module includes: a first determination unit, used to determine the lane-changing action based on the safety value of each variable lane gap, the safety value of the front gap and the safety value of the rear gap.

[0021] Through the above technical means, the embodiments of this application can further expand the lane-changing options based on identifying the gaps between adjacent vehicles in the vehicle queue in the target lane-changing lane. By including the overall front space in front of the first vehicle and the overall rear space behind the last vehicle in the gap screening and safety cost assessment scope, it can effectively avoid missing reasonable lane-changing opportunities due to the fact that the adjacent gaps in the queue do not meet the lane-changing conditions. It can also adapt to the actual road conditions of dynamic changes in the vehicle queue. By calculating the safety cost of these additional gaps in multiple dimensions, it provides more alternative solutions for lane-changing decisions, thereby correcting the lane-changing action, making lane-changing choices more comprehensive and flexible, and further improving the feasibility and safety of vehicle lane changes.

[0022] Optionally, in one embodiment of this application, the first determining module includes: a comparison unit, used to compare the linear length corresponding to the gap with a target length threshold; and a second determining unit, used to eliminate gaps whose comparison result is that the linear length is less than the target length threshold, so as to determine the variable lane gap based on the gaps whose comparison result is that the linear length is greater than or equal to the target length threshold.

[0023] Through the above technical means, the embodiments of this application can compare the linear lengths of various gaps (gap between adjacent vehicles, gap in front of the first vehicle, and gap behind the last vehicle) in the target lane change lane with a certain length threshold, and quickly eliminate gaps with insufficient linear lengths. This avoids subsequent invalid evaluations of gaps that do not meet the basic lane change space conditions, improves the efficiency of determining the lane change gap, and ensures that the remaining gaps all meet the minimum space requirements for lane changes, providing a safety basis for further screening of lane change gaps. At the same time, the flexible adjustment of the target length threshold can adapt to different driving scenarios and vehicle types, enhancing the practicality and adaptability of this application.

[0024] Optionally, in one embodiment of this application, the first determining module includes: a first calculation unit, configured to calculate the travel distance of the vehicle within a target time based on the vehicle's current speed and acceleration; and a third determining unit, configured to determine the variable lane clearance based on the travel distance.

[0025] Through the above technical means, the embodiments of this application can further calculate the drivable distance of the vehicle by combining the current speed, acceleration and a certain time after filtering the gaps with basic lane-changing space through the linear length threshold (the gaps whose corresponding linear length is greater than or equal to a certain length threshold). This eliminates unreachable gaps that require a long acceleration and deceleration to reach, and only retains gaps that can be safely reached in a short time. This effectively avoids subsequent invalid evaluation of gaps that have no actual lane-changing feasibility, improves the accuracy and decision-making efficiency of lane-changing gap screening, and can effectively avoid the safety risks caused by long acceleration and deceleration. It fits the time and speed constraints of lane-changing operations in actual driving, so that the screened gaps meet both spatial requirements and reachability, ensuring the safety of subsequent lane changes. Moreover, it can be adapted to the performance of different vehicles and driving scenarios, which can effectively enhance the practicality and safety of this application.

[0026] Optionally, in one embodiment of this application, the first determining module includes: an acquisition unit, configured to acquire the driving information of vehicles ahead and / or vehicles behind in the current lane of the vehicle; a detection unit, configured to detect the collision risk between the vehicle and the vehicles ahead and / or the vehicles behind based on the driving information of the vehicles ahead and / or the driving information of the vehicles behind; and a fourth determining unit, configured to determine the variable lane clearance based on the collision risk.

[0027] Through the above technical means, the embodiments of this application can, on the basis of filtering out vehicles with basic lane-changing space through linear length threshold and eliminating inaccessible gaps by combining target time, further obtain the driving information (distance, speed, acceleration) of vehicles in front and behind in the lane, and determine the collision risk based on the first and second target safety distance thresholds, accurately eliminating dangerous gaps that may collide with vehicles in front and behind due to acceleration, deceleration and lane changing. Through multi-round progressive screening, the safety and reliability of lane-changing gaps are greatly improved, and it can effectively fit the scenario of vehicle dynamic interference in the lane in actual driving, avoiding lane-changing accidents caused by ignoring the vehicle status in the lane. The gaps finally selected can provide a solid guarantee for safe lane changing of vehicles.

[0028] Optionally, in one embodiment of this application, the second determining module includes: a second calculation unit, configured to calculate the length of each variable lane gap, the absolute value of the acceleration of the vehicle reaching each variable lane gap, the relative speed and relative acceleration of the adjacent preceding and following vehicles of each variable lane gap, and the distance between the center of each variable lane gap and the vehicle; and a fifth determining unit, configured to combine the length, the absolute value, the relative speed and relative acceleration, and the distance to determine the safety cost of each variable lane gap.

[0029] Through the above technical means, the embodiments of this application can accurately quantify the risk of a vehicle changing lanes to each variable lane gap by integrating five safety cost items: the length of each variable lane gap, the absolute value of the vehicle's acceleration when reaching each variable lane gap, the relative speed and relative acceleration of the adjacent preceding and following vehicles at each variable lane gap, and the distance between the center of each variable lane gap and the vehicle. After normalization and weighting, the safety cost value is calculated, and the risk of a vehicle changing lanes to each variable lane gap is accurately quantified. Finally, the gap with the smallest safety cost value and below a certain safety cost value threshold is selected as the gap to be changed lanes. The vehicle then drives to the target position that meets a certain safety distance with an appropriate acceleration before changing lanes. This achieves safety assessment from multiple dimensions, effectively ensuring the safety and smoothness of the vehicle's lane change, reducing the risk of collision, and improving the accuracy and reliability of lane change decisions. Furthermore, it supports flexible adjustment of weights and parameters, effectively improving the adaptability of this application in different scenarios. Attached Figure Description

[0030] Figure 1 This is a flowchart of a vehicle lane-changing method provided in an embodiment of this application; Figure 2 This is a flowchart illustrating vehicle acceleration, deceleration, and lane changing according to one embodiment of this application; Figure 3 This is a schematic diagram of a vehicle accelerating to find a lane change gap according to an embodiment of this application. Figure 4 This is a structural diagram of the lane-changing device for a vehicle provided in an embodiment of this application; Figure 5 This is a structural diagram of the electronic device provided in the embodiments of this application. Detailed Implementation

[0031] To make the technical problems, technical solutions, and beneficial effects solved by this application clearer, the following detailed description is provided in conjunction with embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0032] This application provides a method for changing lanes for a vehicle, comprising: identifying the gap between adjacent vehicles in a vehicle queue traveling in a target lane; determining at least one variable lane gap based on the gap between adjacent vehicles; determining the safety value of each variable lane gap, and determining the lane-changing action of the vehicle based on the safety value of each variable lane gap; executing the lane-changing action and controlling the vehicle to change lanes to the target lane.

[0033] This application embodiment can identify the gaps between vehicles in the target lane and remove unsuitable gaps based on certain conditions, thereby filtering out lane change gaps that meet certain criteria. Finally, it calculates the safety value of each lane change gap based on the actual safety-related situation, ultimately selecting the optimal lane change scheme. This avoids the traditional fixed parameter judgment process and can effectively ensure that the vehicle can quickly think about lane changes and find the optimal lane change scheme according to the actual road conditions in various driving situations such as navigation lane change and lever lane change, regardless of the vehicle situation in the target lane. This effectively ensures the safety of vehicle lane changes and improves the flexibility of this application in different driving scenarios.

[0034] Example 1 This application provides a method for changing lanes for a vehicle. Please refer to the following embodiments. Figure 1 This includes the following steps: S110: Identify the gaps between adjacent vehicles in a platoon traveling in the target lane change lane; S120: Determine at least one variable lane clearance based on the clearance between adjacent vehicles; S130: Determine the safety value of each variable lane gap, and determine the vehicle's lane-changing action based on the safety value of each variable lane gap; S140, execute a lane change maneuver, control the vehicle to change lanes to the target lane.

[0035] In some embodiments, the driving scenario of the vehicle is complex and may involve a situation where there are many vehicles driving in the target lane. In such a scenario, simply judging based on the distance between the vehicle and other vehicles in the current lane or the target lane may cause the vehicle to miss the appropriate opportunity to change lanes and fail to meet the driver's current lane change needs.

[0036] In this context, the target lane can be understood as a specific lane that a vehicle plans to change from its current lane to enter based on a series of needs (such as navigation planning, efficiency improvement, driving operation commands, etc.). For example, it could be a lane adjacent to the vehicle's current lane or a lane that is one lane away from the vehicle's current lane, in accordance with traffic driving rules.

[0037] Based on this, the embodiments of this application can first identify the gaps between adjacent vehicles in the vehicle queue traveling in the target lane change lane, and then determine a lane change gap based on the gaps between these adjacent vehicles.

[0038] In this context, the vehicle queue in the target lane can be understood as a queue consisting of all vehicles within the effective range of the target lane. Due to the application of vehicle-road-cloud integration, when a vehicle detects all vehicles within the effective range of the target lane, it can use, but is not limited to, the entire target lane as the effective range, or it can define a certain effective range according to its own lane-changing needs. The specific settings or adjustments can be made by those skilled in the art based on actual conditions. This embodiment is only illustrative and does not impose specific limitations.

[0039] For example, a vehicle queue can be all vehicles in the target lane; or it can be a lateral position in the target lane that is the same as the current position of the vehicle (with the direction of travel along the lane as the longitudinal direction) as a reference point, with a range of 100 meters before and after. In this case, the vehicle queue is all vehicles in the target lane within this 100-meter range.

[0040] Furthermore, the vehicle queue can also consist of all vehicles in the target lane that meet certain requirements. For example, if the target lane contains a large number of vehicles, and the spacing between most vehicles is within a certain range (this range can be specifically set by those skilled in the art based on actual conditions; this embodiment is merely illustrative and not specifically limited), but the spacing between some vehicles and other vehicles is much larger than this range, then vehicles with spacing much larger than normal adjacent vehicle spacing can be removed, and the remaining vehicles form the corresponding vehicle queue. For example, if the spacing between most vehicles in the target lane is 3-5 meters, but the spacing between the first and second vehicles reaches 50 meters, and the spacing between the last and second-to-last vehicles reaches 100 meters, then the range between the second and second-to-last vehicles can be used as the effective range, i.e., the vehicle queue consists of the second and second-to-last vehicles (including the second and second-to-last vehicles).

[0041] Then, in this embodiment of the application, all vehicles in the vehicle queue in the target lane can be sorted in ascending order according to their distance from their own vehicle, with positive values ​​in front of the vehicle and negative values ​​behind it, and all gaps between all vehicles in the target lane can be found in sequence to avoid omissions.

[0042] In this context, lane clearance can be understood as the clearance that allows vehicles to change lanes after certain screening. For example, the linear length of the clearance meets certain requirements, and it is located at a position where vehicles can change lanes.

[0043] It should be noted that since the target lane may contain multiple vehicles, there may be multiple gaps. Therefore, the lane change gap is at least one, which may be one or more.

[0044] Finally, the embodiments of this application can calculate the safety value of each variable lane gap, thereby determining which variable lane gap the vehicle can use as the lane gap for lane changing based on the safety value of each variable lane gap, and generating the vehicle's lane-changing action based on the determined lane-changing gap, so as to control the vehicle to execute the lane-changing action to change lanes, and finally change lanes to the target lane. That is, controlling the vehicle to change lanes to the target lane within the lane-changing gap through certain driving operations.

[0045] This application embodiment can identify the gaps between vehicles in the target lane and remove unsuitable gaps based on certain conditions, thereby filtering out variable lane gaps that meet certain conditions. Finally, it calculates the safety value of each variable lane gap based on the actual safety-related situation and selects the optimal lane-changing scheme. This avoids the traditional fixed parameter judgment process and can effectively ensure that the vehicle can quickly think about lane-changing and find the optimal lane-changing scheme according to the actual road conditions in various driving situations such as navigation lane changing and lever lane changing, regardless of the vehicle situation in the target lane. This effectively ensures the safety of vehicle lane changing and improves the flexibility of this application in different driving scenarios.

[0046] Identify the front clearance of the first vehicle and the rear clearance of the last vehicle in the vehicle platoon; determine the lane-changing action of the vehicle based on the safety value of each variable lane clearance, including: determining the lane-changing action based on the safety value of each variable lane clearance, the safety value of the front clearance, and the safety value of the rear clearance.

[0047] Based on the relevant descriptions in other embodiments, it will be understood that this application can identify the gaps between adjacent vehicles in a platoon traveling in a target lane change lane, thereby determining at least one lane change gap based on the gaps between these adjacent vehicles.

[0048] In some embodiments, considering that in some driving scenarios, even if there are multiple vehicles in the target lane and there are gaps between multiple adjacent vehicles, the gaps between these multiple adjacent vehicles may not meet the conditions corresponding to the lane change gap, this application can also identify the gap in front of the first vehicle and the gap behind the last vehicle in the vehicle queue in the target lane.

[0049] Here, "first vehicle" can be understood as the first vehicle in the queue of vehicles in the target lane along the vehicle's current direction of travel; correspondingly, "last vehicle" can be understood as the last vehicle in the queue of vehicles in the target lane along the vehicle's current direction of travel.

[0050] Therefore, the front clearance of the first vehicle and the rear clearance of the last vehicle can be understood as the front and rear spaces of the entire vehicle platoon. It should also be noted that since the vehicle platoon and its constituent vehicles are not fixed, the front clearance of the first vehicle and the rear clearance of the last vehicle also change with the movement of the vehicle platoon.

[0051] Furthermore, regardless of whether there are still vehicles with gaps much larger than a certain range in front of the first vehicle and behind the last vehicle in the vehicle queue, or whether there are no vehicles in front of the first vehicle and behind the last vehicle, the gaps in front of the first vehicle and behind the last vehicle can also be used as gaps for screening, and thus can be used as certain variable lane gaps for vehicles to choose when changing lanes.

[0052] In other words, when determining the lane-changing action of a vehicle based on the safety value of each variable lane gap, this application can calculate the safety value of the variable lane gap selected by the gap between adjacent vehicles, as well as the safety value of the variable lane gap selected by the front gap of the first vehicle and the rear gap of the last vehicle. Thus, the lane-changing action of the vehicle is determined by combining the safety value of the variable lane gap selected by the gap between adjacent vehicles and the safety value of the variable lane gap selected by the front gap of the first vehicle and the rear gap of the last vehicle.

[0053] Therefore, in this embodiment of the application, when the safety value of the variable lane gap selected by the gap between adjacent vehicles does not meet certain lane change requirements, the final variable lane gap of the vehicle can be determined based on the safety value of the variable lane gap selected by the gap in front of the first vehicle and the gap behind the last vehicle. This corrects the vehicle's lane change action, allowing the vehicle to not only change lanes to the gap between adjacent vehicles in the target lane, but also to the gap in front of the first vehicle and the gap behind the last vehicle.

[0054] This application's embodiments can further expand the lane-changing options based on identifying the gaps between adjacent vehicles in the target lane-changing lane. By including the overall forward space in front of the first vehicle and the overall rear space behind the last vehicle in the gap screening and safety cost assessment scope, it can effectively avoid missing reasonable lane-changing opportunities due to the fact that the adjacent gaps in the queue do not meet the lane-changing conditions. It can also adapt to the actual road conditions of dynamic changes in the vehicle queue. By calculating the safety cost of these additional gaps from multiple dimensions, it provides more alternative solutions for lane-changing decisions, thereby correcting lane-changing actions and making lane-changing choices more comprehensive and flexible, and further improving the feasibility and safety of vehicle lane changes.

[0055] Step S120 includes: comparing the linear length corresponding to the gap and the target length threshold; eliminating gaps whose linear length is less than the target length threshold; and determining the variable lane gap based on gaps whose linear length is greater than or equal to the target length threshold.

[0056] In some embodiments, when determining the lane change gap from the gaps between multiple adjacent vehicles in the vehicle queue on the target lane change lane, as well as the gap in front of the first vehicle and the gap behind the last vehicle, this application may first compare the linear lengths corresponding to these gaps with the target length threshold.

[0057] Here, the linear length corresponding to the gap can be understood as the linear spatial length occupied by a specific gap in the target lane (including but not limited to the gap between adjacent vehicles in a vehicle queue, the gap in front of the first vehicle in the vehicle queue, and the gap behind the last vehicle in the vehicle queue), that is, the straight-line distance between the two ends of the gap along the vehicle's direction of travel (such as the rear and front of two adjacent vehicles, the road reference point in front of the first vehicle to the front of the first vehicle, and the rear of the last vehicle to the road reference point behind it).

[0058] Furthermore, the target length threshold here can be understood as a minimum length standard pre-set in the vehicle lane change decision to screen gaps that have basic lane change space conditions (including but not limited to gaps between adjacent vehicles in a vehicle queue, gaps in front of the first vehicle in a vehicle queue, and gaps behind the last vehicle in a vehicle queue). Only when the linear length corresponding to the gap is greater than or equal to this standard can it be further determined whether the gap is a lane change gap.

[0059] It should be noted that, in the embodiments of this application, the target length threshold can be determined based on, but is not limited to, factors related to the actual driving scenario, such as the vehicle's own dimensions (e.g., length and width), the safety margin required for lane changes, and the current driving speed. For example, it can be set to 1.5 times the vehicle's own length. The specific target length threshold can be set or adjusted by those skilled in the art according to actual conditions and needs; this embodiment is merely illustrative and no specific limitations are imposed.

[0060] After comparing the linear length corresponding to the gap with a certain length threshold, the embodiments of this application can eliminate gaps whose linear length corresponding to the gap is less than a certain length threshold, and determine the variable track gap based on the gaps whose linear length corresponding to the gap is greater than or equal to a certain length threshold. That is, retain the gaps whose linear length is greater than or equal to a certain length threshold, and further determine the variable track gap based on the retained gaps.

[0061] This application's embodiments can compare the linear lengths of various gaps in the target lane (gap between adjacent vehicles, gap in front of the first vehicle, and gap behind the last vehicle) with a certain length threshold, quickly eliminating gaps with insufficient linear lengths. This avoids subsequent invalid evaluations of gaps that do not meet the basic lane-changing space conditions, improving the efficiency of determining variable lane gaps. It also ensures that the remaining gaps all meet the minimum space requirements for lane changing, providing a safety basis for further screening of variable lane gaps. At the same time, the flexible adjustment of the target length threshold can adapt to different driving scenarios and vehicle types, enhancing the practicality and adaptability of this application.

[0062] Step S120 includes: calculating the distance the vehicle travels within a target time based on the vehicle's current speed and acceleration; and determining the variable lane clearance based on the travel distance.

[0063] It is understandable that in real-world driving scenarios, vehicles need to accelerate or decelerate during most lane changes, but both acceleration and deceleration operations have time and speed limits.

[0064] Therefore, in some embodiments, after comparing the linear length corresponding to the gap with a certain length threshold, this application can also determine the driving distance that the vehicle can reach within the target time based on the vehicle's current speed and current acceleration, and further filter the variable lane gap according to the driving distance that the vehicle can reach.

[0065] In this context, the target time refers to a fixed duration, such as 5 seconds, set in advance during the vehicle lane-changing decision-making process to calculate the travel distance of the vehicle under a preset acceleration or deceleration state and to determine the accessibility of the lane change gap. The specific target time can be determined by those skilled in the art based on the actual situation. This embodiment is only an example and is not intended to impose any specific limitations.

[0066] It should be noted that the acceleration in this embodiment can be either positive or negative. Positive acceleration means the vehicle is accelerating, and negative acceleration means the vehicle is decelerating. When calculating the travel distance based on the vehicle's current speed and current acceleration, the final speed after acceleration should be less than the vehicle's maximum speed limit, and the speed after deceleration should be greater than the minimum speed limit. The maximum speed limit and minimum speed limit can be set or adjusted by those skilled in the art according to the actual situation of the vehicle. This embodiment is only for illustrative purposes and does not impose any specific limitations.

[0067] Based on the vehicle's current speed and current acceleration, this application can obtain the travel distance that the vehicle can reach within a certain time. Then, gaps that cannot be reached from the already retained gaps (gap whose corresponding linear length is greater than or equal to a certain length threshold) can be removed again, thereby further filtering variable lane gaps.

[0068] In other words, among the existing gaps, some are closer to the vehicle and some are farther away. To ensure vehicle driving safety, those gaps that require a long period of acceleration or deceleration (difficult to reach and posing a safety risk) are removed, while those gaps that can be reached in a short time are retained.

[0069] This application embodiment can, after filtering gaps with basic lane-changing space (gaps whose corresponding linear length is greater than or equal to a certain length threshold) through a linear length threshold, further calculate the vehicle's drivable distance by combining the vehicle's current speed, acceleration, and a certain amount of time. This eliminates unreachable gaps that require a long period of acceleration and deceleration to reach, retaining only gaps that can be safely reached in a short time. This effectively avoids subsequent invalid evaluations of gaps with no actual lane-changing feasibility, improves the accuracy and decision-making efficiency of lane-changing gap screening, and effectively avoids the safety risks caused by long acceleration and deceleration. It conforms to the time and speed constraints of lane-changing operations in actual driving, ensuring that the screened gaps meet both spatial requirements and accessibility, guaranteeing the safety of subsequent lane changes. Moreover, it can be adapted to the performance of different vehicles and driving scenarios, effectively enhancing the practicality and safety of this application.

[0070] Step S120 includes: acquiring the driving information of vehicles ahead and / or vehicles behind in the current lane of the vehicle; detecting the collision risk between the vehicle and the vehicles ahead and / or vehicles behind based on the driving information of vehicles ahead and / or vehicles behind; and determining the reversible lane clearance based on the collision risk.

[0071] Based on the descriptions of other embodiments, it is understood that this application can eliminate unreachable gaps that require a long period of acceleration and deceleration to reach, effectively avoiding the safety risks caused by long-term acceleration and deceleration.

[0072] In other embodiments, considering that in addition to the unreachable gaps that require the vehicle to accelerate and decelerate for a long time, the vehicle may also encounter obstruction from other vehicles in the current lane during acceleration and deceleration, this application can further obtain the driving information of the vehicles in front and / or the vehicles behind in the current lane based on filtering gaps with basic lane-changing space (gap whose corresponding linear length is greater than or equal to a certain length threshold) and further retaining only gaps that can be safely reached in a short time. (If there is a vehicle in front, obtain the driving information of the vehicles in front in the current lane; if there is a vehicle behind, obtain the driving information of the vehicles behind in the current lane; if there are vehicles in both front and rear, obtain the driving information of the vehicles in front and the vehicles behind in the current lane.)

[0073] Based on the driving information of the vehicles in front and / or behind, this embodiment of the application can detect whether there is a collision risk between the vehicle itself and the vehicles in front and / or behind. If there is a collision risk, it is removed, and only the variable lane gaps without collision risk are retained. The retained variable lane gaps are the final variable lane gaps.

[0074] The information on the vehicles ahead and / or behind in the current lane can be obtained by the vehicle based on the speed information detected by its own sensors. For example, the distance between the vehicle and the vehicles ahead and behind can be detected by the vehicle's onboard radar, as well as the current speed and current acceleration of the vehicles ahead and behind. By combining the current speed and current acceleration, the changes in the distance between the vehicles ahead and behind and the vehicle itself can be known.

[0075] Finally, based on the distance between the vehicle itself and the vehicles in front and behind, the information on the changes in the distance between the vehicles in front and behind and the vehicle itself obtained from the current speed and current acceleration of the vehicles in front and behind, and combined with the information on whether the vehicle needs to accelerate or decelerate when reaching certain gaps, it is possible to determine at which gap the vehicle may be at risk of colliding with the vehicles in front or behind, thereby eliminating gaps that may pose a collision risk.

[0076] For example, some gaps require the vehicle to decelerate and change lanes. However, at this time, there is a vehicle accelerating behind the vehicle, and the distance is getting smaller and smaller. When the vehicle itself travels to this gap, the distance between it and the vehicle behind it will at some moment begin to be less than the first target safe distance threshold, or the initial distance between the vehicle behind it and the vehicle itself will be less than the first target safe distance threshold, which may lead to a collision risk. Therefore, this gap option needs to be removed.

[0077] Alternatively, some gaps require the vehicle to accelerate and change lanes. However, if a vehicle in front is slowing down and the distance is decreasing, the distance between the vehicle and the vehicle in front may become less than the second target safe distance threshold at some point when the vehicle reaches that gap. Or, the initial distance between the vehicle in front and the vehicle may be less than the second target safe distance threshold, which may also pose a collision risk. Such gap options should also be removed.

[0078] Here, the first target safe distance threshold refers to the minimum safe distance standard preset when a vehicle decelerates and changes lanes to avoid the risk of collision with vehicles behind it in its own lane. For example, it can be set as the distance between the relative speed of the following vehicle and the vehicle itself (the speed of the following vehicle minus the speed of the vehicle itself, and if the result is less than 0, then take 0) multiplied by 2 seconds, plus the length of the vehicle itself.

[0079] The second target safe distance threshold here refers to the minimum safe distance standard preset to avoid the risk of collision with the vehicle in front of the vehicle in the own lane when the vehicle is accelerating and changing lanes. For example, it can be set as the distance between the relative speed of the vehicle and the vehicle in front (the vehicle speed minus the vehicle speed, and 0 if the result is less than 0) multiplied by 1.5 seconds, plus the length of the vehicle.

[0080] It should be noted that the specific first target safety distance threshold and the second target safety distance threshold can be set or adjusted by those skilled in the art according to the actual situation of the vehicle. The embodiments in this application are only illustrative and do not impose specific limitations.

[0081] By selecting gaps that have basic lane-changing space (gaps whose corresponding linear length is greater than or equal to a certain length threshold) and further retaining only gaps that can be safely reached in a short time, and then removing gaps that pose a collision risk, the final lane-changing gap can be obtained.

[0082] This application embodiment can further obtain the driving information (distance, speed, acceleration) of vehicles in front and behind the vehicle in the lane by filtering out those with basic lane-changing space through linear length threshold and eliminating inaccessible gaps by combining target time. It also determines the collision risk based on the first and second target safety distance thresholds, accurately eliminating dangerous gaps that may collide with vehicles in front and behind due to acceleration, deceleration and lane changes. Through multi-round progressive screening, the safety and reliability of lane-changing gaps are greatly improved. It can also effectively reflect the scenario of vehicle dynamic interference in the lane in actual driving, avoiding lane-changing accidents caused by ignoring the vehicle status in the lane. The gaps selected in the end can provide a solid guarantee for safe lane changes of vehicles.

[0083] Step S130 includes: calculating the length of each variable lane gap, the absolute value of the acceleration of the vehicle arriving at each variable lane gap, the relative speed and relative acceleration of the adjacent preceding and following vehicles at each variable lane gap, and the distance between the center of each variable lane gap and the vehicle; and combining the length, absolute value, relative speed and relative acceleration, and distance to determine the safety cost of each variable lane gap.

[0084] In actual implementation, when calculating the safety cost of variable lane gaps, this application includes, but is not limited to, the length of each variable lane gap, the absolute value of the acceleration of the vehicle reaching each variable lane gap, the relative speed and relative acceleration of the adjacent preceding and following vehicles at each variable lane gap, and the distance between the center of each variable lane gap and the vehicle. Based on these safety cost items and their corresponding weights, the safety cost of each variable lane gap can be obtained.

[0085] Here, the length of the variable lane gap refers to the linear spatial length along the vehicle's direction of travel occupied by the variable lane gap itself in the target lane, which is the straight-line distance between the two ends of the lane gap along the direction of travel. It is one of the core cost items for calculating the safety cost, and its definition is the same as that of the linear length of the gap.

[0086] The absolute value of the acceleration of a vehicle to reach each lane gap refers to the non-negative value of the acceleration required for the vehicle to travel from its current driving state to each lane gap. It is a cost term used to measure the smoothness and safety of the vehicle's lane-changing operation.

[0087] The relative speeds of adjacent vehicles in front of and behind the variable lane gap refer to the speed differences between the adjacent vehicle in front of the variable lane gap and the vehicle itself, as well as the speed differences between the adjacent vehicle behind the variable lane gap and the vehicle itself. This is a cost term used to assess the trend of distance changes between the vehicle and the vehicles in front of and behind the variable lane gap in the target lane during the lane change process.

[0088] The relative acceleration of the adjacent vehicle in front of and the adjacent vehicle behind the variable lane gap refers to the difference in acceleration between the adjacent vehicle in front of the variable lane gap and the vehicle itself, as well as the difference in acceleration between the adjacent vehicle behind the variable lane gap and the vehicle itself. It is a cost item used to predict the impact of changes in the motion state of the vehicles in front of and behind the variable lane gap on lane change safety.

[0089] The distance between the center of the lane change gap and the vehicle refers to the straight-line distance between the center position of the lane change gap along the vehicle's direction of travel and the vehicle's current center position. It is also a cost factor that measures the distance traveled and the difficulty of maneuvering when changing lanes.

[0090] Furthermore, after calculating the length of each variable lane gap, the absolute value of the acceleration of the vehicle reaching each variable lane gap, the relative speed and relative acceleration of the adjacent preceding and following vehicles at each variable lane gap, and the distance between the center of each variable lane gap and the vehicle, the embodiments of this application can normalize these five cost items respectively, and then perform weighted calculation according to a certain weight to obtain the safety cost of each variable lane gap.

[0091] In this embodiment, the weights of the five cost items—the length of each variable lane gap, the absolute value of the vehicle's acceleration upon reaching each variable lane gap, the relative speed and relative acceleration of the adjacent preceding and following vehicles at each variable lane gap, and the distance between the center of each variable lane gap and the vehicle—can be set to, but are not limited to, 0.3, 0.1, 0.2, 0.2, and 0.2, respectively. In practical applications, the weight of each cost item can be set or adjusted by those skilled in the art based on the actual situation of the vehicle. This embodiment is merely illustrative and does not impose specific limitations.

[0092] After obtaining the safety cost of each variable lane gap, this embodiment of the application can select the variable lane gap with the smallest safety cost as the gap to be changed lanes, and determine whether the safety cost of the gap to be changed lanes is less than a target safety cost threshold. If it is less than a certain safety cost threshold, the acceleration corresponding to the gap to be changed lanes (corresponding to one of the variable lane gaps) is calculated based on the acceleration of the vehicle arriving at each variable lane gap (e.g., acceleration of 1 m / s²). 2 Deceleration is taken as -1m / s 2 The specific settings or adjustments can be made by those skilled in the art based on the actual situation of the vehicle. For example, different accelerations can be set according to the relative position of the vehicle. (This embodiment is only for illustrative purposes and is not intended to impose any specific limitations.) The vehicle accelerates until it reaches the target position and then changes lanes.

[0093] Here, the target safety cost threshold refers to a pre-set critical standard used to quantify the safety level of lane change based on the lane change gap in the vehicle's lane change decision-making process. In this embodiment, its value can be, but is not limited to, 0.5. Specifically, it can be set or adjusted by those skilled in the art based on the actual situation of the vehicle. This embodiment is only illustrative and does not impose any specific limitations. When the safety cost corresponding to the final selected lane change gap is less than this threshold, it indicates that the lane change operation is sufficiently safe, and the vehicle can proceed to the target position at the corresponding acceleration before initiating the lane change. If it is greater than or equal to this threshold, the lane change risk is deemed too high, and the lane change must be abandoned.

[0094] Furthermore, the target position here can be understood as the specific driving position where, after selecting the lane change gap with the lowest safety cost, the vehicle travels at the acceleration corresponding to that lane change gap until the distance between the vehicle and the adjacent vehicle behind it in the lane change gap in the target lane is greater than the preset safety distance.

[0095] Here, the preset safety distance can be understood as the minimum distance standard set in advance to ensure that the vehicle does not collide with the vehicle behind it in the target lane and to ensure the safety of lane changing when it arrives at the target position before changing lanes. In this embodiment, it can be, but is not limited to, the relative speed of the vehicle behind it, which is the speed of the adjacent vehicle in the lane change gap minus the vehicle's own speed, multiplied by 2 seconds (if the result is less than 0, then this item is 0), plus half the length of the vehicle itself. By setting this safety distance, it is possible to effectively determine whether the vehicle has reached the lane change preparation state (target position). Only when the actual distance between the vehicle and the vehicle behind it in the lane change gap is greater than this safety distance can the lane change action be initiated.

[0096] It should be noted that the specific preset safety distance can be set or adjusted by professionals in this field according to the actual situation of the vehicle. The embodiments in this application are only illustrative and do not impose any specific limitations.

[0097] This application embodiment can accurately quantify the risk of a vehicle changing lanes to each variable lane gap by integrating five safety cost items: the length of each variable lane gap, the absolute value of the vehicle's acceleration upon reaching each variable lane gap, the relative speed and relative acceleration of the adjacent preceding and following vehicles at each variable lane gap, and the distance between the center of each variable lane gap and the vehicle. The gaps with the lowest safety cost, below a certain safety cost threshold, are selected as the lane change gaps. The vehicle then travels to the target position at a suitable acceleration to meet a certain safety distance before changing lanes. This multi-dimensional safety assessment effectively ensures the safety and smoothness of lane changes, reduces collision risks, and improves the accuracy and reliability of lane change decisions. Furthermore, it supports flexible adjustment of weights and parameters, effectively improving the adaptability of this application in different scenarios.

[0098] Example 2 Figure 2 This is a flowchart illustrating vehicle acceleration, deceleration, and lane changing according to one embodiment of this application. Figure 2 As shown, the specific vehicle acceleration, deceleration, and lane-changing procedures can be represented, but are not limited to, as follows: S210: Sort the vehicles in the target lane in ascending order of their distance from the vehicle, with positive values ​​for those in front of the vehicle and negative values ​​for those behind it. S220: Locate all gaps between vehicles in the target lane in sequence, including the space in front of the first vehicle in the target lane and the space behind the last vehicle in the target lane. If there are no vehicles in the target lane, it is assumed that a lane change can be initiated at any time. Lane changes include, but are not limited to, navigation lane changes, efficiency lane changes, and lever lane changes. S230: Filter all candidate lane change gaps (hereinafter referred to as gaps), remove gaps that are less than a certain length (target length threshold, which may be set to 1.5 times the vehicle length), and sort them in ascending order by distance; Calculate the current acceleration of the vehicle (e.g., ±1 m / s²). 2 Accelerate or decelerate for 5 seconds, and if the speed after acceleration is less than the maximum speed limit and the speed after deceleration is less than the minimum speed limit, calculate the reachable gap and remove the unreachable gap. Considering the status of vehicles in front and behind in the lane (distance, speed, acceleration), eliminate dangerous gaps, such as needing to decelerate to change lanes but having a fast-moving vehicle approaching from behind, or the distance between the following vehicle and the following vehicle being small; or needing to accelerate to change lanes but the distance between the following vehicle and the vehicle in front is small. Among these, the minimum safe distance between the following vehicle and the following vehicle in the lane can be designed as: the relative speed of the following vehicle minus the speed of the following vehicle multiplied by 2 seconds (if the result is less than 0, then this item is 0), plus the length of the following vehicle; the minimum distance between the following vehicle and the vehicle in front can be designed as: the relative speed of the following vehicle minus the speed of the vehicle in front multiplied by 1.5 seconds (if the result is less than 0, then this item is 0), plus the length of the following vehicle. S240: Calculate and sort the lane change safety costs of the final candidate gaps, and select the gap with the lowest cost. The cost includes, but is not limited to, the absolute value of the acceleration of vehicles arriving at the gap, the length of the gap, the relative speed and relative acceleration of vehicles in front of and behind the gap, and the distance between the center of the gap and the center of the vehicle. Each cost item needs to be normalized, and the weight of each item can be set as follows: the absolute value of the acceleration arriving at the gap is 0.1, the length of the gap is 0.3, the relative speed of vehicles in front of and behind the gap is 0.2, the relative acceleration of vehicles in front of and behind the gap is 0.2, and the distance between the center of the gap and the center of the vehicle is 0.2. S250: If the cost of ultimately selecting a gap is less than the safety threshold, accelerate according to its corresponding acceleration, and initiate a lane change after reaching a suitable position; otherwise, abandon the lane change. Here, "reaching a suitable position" means that the distance to the vehicle behind in the target lane is greater than a safe distance. This safe distance can be, but is not limited to, the relative speed of the following vehicle minus the vehicle's speed multiplied by 2 seconds (if the result is less than 0, this item is set to 0), plus half the vehicle length. Furthermore, the acceleration of the vehicle to reach that gap (i.e., the acceleration corresponding to the gap with the minimum cost and less than the safety threshold) can be, but is not limited to, a fixed acceleration of 1 m / s². 2 Deceleration is taken as -1m / s 2 Alternatively, calculations can be performed based on relative positions. This embodiment is for illustrative purposes only and is not intended to impose specific limitations.

[0099] Figure 3 This is a schematic diagram illustrating a lane-changing maneuver in which a vehicle accelerates to find a gap in the lane to change lanes, according to one embodiment of this application. Figure 3 As shown, Figure 3There are three vehicles in the target lane: obs1, obs2, and obs3. The speeds of these three vehicles are close to the ego speed of the vehicle itself, forming four gaps: gap1, gap2, gap3, and gap4. Since the vehicle is parallel to obs2, if the conventional method is used to determine the safe distance threshold, the lane-changing conditions are not met, and a lane change is not possible. However, using the acceleration / deceleration lane-changing scheme of this application, based on safety cost calculations, the optimal gap3 can be selected for accelerated lane changing, thus effectively solving the problem of low lane-changing efficiency in conventional methods.

[0100] This application also provides a lane-changing device 40 for a vehicle, please refer to... Figure 4 The system includes: a first identification module 410 for identifying the gap between adjacent vehicles in a vehicle queue traveling in the target lane change lane; a first determination module 420 for determining at least one lane change gap based on the gap between adjacent vehicles; a second determination module 430 for determining the safety value of each lane change gap and determining the lane change action of the vehicle based on the safety value of each lane change gap; and a control module 440 for executing the lane change action and controlling the vehicle to change lanes to the target lane change lane.

[0101] The vehicle lane-changing device 40 further includes: a second identification module for identifying the front clearance of the first vehicle and the rear clearance of the last vehicle in the vehicle queue; and a second determination module, including: a first determination unit for determining the lane-changing action based on the safety value of each lane-changing clearance, the safety value of the front clearance, and the safety value of the rear clearance.

[0102] The first determining module 420 includes: a comparison unit for comparing the linear length of the gap with the target length threshold; and a second determining unit for eliminating gaps whose linear length is less than the target length threshold, so as to determine the variable lane gap based on gaps whose linear length is greater than or equal to the target length threshold.

[0103] The first determining module 420 includes: a first calculation unit for calculating the distance traveled by the vehicle within a target time based on the vehicle's current speed and acceleration; and a third determining unit for determining the variable lane clearance based on the travel distance.

[0104] The first determining module 420 includes: an acquisition unit for acquiring the driving information of vehicles ahead and / or vehicles behind in the current lane of the vehicle; a detection unit for detecting the collision risk between the vehicle and the vehicles ahead and / or vehicles behind based on the driving information of vehicles ahead and / or vehicles behind; and a fourth determining unit for determining the variable lane clearance based on the collision risk.

[0105] The second determining module 430 includes: a second calculation unit, used to calculate the length of each variable lane gap, the absolute value of the acceleration of the vehicle arriving at each variable lane gap, the relative speed and relative acceleration of the adjacent preceding and following vehicles at each variable lane gap, and the distance between the center of each variable lane gap and the vehicle; and a fifth determining unit, used to combine the length, absolute value, relative speed and relative acceleration, and distance to determine the safety cost of each variable lane gap.

[0106] This application also provides an electronic device 50, please refer to... Figure 5 It includes a processor 510 and a memory 520, wherein the memory 510 is used to store computer programs; the processor 520 is used to execute the programs stored in the memory 510 to implement the vehicle lane changing method described in any embodiment of this application.

[0107] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the vehicle lane-changing method described in any embodiment of this application.

[0108] In this application, "multiple" refers to two or more.

[0109] In this application, unless otherwise expressly defined, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0110] The terms “first,” “second,” “third,” “fourth,” etc., in this application (if present) are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0111] In this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, in this application, the character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0112] Unless otherwise specified, all steps in this application may be performed sequentially or randomly. For example, if the method includes steps A and B, it means that the method may include steps A and B performed sequentially, or it may include steps B and A performed sequentially. For example, if the method may also include step C, it means that step C may be added to the method in any order. For example, the method may include steps A, B, and C, or it may include steps A, C, and B, or it may include steps C, A, and B, etc.

[0113] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method for changing lanes for a vehicle, characterized in that, Includes the following steps: Identify the gaps between adjacent vehicles in a platoon traveling in the target lane change lane; Based on the gap between the adjacent vehicles, at least one variable lane gap is determined; Determine the safety value of each variable lane gap, and determine the vehicle's lane-changing action based on the safety value of each variable lane gap; The lane-changing action is executed, controlling the vehicle to change lanes to the target lane.

2. The method according to claim 1, characterized in that, The method further includes: Identify the gap in front of the first vehicle and the gap behind the last vehicle in the vehicle convoy; Determining the lane-changing action of the vehicle based on the safety value of each variable lane gap includes: determining the lane-changing action based on the safety value of each variable lane gap, the safety value of the forward gap, and the safety value of the rear gap.

3. The method according to claim 1, characterized in that, Determining at least one variable lane clearance based on the clearance between adjacent vehicles includes: Compare the linear length corresponding to the gap with the target length threshold; Gap that has a linear length less than the target length threshold is eliminated from the comparison results, and the variable lane gap is determined based on the gap that has a linear length greater than or equal to the target length threshold.

4. The method according to claim 1, characterized in that, Determining at least one variable lane clearance based on the clearance between adjacent vehicles includes: Based on the vehicle's current speed and acceleration, calculate the distance the vehicle travels within the target time. The variable lane clearance is determined based on the travel distance.

5. The method according to claim 1, characterized in that, Determining at least one variable lane clearance based on the clearance between adjacent vehicles includes: Obtain the driving information of vehicles ahead and / or vehicles behind in the current lane of the vehicle; Based on the driving information of the vehicles ahead and / or the driving information of the vehicles behind, detect the collision risk between the vehicle and the vehicles ahead and / or the vehicles behind; The variable lane clearance is determined based on the collision risk.

6. The method according to claim 1, characterized in that, Determining the safety cost of each variable track gap includes: Calculate the length of each variable lane gap, the absolute value of the acceleration of the vehicle reaching each variable lane gap, the relative velocity and relative acceleration of the adjacent preceding and following vehicles at each variable lane gap, and the distance between the center of each variable lane gap and the vehicle; The safety cost of each variable lane clearance is determined by combining the length, the absolute value, the relative velocity and relative acceleration, and the distance.

7. A lane-changing device for a vehicle, characterized in that, include: The first identification module is used to identify the gaps between adjacent vehicles in a platoon traveling in the target lane change lane. The first determining module is used to determine at least one variable lane gap based on the gap between the adjacent vehicles; The second determining module is used to determine the safety value of each variable lane gap and to determine the vehicle's lane-changing action based on the safety value of each variable lane gap. The control module is used to execute the lane-changing action and control the vehicle to change lanes to the target lane.

8. An electronic device, characterized in that, Including processor and memory, among which Memory, used to store computer programs; A processor for executing a program stored in memory to implement the method described in any one of claims 1-6.

9. A vehicle, characterized in that, It includes the electronic device as described in claim 8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the method described in any one of claims 1-6.

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