High-order assisted driving automatic lane changing method and system

Abstract

This invention provides an advanced driver assistance system (ADAS) automatic lane changing method and system, relating to the field of vehicle control technology. The method includes: when a vehicle is preparing to change lanes from its current lane to a target lane, selecting an optimal lane gap from among target vehicles in the target lane; calculating a first passable speed based on the traffic flow speed of the target lane; and, in response to the first passable speed, the target distance required for the vehicle to cross the lane's dashed line when entering the optimal lane gap, and the target distance between target vehicles after entering the optimal lane gap all satisfying preset lane change activation conditions, initiating a lane change time counter; and, in response to the lane change time counter exceeding a counting threshold, generating a vehicle lane change request for the vehicle to change lanes from the optimal lane gap to the target lane; and, in response to the vehicle lane change request, controlling the vehicle to enter the optimal lane gap to complete the lane change. This invention addresses the problems of overly rule-based lane change decisions and a lack of monitoring for real-time risks and changes in lane change conditions during advanced driver assistance systems (ADAS) automatic lane changing.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, specifically to an advanced driver assistance system for automatic lane changing. Background Technology

[0002] Existing advanced driver assistance systems (ADAS), such as Navigate on Autopilot (NOA) for highways and NOA for city driving, generally have automatic lane-changing capabilities. However, the typical lane-changing process for advanced driver assistance systems is as follows: first, a lane change is triggered based on navigation or overtaking needs; then, the system senses surrounding vehicles and lane markings, makes a simple judgment of safe clearances, executes the lane change, and then completes the lane change through lateral control.

[0003] However, these lane-changing procedures usually have some flaws. The main problem is that the lane-changing decision-making is too rule-based, which makes it less robust to dynamic traffic flow, sudden cut-ins, and other scenarios. Furthermore, there is a lack of monitoring of real-time risks and changes in lane-changing conditions. Once the environment changes abruptly, the vehicle may lose control or brake abruptly, increasing the danger of lane-changing. Summary of the Invention

[0004] In view of this, it is necessary to provide an advanced driver assistance system (ADAS) automatic lane changing method to address the problems of overly rule-based lane changing decisions and lack of monitoring of real-time risks and changes in lane changing conditions during ADAS automatic lane changing.

[0005] To address the above problems, this invention provides an advanced driver assistance system for automatic lane changing, comprising: When a vehicle is preparing to change lanes from its current lane to a target lane, the optimal vehicle space for the lane change is selected from among the target vehicles in the target lane. Calculate the first passable speed of the target lane based on the traffic flow speed of the target lane; In response to the first passable speed, the target distance required for the vehicle to enter the optimal vehicle space and cross the lane dashed line, and the target distance between the target vehicles after entering the optimal vehicle space all satisfying the preset lane change activation conditions, the lane change time count is started. In response to the lane change time count being greater than the count threshold, a vehicle lane change request is generated for the vehicle to change lanes from the optimal lane to the target lane. In response to the vehicle's lane change request, the vehicle is controlled to enter the optimal lane space to complete the lane change.

[0006] In one possible implementation, selecting the optimal vehicle space for lane changing from among the target vehicles in the target lane includes: Determine the candidate vehicle gaps between target vehicles in the target lane; The spatial length of the candidate vehicle space, the traffic efficiency of a vehicle entering the candidate vehicle space, and the time required to reach a position near the candidate vehicle space are determined, wherein the position near the candidate vehicle space is the starting position of a vehicle entering the candidate vehicle space. The evaluation index of the candidate vehicle space is calculated based on the space length, the traffic efficiency, and the required time. The candidate vehicle space with the highest evaluation index is determined as the optimal vehicle space for lane changing.

[0007] In one possible implementation, after selecting the optimal vehicle space for lane changing from among the target vehicles in the target lane, the method further includes: Control the current speed of the vehicle to bring it to a position near the optimal vehicle space, which is the starting position of the vehicle entering the optimal vehicle space.

[0008] In one possible implementation, the preset lane change activation condition includes: The sum of the differences between the second passable speed and the target speed in the current lane is less than the first passable speed, and the target speed difference is the difference between the vehicle's speed and the target speed ahead; The target spacing is greater than the preset safety spacing; The target distance is less than the remaining distance of the lane dashed line.

[0009] In one possible implementation, the target spacing is calculated as follows: The distance required for the vehicle to change lanes is obtained by summing the relative distance between the vehicle and the target in the current lane, the distance over the target, and the safe distance between the vehicle and the target. Calculate the time required for the vehicle to reach the optimal vehicle space after traveling the specified distance from its current position; The vehicle spacing between the empty cars in front and behind is determined after the required time to obtain the target spacing, wherein the empty cars in front and behind are the target vehicles that form the optimal vehicle spacing.

[0010] In one possible implementation, the method further includes: The lane change failure count is activated when any one of the following lane change failure conditions is met: The sum of the differences between the second permissible speed and the target speed in the current lane is greater than the first permissible speed; The speed of the target ahead is greater than the speed difference between the targets; The system detected that the target ahead had left the current lane; The target spacing is not greater than the preset safety spacing; When the lane change failure count is greater than the count threshold, the vehicle lane change request generated by the vehicle to change lanes from the optimal lane to the target lane is cancelled.

[0011] In one possible implementation, the vehicle lane change request includes a map lane change request and an active lane change request, wherein the map lane change request is used to output a lane change task when the vehicle is globally planning a path using a map. The active lane change request is used to output the task of actively changing lanes when an abnormal situation obstructing the vehicle's movement occurs in front of the vehicle.

[0012] The present invention also provides an advanced driver assistance system for automatic lane changing, comprising: The lane change selection module is used to select the optimal vehicle space for lane change from among the target vehicles in the target lane when the vehicle is preparing to change lanes from the current lane to the target lane. The lane change calculation module is used to calculate the first passable speed of the target lane based on the traffic flow speed of the target lane; The lane change decision module is used to start the lane change time count in response to the first passable speed, the target distance required for the vehicle to enter the optimal vehicle space and the target distance between the target vehicles after entering the optimal vehicle space all satisfy the preset lane change activation conditions. The lane change request module is used to generate a vehicle lane change request for the vehicle to change lanes from the optimal lane to the target lane in response to the lane change time count being greater than the count threshold. The lane change execution module is used to respond to the vehicle's lane change request and control the vehicle to enter the optimal lane space to complete the lane change.

[0013] The present invention also provides an electronic device, including a memory and a processor, wherein the memory is used to store a program; the processor is coupled to the memory and is used to execute the program stored in the memory to implement the steps of the above-described advanced driver assistance automatic lane changing method.

[0014] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the above-described advanced driver assistance automatic lane changing method.

[0015] The beneficial effects of the above implementation are as follows: The advanced assisted driving automatic lane-changing method provided by this invention determines the activation conditions for lane changing by analyzing the real-time left lane traffic flow of the target lane and the optimal vehicle space selected for lane changing before making a lane-changing request decision. This effectively addresses scenarios such as dynamic traffic flow, sudden cut-ins, and lane-jumping, without relying on rigid lane-changing rules. During the lane-changing request decision, a counting threshold is set to determine the duration for which the lane-changing conditions are met, allowing for monitoring of potential real-time risks and changes in lane-changing conditions within that duration. Only when the duration meets the counting threshold is a lane-changing request generated and the vehicle performs the lane change. This addresses scenarios prone to sudden environmental changes and loss of control, ensuring the safety of lane changing. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 A flowchart illustrating the advanced driver assistance system's automatic lane-changing method provided by this invention; Figure 2 A schematic diagram of lane change selection provided by the present invention; Figure 3 A schematic diagram of a vehicle changing lanes, provided by the present invention; Figure 4 This is a schematic diagram of the advanced driver assistance automatic lane changing system provided by the present invention.

[0018] Figure 5 A schematic diagram of an embodiment of the electronic device provided by the present invention. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0020] In the description of the embodiments of this application, unless otherwise stated, "a plurality of" means two or more.

[0021] In this embodiment of the invention, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device that includes a series of steps or modules is not necessarily limited to those steps or modules that are explicitly listed, but may include other steps or modules that are not explicitly listed or that are inherent to such process, method, product or device.

[0022] The naming or numbering of steps in the embodiments of the present invention does not mean that the steps in the method flow must be executed in the time / logical order indicated by the naming or numbering. The execution order of the named or numbered process steps can be changed according to the technical purpose to be achieved, as long as the same or similar technical effect can be achieved.

[0023] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0024] The advanced driver assistance system (ADAS) automatic lane-changing method provided in this invention can be applied to vehicle lane-changing scenarios in advanced driver assistance systems. The executing entity can be the vehicle's onboard system or a server, terminal, or remote cloud device that communicates with the onboard system. When the vehicle is preparing to change lanes to a target lane to the left in the current lane using advanced driver assistance, the advanced driver assistance system (ADAS) automatic lane-changing method provided in this invention can be invoked to make a lane-changing decision, ultimately generating a lane-changing request and controlling the vehicle to complete the lane change.

[0025] The following is a detailed description of an advanced driver assistance system for automatic lane changing provided by this invention.

[0026] Figure 1 This is a flowchart illustrating the advanced driver assistance system's automatic lane-changing method provided by the present invention, as shown below. Figure 1 As shown, the advanced driver assistance system's automatic lane-changing method can be implemented through the following steps 101 to 105, which are explained in detail below.

[0027] Step 101: When the vehicle is preparing to change lanes from the current lane to the target lane, select the optimal vehicle space for lane change from among the target vehicles in the target lane.

[0028] like Figure 2As shown, when a vehicle is traveling in its current lane, it may need to change lanes using an adjacent target lane due to route planning or unexpected situations such as obstacles or the need to avoid them. When changing lanes to enter the target lane, the vehicle generally needs to insert itself into or squeeze into the space between two vehicles in the target lane. Therefore, under normal circumstances, lane selection is required before making a lane-changing decision. That is, when the vehicle is preparing to change lanes from its current lane to the target lane, it selects a space between the target vehicles in the target lane for lane changing. There may be multiple target vehicles, and thus multiple spaces available for lane changing. For example, if there are three target vehicles, there are two spaces available. Based on the safety conditions of the available spaces, the optimal space can be selected for the vehicle to change lanes.

[0029] In one possible implementation, selecting the optimal vehicle space for lane changing from the target vehicles in the target lane can be achieved in the following way, which is explained in detail below.

[0030] Determine the candidate vehicle gaps between target vehicles in the target lane; The spatial length of the candidate vehicle space, the traffic efficiency of a vehicle entering the candidate vehicle space, and the time required to reach a position near the candidate vehicle space are determined, wherein the position near the candidate vehicle space is the starting position of a vehicle entering the candidate vehicle space. The evaluation index of the candidate vehicle space is calculated based on the space length, the traffic efficiency, and the required time. The candidate vehicle space with the highest evaluation index is determined as the optimal vehicle space for lane changing.

[0031] Here, vehicle information of the target vehicles is first obtained through sensors and lane map information to determine the spatial positions between any two target vehicles traveling in front and behind, which are then used as candidate vehicle spaces. For example, when identifying three target vehicles, two spatial positions can be identified as candidate vehicle spaces. These spatial positions can be initially filtered, for example, by calculating the relative distance between the two vehicles based on their relative speeds, and filtering out candidate vehicle spaces whose relative distance is less than the length of the vehicle itself.

[0032] Furthermore, candidate vehicle spaces are selected by calculating evaluation indicators. These indicators are related to the spatial attributes of the vehicle spaces, traffic efficiency, and the time required to reach a location near the vehicle space. Specifically, they are calculated by determining data from three dimensions: the spatial length of the candidate vehicle spaces, the traffic efficiency of vehicles entering the candidate vehicle spaces, and the time required to reach a location near the candidate vehicle spaces.

[0033] Two target vehicles traveling in opposite directions are referred to as the "front empty vehicle" and the "rear empty vehicle" based on their relative positions. The length of the candidate vehicle's empty space can be calculated based on the speeds of the front and rear empty vehicles. The throughput of a vehicle entering the candidate vehicle's empty space is generally calculated based on the position and speed of the front empty vehicle. The location near the candidate vehicle's empty space is the starting position for a vehicle to enter it. After changing lanes, this starting position needs to be determined to ensure that the vehicle can insert itself into the candidate vehicle's empty space from the starting position. Since the vehicle, the front empty vehicle, and the rear empty vehicle are all traveling in the same direction, it is necessary to estimate the time required for the vehicle to reach the starting position by combining the vehicle's position, the position and speed of the front or rear empty vehicle.

[0034] Vehicle speed and position data can be calculated based on variable lane lines, map task-related information, and perception and prediction information of surrounding obstacles.

[0035] The evaluation index of candidate lanes is calculated based on space length, traffic efficiency and required time, and the candidate lane with the highest evaluation index is determined as the optimal lane for lane changing.

[0036] The longer the space length of the candidate vehicle space, the higher the feasibility of inserting into it, the better the experience and safety of lane changing, and the higher the traffic efficiency. Conversely, the shorter the time required to reach a location near the candidate vehicle space, the better the experience and safety of inserting into it. Therefore, based on these correlations, corresponding weights can be assigned to the data in each dimension. During calculation, space length, traffic efficiency, and required time are normalized, and then weighted and summed to obtain the evaluation index for the candidate vehicle space. The longer the space length, the higher the traffic efficiency, and the shorter the time required to reach a location near the candidate vehicle space, the higher the calculated evaluation index. Finally, the candidate vehicle space with the highest evaluation index is selected as the optimal vehicle space for lane changing.

[0037] In actual calculations, the input includes information on lane change lines (both solid and dashed) and map tasks, as well as perception and prediction information of surrounding obstacles. The final output includes the IDs of the empty cars in front and behind, and other auxiliary information (such as whether the car has reached the vicinity of the optimal empty car, whether the empty car selection is abnormal or in a protection state, and whether it is necessary to cross the solid line, etc.).

[0038] In this embodiment of the invention, lane selection is performed before lane change decision to determine the final destination of the vehicle after lane change. In situations with a large number of vehicles, it can adapt to complex scenarios such as lane cutting, intrusion, blind spots, and solid lines that may occur when vehicles change lanes, ensuring the experience and safety of lane change for the vehicle.

[0039] In one possible implementation, after selecting the optimal vehicle space for lane changing from among the target vehicles in the target lane, the method further includes: controlling the current speed of the vehicle to bring the vehicle to a position near the optimal vehicle space, the position near the optimal vehicle space being the starting position of the vehicle entering the optimal vehicle space.

[0040] Generally, lane change decisions require selecting available lanes and ensuring the vehicle is near the optimal available lane before triggering. After selecting the optimal available lane, it's necessary to confirm the vehicle is near it. This requires controlling the vehicle's current speed in the current lane to quickly reach the vicinity of the optimal available lane. For example... Figure 2 As shown, the optimal vehicle space is generally located in front of the vehicle. Therefore, longitudinal driving speed planning is required to control the vehicle's longitudinal driving speed, catch up with and approach the empty vehicles behind and in front of the optimal vehicle space, so that the vehicle can reach the starting position of entering the optimal vehicle space and reach the vicinity of the optimal vehicle space, ensuring that the vehicle can safely enter the optimal vehicle space to complete the lane change in the subsequent lane change.

[0041] In this embodiment of the invention, the longitudinal speed of the vehicle is controlled during the lane change process, while the lateral speed of the vehicle also needs to be controlled during the lane change. Thus, through the joint planning of the lateral and longitudinal directions, the lane change action of the vehicle is made smooth and without any jerking, thereby improving the driver's experience.

[0042] Step 102: Calculate the first passable speed of the target lane based on the traffic flow speed of the left lane of the target lane.

[0043] Once the optimal lane clearance for lane changing is determined and the vehicle has reached a position near the optimal lane clearance, a lane change decision can be initiated. The criterion for lane change decision is to determine whether the vehicle currently meets the preset lane change activation conditions. One of the lane change activation conditions is to determine the traffic speed in the target lane.

[0044] like Figure 3 As shown, the target lane is the lane adjacent to the left of the current lane. There are two target vehicles in this lane, with relative speeds of vlf1 and vlf2. The traffic flow speed vl is the minimum of the two, i.e., vl = min(vlf1, vlf2), where min is the minimum value function.

[0045] Furthermore, the passable speed vlp of the target lane is calculated, specifically vlp is min(vl, vlcuise), where vl is the traffic flow speed and vlcuise is the vehicle's cruising speed.

[0046] Step 103: In response to the first passable speed, the target distance required for the vehicle to cross the lane dashed line when entering the optimal vehicle space, and the target distance between the target vehicles after entering the optimal vehicle space all satisfying the preset lane change activation conditions, start the lane change time count.

[0047] Here, a decision is made after determining the permissible speed of the target lane, and then determining the target distance required for the vehicle to cross the lane's dashed line when entering the optimal driving space, as well as the target distance between the vehicle and the target vehicle after entering the optimal driving space. This is because when the vehicle changes lanes from the current lane to the target lane to enter the optimal driving space, it must cross the lane's dashed line. Therefore, by combining the vehicle's position and the controlled longitudinal distance, the target distance required for the vehicle to cross the lane's dashed line when entering the optimal driving space can be estimated.

[0048] The target distance between the vehicle and the target vehicle after entering the optimal vehicle space is the distance between the empty vehicles in front and behind the vehicle after the vehicle enters the optimal vehicle space.

[0049] In one possible implementation, the target spacing can be calculated in the following way, as explained in detail below.

[0050] The distance required for the vehicle to change lanes is obtained by summing the relative distance between the vehicle and the target in the current lane, the distance to overtake the target, and the safe distance between the vehicle and the target. Calculate the time required for the vehicle to reach the optimal vehicle space after traveling the distance from its current position; Determine the vehicle spacing between the empty cars in front and behind after the required time to obtain the target spacing.

[0051] Specifically, the first step is to identify the target ahead of the vehicle in the current lane and determine the relative distance between the vehicle and the target ahead based on map information, denoted as drel. This target ahead is the factor that influences the vehicle's lane change; it could be other vehicles, obstacles, or objects that need to be avoided.

[0052] The distance required to overtake a target ahead, denoted as obj length, is the distance the vehicle needs to travel to surpass the target, and is generally related to the size and dimensions of the target. The safe distance between the vehicle and the target ahead, denoted as d safety, is the safe distance the vehicle needs to maintain when overtaking the target to avoid approaching it. The sum of these three distances is the distance required for the vehicle to change lanes, denoted as d_lb_car_l, i.e., d_lb_car_l = drel + obj length + d safety.

[0053] Furthermore, calculate the time required for the vehicle to reach the optimal lane space after traveling the specified distance from its current position. Here, the vehicle starts traveling from its current position, and after traveling the specified distance, it completes the lane change and enters the optimal lane space of the target lane. The time required for this process can be calculated based on the lateral and longitudinal speeds controlled by the vehicle, denoted as t_surpass_l.

[0054] Finally, determine the vehicle spacing between the empty cars in front and behind after the required time to obtain the target spacing.

[0055] In this context, the leading empty car and the trailing empty car are the target vehicles for achieving optimal car clearance, denoted as leadone and leadtwo, respectively. During the time interval t_surpass_l, both leadone and leadtwo are also moving relatively normally, which may cause changes in the optimal car clearance distance. Therefore, it is necessary to combine the speeds of leadone and leadtwo to determine the distance between the two cars after the time interval t_surpass_l, denoted as diff_dn_car. Figure 3 As shown, this diff_dn_car is the target distance between the target vehicles after the car enters the optimal vehicle space.

[0056] In this embodiment of the invention, under the condition that the vehicle is traveling in the same direction simultaneously with the empty vehicles in front and behind, the target distance between the target vehicles is calculated after the vehicle enters the optimal lane space. This target distance is used as a criterion for activating lane change. If the target distance is not met, the vehicle will inevitably fail to enter the optimal lane space, directly leading to decision failure. The calculation of the target distance can verify the feasibility of the vehicle entering the optimal lane space to complete the lane change, and can ensure that the vehicle can safely enter the optimal lane space during the lane change decision, without affecting the normal passage of the empty vehicles in front and behind.

[0057] Once the first passable speed, the target distance required for the vehicle to cross the lane's dashed line when entering the optimal lane space, and the target distance between target vehicles after entering the optimal lane space are determined, lane change decisions can be made. During this process, it is necessary to determine whether all three indicators meet the preset lane change activation conditions. If all are met, the lane change decision is considered feasible, the current scenario meets the lane change conditions, and a lane change time counter is initiated. The lane change time counter is used to count the duration for which the current vehicle meets the preset lane change activation conditions.

[0058] In one possible implementation, the preset lane change activation conditions specifically include the following three conditions, which will be explained one by one below.

[0059] Condition 1: The sum of the differences between the second permissible speed and the target speed in the target lane is less than the first permissible speed.

[0060] The second permissible speed in the current lane is denoted as v(fi), which is generally determined based on the vehicle's speed. If the target ahead is an obstacle, then the second permissible speed in the current lane is the vehicle's speed. If the target ahead is a vehicle, then the calculation method for the second permissible speed in the current lane can refer to the first permissible speed, which will not be elaborated here. The target speed difference is the difference between the vehicle's speed and the target speed ahead. To avoid collisions, the vehicle's speed is generally controlled to be less than the target speed ahead, so this difference is negative, denoted as Δv. Therefore, condition 1 above can be expressed as vlp > v(fi) + Δv. This condition 1 compares the difference between the vehicle's current speed in the current lane and the target vehicle's speed in the target lane. If the difference is negative, then condition 1 is satisfied, and lane changing can be activated.

[0061] Condition 2: The target spacing is greater than the preset safety spacing.

[0062] Condition 2 here is to ensure that the distance between the empty cars in front and behind when the vehicle enters the optimal lane gap, denoted as `diff_dn_car`, meets the vehicle's insertion requirements. The safe distance is denoted as `desired_gap`. If `diff_dn_car` is greater than `desired_gap`, it means the vehicle can safely enter the optimal lane gap to complete the lane change, thus satisfying condition 2; otherwise, it means the vehicle cannot enter the optimal lane gap to complete the lane change.

[0063] Condition 3: The target distance is less than the remaining distance of the lane dashed line.

[0064] Condition 3 here is to ensure sufficient dashed lane distance when the vehicle enters the optimal lane space. Because there is also longitudinal distance when the vehicle enters the optimal lane space, the dashed lane lines between the current lane and the target lane may become solid lines or end due to road sections or intersections. When the vehicle begins to change lanes, it is necessary to calculate this remaining dashed line distance based on map road information and the vehicle's current position. Then, it is determined whether the target distance required for the vehicle to cross the dashed lane line when entering the optimal lane space is less than the remaining dashed line distance. If so, it means the vehicle can enter the optimal lane space with sufficient dashed line distance, satisfying condition 3; otherwise, it means the vehicle will cross the solid lane line or enter an intersection during the process of entering the optimal lane space, failing to meet the lane change conditions.

[0065] It should be noted that the consideration of target spacing in condition 2 mainly addresses the situation where the target lane has a reverse map task and is not in the same direction as the target. This, combined with the remaining distance of the dashed line in condition 3, reflects a tendency to actively change lanes or use other lanes to avoid the target lane; the shorter the remaining distance, the more encouraged the use of other lanes. If the target lane is in the same direction, the consideration of the remaining distance is only whether it is comfortable enough for a lane change.

[0066] In this embodiment of the invention, strict lane change activation conditions are set for real-time control decisions on lane changes. This is not limited to rule-based lane change strategies, making the decision-making process more humane and realistic, reducing unnecessary waiting and frequent cancellations, improving communication efficiency during lane changes, and avoiding the introduction of additional traffic problems.

[0067] Step 104: In response to the lane change time count being greater than the count threshold, generate a vehicle lane change request for the vehicle to use the optimal vehicle space to change lanes to the target lane.

[0068] When the first passable speed, the target distance required for the vehicle to cross the lane dashed line when entering the optimal vehicle space, and the target distance between the target vehicles after entering the optimal vehicle space all meet the preset lane change activation conditions, this embodiment of the invention determines the duration of lane change activation by starting a lane change time count. Because the data in these three dimensions may change over time, the lane change activation conditions may only be met momentarily or briefly, failing to provide theoretical guidance. Therefore, this embodiment of the invention sets a counting threshold to determine the duration of lane change activation. The counting threshold can be set according to actual needs, for example, 8 seconds. If the lane change time count is greater than the counting threshold, i.e., exceeds 8 seconds, it indicates that the current scenario for the vehicle is stable, and the duration of the lane change activation conditions is met, indicating a successful lane change decision. Therefore, a lane change can be initiated based on the current scenario of the vehicle, and a vehicle lane change request can be generated for the vehicle to change lanes from the optimal vehicle space to the target lane.

[0069] Of course, when making a lane change decision, there may be situations where the first passable speed, the target distance required for the vehicle to cross the lane dashed line when entering the optimal vehicle space, and the target distance between the target vehicles after entering the optimal vehicle space do not meet the lane change activation conditions. In this regard, the embodiments of the present invention also designed lane change failure conditions.

[0070] In one possible implementation, the lane change failure count is activated when any one of the following lane change failure conditions is met. The four lane change failure conditions are explained in detail below.

[0071] The first scenario is that the sum of the difference between the second permissible speed and the target speed in the current lane is greater than the first permissible speed. This lane change failure condition is the opposite of condition 1 above, i.e., vlp ≤ v(fi) + Δv. Since vehicles generally do not use a target lane that exceeds the current lane's permissible speed to change lanes and insert themselves into empty spaces, the lane change failure is directly determined when this lane change failure condition is met.

[0072] The second scenario is when the speed of the target ahead is greater than the speed difference between the target and the target.

[0073] If the vehicle's speed is controlled to be no less than the target speed ahead, the difference between the target speed and the target speed is positive. At this time, the target speed ahead is compared with the difference between the target speed and the target speed. If the target speed ahead is greater than the difference between the target speed and the target speed, it means that the vehicle's speed control speed is much greater than the target speed ahead, which may lead to a collision risk. Therefore, the lane change conditions are not met.

[0074] The third method involves monitoring a target ahead that leaves the current lane.

[0075] If the target ahead is found to be leaving the current lane, it means that there is no need for the vehicle to change lanes under the current circumstances, and the lane change decision can be cancelled, confirming that the lane change has failed.

[0076] The third type is where the target spacing is no greater than the preset safety spacing.

[0077] If the target gap (diff_dn_car) is not greater than the preset safe gap (desired_gap), it means that the gap (diff_dn_car) between the empty cars in front and behind when the vehicle enters the optimal lane gap does not meet the requirements for the vehicle to insert, and the vehicle cannot safely enter the optimal lane gap to complete the lane change. If this lane change failure condition is met, the lane change is directly determined to have failed.

[0078] When any one of the lane change failure conditions is met, the lane change failure count is activated.

[0079] The counting here is similar to the lane change time counting mentioned above; it also calculates the duration during which the vehicle meets the lane change failure conditions. When any one lane change failure condition is met, the lane change failure counting is initiated; when multiple lane change failure conditions are met, the lane change failure counting continues.

[0080] Finally, when the lane change failure count exceeds the count threshold, the vehicle's lane change request to change lanes from the optimal lane to the target lane is cancelled.

[0081] Similarly, a counting threshold is used to determine the duration of lane change failures. This threshold can be set according to actual needs, for example, to 8 seconds, or other times. If the lane change failure count exceeds the threshold (i.e., exceeds 8 seconds), it indicates that the current scenario for the vehicle is stable and the duration of the lane change failure has been met, making it impossible to provide conditions for a lane change, and the lane change decision fails. Therefore, the decision for the current scenario is not to execute a lane change, and the vehicle's lane change request to change lanes from the optimal lane to the target lane is canceled.

[0082] This invention, by setting lane change failure conditions and counting thresholds, can monitor in real time scenarios where lane changes are not suitable, effectively addressing real-time risks and unexpected situations that may occur during lane changes, facilitating replanning, significantly reducing the risk of collision between the vehicle and the target ahead, and significantly improving driving safety.

[0083] Step 105: In response to the vehicle's lane change request, control the vehicle to move into the optimal lane space to complete the lane change.

[0084] Once a lane change request is generated, vehicle control instructions or prompts can be generated based on the request to control the vehicle to change lanes in the current lane and enter the optimal lane selected in the target lane to complete the lane change.

[0085] In one possible implementation, the vehicle lane change request includes a map-based lane change request and an active lane change request. In this embodiment of the invention, the vehicle may change lanes due to route planning or encountering unexpected situations (such as obstacles or needing to avoid other vehicles).

[0086] In this process, route planning typically involves automatic lane changing based on in-vehicle map information. In this case, the vehicle lane change request is a map-based lane change request. The map-based lane change request is used to output a lane change task when the vehicle is globally planning its route using the map. In other words, this lane change is required when the vehicle is performing global route planning using the map. By outputting the lane change task, corresponding vehicle control commands are generated to guide the vehicle into the optimal lane space to complete the lane change, and the driver is informed that this lane change is part of the route planning process.

[0087] However, when encountering an abnormal situation with a target ahead (such as an obstacle or a situation requiring avoidance), an active lane change is initiated to handle real-time abnormal scenarios. In this case, the vehicle's lane change request is an active lane change request. An active lane change request is used to output the task of actively changing lanes when an abnormal situation obstructing the vehicle's movement occurs ahead. When the vehicle is traveling in its current lane, if an abnormal situation such as a slow-moving, static, or oncoming obstacle, or an accident, construction, or lane obstruction occurs ahead, hindering the vehicle's movement, an active lane change is required. By outputting the active lane change task through the active lane change request, corresponding vehicle control commands are generated to guide the vehicle into the optimal vehicle space to complete the lane change, and the driver is informed that this lane change is to handle an abnormal situation and avoid a target ahead.

[0088] In this embodiment of the invention, vehicle lane change requests are divided into map lane change requests and active lane change requests. This can be applied to various situations such as path planning and abnormal situation avoidance in advanced driver assistance systems, expanding the application scenarios and making advanced driver assistance systems more intelligent.

[0089] The advanced driver assistance automatic lane changing system provided in the embodiments of the present invention will be described in detail below.

[0090] like Figure 4 As shown, the advanced driver assistance system for automatic lane changing specifically includes: a lane change selection module 401, a lane change calculation module 402, a lane change decision module 403, a lane change request module 404, and a lane change execution module 405.

[0091] Specifically, the lane change selection module 401 is used to select the optimal lane space for lane change from among the target vehicles in the target lane when the vehicle is preparing to change lanes from the current lane to the target lane; the lane change calculation module 402 is used to calculate the first passable speed of the target lane based on the traffic flow speed of the target lane; the lane change decision module 403 is used to start lane change time counting in response to the first passable speed, the target distance required for the vehicle to cross the lane dashed line when entering the optimal lane space, and the target distance between the target vehicles after entering the optimal lane space all satisfying preset lane change activation conditions; the lane change request module 404 is used to generate a vehicle lane change request for the vehicle to change lanes from the optimal lane space to the target lane in response to the lane change time count being greater than the count threshold; and the lane change execution module 405 is used to control the vehicle to enter the optimal lane space to complete the lane change in response to the vehicle lane change request.

[0092] In one possible implementation, the lane change execution module 405 is further configured to, after selecting the optimal lane space for lane change from among the target vehicles in the target lane, control the current speed of the vehicle to bring the vehicle to a position near the optimal lane space, the position near the optimal lane space being the starting position of the vehicle entering the optimal lane space.

[0093] In one possible implementation, the lane change decision module 403 is further configured to initiate a lane change failure count when any of the following lane change failure conditions are met: the sum of the difference between the second passable speed and the target speed of the current lane is greater than the first passable speed; the speed of the target ahead is greater than the target speed difference; the target ahead is detected to be leaving the current lane; the target distance is not greater than a preset safety distance; when the lane change failure count is greater than the count threshold, the vehicle lane change request generated by the vehicle to change lanes from the optimal vehicle space to the target lane is cancelled.

[0094] The advanced driver assistance system for automatic lane changing provided in the above embodiments can realize the technical solutions described in the above embodiments of the advanced driver assistance system for automatic lane changing method. The specific implementation principles of each module or unit can be found in the corresponding content in the above embodiments of the advanced driver assistance system for automatic lane changing method. Their technical effects can also be referred to each other, and will not be repeated here.

[0095] like Figure 5 As shown, the present invention also provides an electronic device 500. The electronic device 500 includes a processor 501, a memory 502, and a display 503. Figure 5 Only some components of the electronic device 500 are shown, but it should be understood that it is not required to implement all the components shown, and more or fewer components may be implemented instead.

[0096] In some embodiments, memory 502 may be an internal storage unit of electronic device 500, such as a hard disk or memory of electronic device 500. In other embodiments, memory 502 may also be an external storage device of electronic device 500, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc. equipped on electronic device 500.

[0097] Furthermore, the memory 502 may include both internal storage units of the electronic device 500 and external storage devices. The memory 502 is used to store application software and various types of data installed on the electronic device 500.

[0098] In some embodiments, processor 501 may be a central processing unit (CPU), microprocessor, or other data processing chip, used to run program code stored in memory 502 or process data, such as the advanced driver assistance automatic lane changing method of the present invention.

[0099] In some embodiments, display 503 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, or an OLED (Organic Light-Emitting Diode) touchscreen. Display 503 is used to display information from electronic device 500 and to display a visual user interface. Components 501-503 of electronic device 500 communicate with each other via a system bus.

[0100] In some embodiments of the present invention, when the processor 501 executes the computer program in the memory 502, the following steps can be implemented: when a vehicle is preparing to change lanes from the current lane to the target lane, an optimal lane opening for lane changing is selected from the target vehicles in the target lane; a first passable speed of the target lane is calculated based on the traffic flow speed of the target lane; in response to the first passable speed, the target distance required for the vehicle to cross the lane dotted line when entering the optimal lane opening, and the target distance between the target vehicles after entering the optimal lane opening all satisfying preset lane change activation conditions, a lane change time count is started; in response to the lane change time count being greater than a counting threshold, a vehicle lane change request is generated for the vehicle to change lanes from the optimal lane opening to the target lane; in response to the vehicle lane change request, the vehicle is controlled to enter the optimal lane opening to complete the lane change.

[0101] It should be understood that when the processor 501 executes the computer program in the memory 502, in addition to the functions described above, it can also perform other functions, as can be found in the description of the corresponding method embodiments above.

[0102] Furthermore, the embodiments of the present invention do not specifically limit the type of electronic device 500 mentioned. Electronic device 500 can be a mobile phone, tablet computer, personal digital assistant (PDA), wearable device, laptop computer, or other portable electronic device. Exemplary embodiments of portable electronic devices include, but are not limited to, portable electronic devices running iOS, Android, Microsoft, or other operating systems. The aforementioned portable electronic device can also be other portable electronic devices, such as a laptop computer with a touch-sensitive surface (e.g., a touch panel). It should also be understood that in some other embodiments of the present invention, electronic device 500 may not be a portable electronic device, but rather a desktop computer with a touch-sensitive surface (e.g., a touch panel).

[0103] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements an advanced assisted driving automatic lane-changing method provided by the above methods. The method includes: when a vehicle is preparing to change lanes from its current lane to a target lane, selecting an optimal lane gap for lane changing from among target vehicles in the target lane; calculating a first passable speed for the target lane based on the traffic flow speed of the target lane; in response to the first passable speed, the target distance required for the vehicle to cross the lane's dashed line when entering the optimal lane gap, and the target distance between target vehicles after entering the optimal lane gap all satisfying preset lane-changing activation conditions, initiating a lane-changing time counter; in response to the lane-changing time counter exceeding a counting threshold, generating a vehicle lane-changing request for the vehicle to change lanes from the optimal lane gap to the target lane; and in response to the vehicle lane-changing request, controlling the vehicle to enter the optimal lane gap to complete the lane change.

[0104] Those skilled in the art will understand that all or part of the processes of the methods described in the above embodiments can be implemented by a computer program instructing related hardware, and the program can be stored in a computer-readable storage medium. The computer-readable storage medium may be a disk, optical disk, read-only memory, or random access memory, etc.

[0105] The above provides a detailed description of the advanced driver assistance system's automatic lane-changing method and device. Specific examples have been used to illustrate the principles and implementation methods of the invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the invention. At the same time, those skilled in the art will recognize that there will be changes in the specific implementation methods and application scope based on the ideas of the invention. Therefore, the content of this specification should not be construed as a limitation of the invention.

Claims

1. A method for automatic lane changing in advanced driver assistance systems, characterized in that, include: When a vehicle is preparing to change lanes from its current lane to a target lane, the optimal vehicle space for the lane change is selected from among the target vehicles in the target lane. Calculate the first passable speed of the target lane based on the traffic flow speed of the target lane; In response to the first passable speed, the target distance required for the vehicle to enter the optimal vehicle space and cross the lane dashed line, and the target distance between the target vehicles after entering the optimal vehicle space all satisfying the preset lane change activation conditions, the lane change time count is started. In response to the lane change time count being greater than the count threshold, a vehicle lane change request is generated for the vehicle to change lanes from the optimal lane to the target lane. In response to the vehicle's lane change request, the vehicle is controlled to enter the optimal lane space to complete the lane change.

2. The advanced driver assistance system (ADAS) automatic lane changing method according to claim 1, characterized in that, Selecting the optimal vehicle space for lane changing from among the target vehicles in the target lane includes: Determine the candidate vehicle gaps between target vehicles in the target lane; The spatial length of the candidate vehicle space, the traffic efficiency of a vehicle entering the candidate vehicle space, and the time required to reach a position near the candidate vehicle space are determined, wherein the position near the candidate vehicle space is the starting position of a vehicle entering the candidate vehicle space. The evaluation index of the candidate vehicle space is calculated based on the space length, the traffic efficiency, and the required time. The candidate vehicle space with the highest evaluation index is determined as the optimal vehicle space for lane changing.

3. The advanced driver assistance system (ADAS) automatic lane changing method according to claim 1, characterized in that, After selecting the optimal vehicle space for lane changing from the target vehicles in the target lane, the method further includes: Control the current speed of the vehicle to bring it to a position near the optimal vehicle space, which is the starting position of the vehicle entering the optimal vehicle space.

4. The advanced driver assistance system (ADAS) automatic lane changing method according to claim 1, characterized in that, The preset lane change activation conditions include: The sum of the differences between the second passable speed and the target speed in the current lane is less than the first passable speed, and the target speed difference is the difference between the vehicle's speed and the target speed ahead; The target spacing is greater than the preset safety spacing; The target distance is less than the remaining distance of the lane dashed line.

5. The advanced driver assistance system (ADAS) automatic lane changing method according to claim 1, characterized in that, The target distance is calculated in the following way: The distance required for the vehicle to change lanes is obtained by summing the relative distance between the vehicle and the target in the current lane, the distance over the target, and the safe distance between the vehicle and the target. Calculate the time required for the vehicle to reach the optimal vehicle space after traveling the specified distance from its current position; The vehicle spacing between the empty cars in front and behind is determined after the required time to obtain the target spacing, wherein the empty cars in front and behind are the target vehicles that form the optimal vehicle spacing.

6. The advanced driver assistance system (ADAS) automatic lane changing method according to claim 4, characterized in that, The method further includes: The lane change failure count is activated when any one of the following lane change failure conditions is met: The sum of the differences between the second permissible speed and the target speed in the current lane is greater than the first permissible speed; The speed of the target ahead is greater than the speed difference between the targets; The system detected that the target ahead had left the current lane; The target spacing is not greater than the preset safety spacing; When the lane change failure count is greater than the count threshold, the vehicle lane change request generated by the vehicle to change lanes from the optimal lane to the target lane is cancelled.

7. The advanced driver assistance system (ADAS) automatic lane changing method according to claim 1, characterized in that, The vehicle lane change request includes a map lane change request and an active lane change request. The map lane change request is used to output a lane change task when the vehicle is globally planning its path using a map. The active lane change request is used to output the task of actively changing lanes when an abnormal situation obstructing the vehicle's movement occurs in front of the vehicle.

8. An advanced driver assistance system for automatic lane changing, characterized in that, include: The lane change selection module is used to select the optimal vehicle space for lane change from among the target vehicles in the target lane when the vehicle is preparing to change lanes from the current lane to the target lane. The lane change calculation module is used to calculate the first passable speed of the target lane based on the traffic flow speed of the target lane; The lane change decision module is used to start the lane change time count in response to the first passable speed, the target distance required for the vehicle to enter the optimal vehicle space and the target distance between the target vehicles after entering the optimal vehicle space all satisfy the preset lane change activation conditions. The lane change request module is used to generate a vehicle lane change request for the vehicle to change lanes from the optimal lane to the target lane in response to the lane change time count being greater than the count threshold. The lane change execution module is used to respond to the vehicle's lane change request and control the vehicle to enter the optimal lane space to complete the lane change.

9. An electronic device, characterized in that, Including memory and processor, among which, The memory is used to store programs; The processor, coupled to the memory, is configured to execute the program stored in the memory to implement the steps of the advanced driver assistance automatic lane change method as described in any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the advanced driver assistance automatic lane changing method as described in any one of claims 1 to 7.

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