Vehicle detouring method and device, electronic equipment, vehicle and computer program product

Abstract

The application is suitable for the field of automatic driving technology, and provides a vehicle lane borrowing method and device, electronic equipment, vehicle and computer program product. In the method, after determining a first section in a reference lane, at least one lane section corresponding to the first section can be determined, and the passability of the at least one lane section can be determined according to a first width and a second width corresponding to the at least one lane section. After determining the passability of the at least one lane section, the electronic equipment can control the vehicle to borrow a lane according to the passability of the at least one lane section. That is, the first section of the reference lane can be divided into a lane section with relatively stable width, and the judgment of the borrowing space can be made based on the minimum width corresponding to the lane section with relatively stable width, so as to adapt to the change of the lane width, avoid the misjudgment caused by global average, improve the accuracy of the judgment of the borrowing space, and thus enable the vehicle to accurately and safely borrow a lane.

Description

Technical Field

[0001] This application belongs to the field of autonomous driving technology, and in particular relates to a vehicle lane-changing method, device, electronic equipment, vehicle, and computer program product. Background Technology

[0002] In the field of autonomous driving technology, vehicles frequently need to perform lane borrowing or lane changing maneuvers, such as overtaking, yielding to slower vehicles or obstacles ahead, etc. Currently, the determination of lane borrowing space is generally based on obstacle detection using a Cartesian coordinate system, or on free space detection using sensors (such as LiDAR, cameras, etc.). These methods are prone to inaccurate judgment of lane borrowing space when lane width changes abruptly, leading to lane borrowing failures or safety hazards. Summary of the Invention

[0003] This application provides a vehicle lane-changing method, device, electronic device, vehicle, and computer program product, which can improve the accuracy of lane-changing space judgment to achieve safe and accurate lane-changing.

[0004] In a first aspect, embodiments of this application provide a method for vehicles to change lanes, including: Identify the first segment in the reference lane; the reference lane is the lane that the vehicle needs to use, and the first segment is the segment in front of the vehicle. Determine at least one lane segment corresponding to the first road segment; The passability of the at least one lane segment is determined based on the first width and the second width corresponding to the at least one lane segment; for each lane segment, the first width corresponding to the lane segment is the minimum width of the left boundary of the lane segment and the reference lane, and the second width corresponding to the lane segment is the minimum width of the right boundary of the lane segment and the reference lane. The vehicle is controlled to use another lane based on the passability of the at least one lane segment.

[0005] In the vehicle lane-changing method provided above, when a vehicle needs to change lanes to the first segment of the reference lane, the electronic device can divide the first segment of the reference lane into lane segments with relatively stable widths. Based on the minimum width corresponding to the relatively stable lane segments, the device can determine the lane-changing space to adapt to changes in lane width, avoid misjudgments caused by global averaging, improve the accuracy of lane-changing space determination, and enable vehicles to change lanes accurately and safely.

[0006] In some embodiments, determining at least one lane segment corresponding to the first road segment includes: Obtain the reference line point sequence corresponding to the first road segment; the reference line point sequence includes multiple reference line points, and the multiple reference line points are points located on the reference line corresponding to the reference lane and located in the first road segment; The first road segment is divided into at least one lane segment based on the third width and fourth width corresponding to the multiple reference line points; each lane segment includes a road segment composed of multiple reference line points, the third width corresponding to the reference line point is the width between the reference line point and the left boundary of the reference lane, and the fourth width corresponding to the reference line point is the width between the reference line point and the right boundary of the reference lane.

[0007] In some embodiments, determining the passability of the at least one lane segment based on a first width and a second width corresponding to the at least one lane segment includes: Obtain the dynamic obstacles corresponding to the reference lane; The passability of the at least one lane segment is determined based on the dynamic obstacles corresponding to the reference lane and the first and second widths corresponding to the at least one lane segment.

[0008] For example, obtaining the dynamic obstacle corresponding to the reference lane includes: Determine the first time when the vehicle passes through the first road segment, and divide the first time into multiple time steps; Obtain the dynamic obstacles corresponding to the reference lane in each of the time steps; Determining the passability of the at least one lane segment based on the dynamic obstacle corresponding to the reference lane and the first width and second width corresponding to the at least one lane segment includes: Based on the dynamic obstacles corresponding to the reference lane in each time step, and the first width and second width corresponding to the at least one lane segment, the passability of the at least one lane segment in each time step is determined.

[0009] In one embodiment, determining the passability of the at least one lane segment in each time step based on the dynamic obstacles corresponding to the reference lane and the first and second widths corresponding to the at least one lane segment in each time step includes: Obtain the original bounding box of the dynamic obstacle corresponding to the reference lane at the k-th time step; 1≤k≤K, where K is the total number of time steps; Based on the lateral safety buffer width and longitudinal safety buffer length corresponding to the vehicle, the original bounding box of the dynamic obstacle in the k-th time step is expanded to obtain the target bounding box of the dynamic obstacle in the k-th time step; the lateral safety buffer width corresponding to the vehicle is determined according to the width of the vehicle, and the longitudinal safety buffer length corresponding to the vehicle is determined according to the length of the vehicle. Based on the target bounding box of the dynamic obstacle in the k-th time step, and the first width and second width corresponding to the at least one lane segment, the passability of the at least one lane segment in the k-th time step is determined.

[0010] For example, determining the passability of the at least one lane segment in the k-th time step based on the target bounding box of the dynamic obstacle and the first and second widths corresponding to the at least one lane segment in the k-th time step includes: Based on the target bounding box of the dynamic obstacle in the k-th time step, a first bounding box located in the j-th lane segment is determined; the first bounding box is the bounding box in the target bounding box; 1≤j≤J, where J is the total number of the at least one lane segment; Based on the first width corresponding to the j-th lane segment, the fifth width corresponding to the first enclosing frame, and the sixth width corresponding to the first enclosing frame, the first lateral borrowing space corresponding to the j-th lane segment is determined; the fifth width corresponding to the first enclosing frame is the minimum width of the left boundary between the first enclosing frame and the reference lane, and the sixth width corresponding to the first enclosing frame is the maximum width of the left boundary between the first enclosing frame and the reference lane. When the first lateral lane-sharing space is greater than or equal to the lateral safety buffer width corresponding to the vehicle, the first longitudinal lane-sharing space corresponding to the j-th lane segment is determined according to the first arc length corresponding to the j-th lane segment, the second arc length corresponding to the first enclosing frame, and the third arc length corresponding to the first enclosing frame; the first arc length corresponding to the j-th lane segment is the arc length corresponding to the starting point of the j-th lane segment, the second arc length corresponding to the first enclosing frame is the minimum arc length of the first enclosing frame along the reference line, and the third arc length corresponding to the first enclosing frame is the maximum arc length of the first enclosing frame along the reference line; Based on the first longitudinal borrowing space, the passability of the j-th lane segment is determined.

[0011] In one embodiment, determining the first longitudinal borrowing space corresponding to the j-th lane segment based on the first arc length corresponding to the j-th lane segment, the second arc length corresponding to the first bounding box, and the third arc length corresponding to the first bounding box includes: Based on the fifth and sixth widths corresponding to the first bounding box, obtain the second bounding box located in the first horizontal passage space; The first longitudinal borrowing space corresponding to the j-th lane segment is determined based on the first arc length corresponding to the j-th lane segment, the second arc length corresponding to the second bounding box, and the third arc length corresponding to the second bounding box.

[0012] In some embodiments, after determining the first lateral lane-changing space corresponding to the j-th lane segment based on the first width corresponding to the j-th lane segment, the fifth width corresponding to the first bounding frame, and the sixth width corresponding to the first bounding frame, the vehicle lane-changing method further includes: When it is determined that all the first lateral lane-crossing spaces corresponding to the j-th lane segment are less than the lateral safety buffer width corresponding to the vehicle, the second lateral lane-crossing space corresponding to the j-th lane segment is determined according to the second width corresponding to the j-th lane segment, the fifth width corresponding to the first enclosure frame, and the sixth width corresponding to the first enclosure frame. When the second lateral lane-sharing space is greater than or equal to the lateral safety buffer width corresponding to the vehicle, the second longitudinal lane-sharing space corresponding to the j-th lane segment is determined according to the first arc length corresponding to the j-th lane segment, the second arc length corresponding to the first enclosing frame, and the third arc length corresponding to the first enclosing frame. The passability of the j-th lane segment is determined based on the second longitudinal borrowing space.

[0013] In some embodiments, controlling the vehicle to use a lane based on the passability corresponding to the at least one lane segment includes: When the passability of each lane segment is passable in each of the time steps, the vehicle is controlled to transfer to the reference lane.

[0014] Secondly, embodiments of this application provide a vehicle lane-changing device, including: The road segment determination module is used to determine the first road segment in the reference lane; the reference lane is the lane that the vehicle needs to use, and the first road segment is the road segment in front of the vehicle. The lane segment determination module is used to determine at least one lane segment corresponding to the first road segment; The passability determination module is used to determine the passability of the at least one lane segment based on the first width and the second width corresponding to the at least one lane segment; for each lane segment, the first width corresponding to the lane segment is the minimum width of the left boundary of the lane segment and the reference lane, and the second width corresponding to the lane segment is the minimum width of the right boundary of the lane segment and the reference lane. The lane-change control module is used to control the vehicle to change lanes based on the passability of the at least one lane segment.

[0015] Thirdly, embodiments of this application provide an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the electronic device implements the vehicle lane-changing method described in any one of the first aspects above.

[0016] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by an electronic device, causes the electronic device to implement the vehicle lane-changing method described in any one of the first aspects.

[0017] Fifthly, embodiments of this application provide a computer program product, the computer program product including a computer program, which, when executed by an electronic device, causes the electronic device to implement the vehicle lane-changing method described in any one of the first aspects above.

[0018] Sixthly, embodiments of this application provide a vehicle that includes the electronic equipment described in the third aspect above.

[0019] It is understood that the beneficial effects of the second to sixth aspects mentioned above can be found in the relevant descriptions in the first aspect mentioned above, and will not be repeated here. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a flowchart illustrating the vehicle lane-changing method provided in the embodiments of this application; Figure 2 This is a schematic diagram of the vehicle lane-changing device provided in the embodiments of this application; Figure 3 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0022] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0023] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0024] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0025] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."

[0026] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0027] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0028] In the field of autonomous driving technology, especially in highway or urban road scenarios, vehicles frequently need to perform lane borrowing or lane changing maneuvers, such as overtaking, yielding to slower vehicles or obstacles ahead, etc. The safety of lane borrowing directly affects the vehicle's decision-making and path planning. Currently, the determination of lane borrowing space is generally based on obstacle detection using a Cartesian coordinate system, or on free space detection based on sensors (such as LiDAR, cameras, etc.). These methods perform well in scenarios with stable lane widths, but in scenarios with sudden changes in lane width, they are prone to inaccurate judgment of lane borrowing space, leading to lane borrowing failures or safety hazards.

[0029] To address the aforementioned problems, this application provides a vehicle lane-changing method, apparatus, electronic device, vehicle, and computer program product. In this vehicle lane-changing method, the electronic device can determine a first road segment in a reference lane; the reference lane is the lane the vehicle needs to change lanes in, and the first road segment is the road segment ahead of the vehicle. Subsequently, the electronic device can determine at least one lane segment corresponding to the first road segment, and determine the passability of at least one lane segment based on a first width and a second width corresponding to the at least one lane segment; for each lane segment, the first width can be the minimum width between the lane segment and the left boundary of the reference lane, and the second width can be the minimum width between the lane segment and the right boundary of the reference lane. After determining the passability of at least one lane segment, the electronic device can control the vehicle to change lanes based on the passability of the at least one lane segment. In this embodiment of the application, when a vehicle needs to borrow lanes to the first segment of the reference lane, the electronic device can divide the first segment of the reference lane into lane segments with relatively stable widths, and can make a judgment on the borrowing space based on the minimum width corresponding to the relatively stable lane segments, so as to adapt to the changes in lane width, avoid misjudgment caused by global averaging, improve the accuracy of borrowing space judgment, and enable the vehicle to borrow lanes accurately and safely, which has strong ease of use and practicality.

[0030] The vehicle lane-changing method provided in this application embodiment can be used on electronic devices such as mobile phones, tablets, wearable devices, in-vehicle devices, augmented reality (AR) / virtual reality (VR) devices, laptops, ultra-mobile personal computers (UMPCs), netbooks, and personal digital assistants (PDAs). This application embodiment does not impose any restrictions on the specific type of electronic device.

[0031] It should be noted that the lane-changing method provided in this application is based on the Frenet coordinate system. The Frenet coordinate system is a dynamic coordinate system that changes dynamically with a reference line (e.g., the lane center line). The Frenet coordinate system is widely used in fields such as autonomous driving, trajectory planning, and vehicle control. In the Frenet coordinate system, any position is decomposed into a longitudinal axis s along the reference line and a transverse axis perpendicular to the reference line. l The vertical axis 's' represents the arc length along the reference line from its starting point to that position. For example, for point P, the nearest projection point O of P on the reference line can be determined, and 's' for point P can be the arc length from the starting point of the reference line to the projection point O. The horizontal axis... l This is the vertical distance from the location to the reference line.

[0032] In this embodiment, the vehicle lane-changing judgment is based on the Frenet coordinate system. On roads with large curvature, this reduces obstacle projection distortion and improves the accuracy of lane-changing space judgment, thereby enabling vehicles to change lanes accurately and safely. Lane-changing refers to the act of a vehicle entering an adjacent lane to overtake, avoid slower vehicles, or obstacles while driving.

[0033] The vehicle lane-changing method provided in this application embodiment will be described below with reference to the accompanying drawings and specific application scenarios.

[0034] Please see Figure 1 , Figure 1 A schematic flowchart illustrating a vehicle lane-changing method according to an embodiment of this application is shown. This lane-changing method can be applied to electronic devices, such as in-vehicle equipment installed on a vehicle. Figure 1 As shown, the method for vehicles to change lanes may include: S101. The electronic device determines the first segment in the reference lane; the reference lane is the lane that the vehicle needs to use, and the first segment is the segment in front of the vehicle.

[0035] For example, the reference lane can be an adjacent lane to the lane where the vehicle is located. The first road segment can be a segment of the reference lane, and it is the road segment in front of the vehicle, that is, the road segment in the reference lane where the vehicle plans to use the lane. During vehicle travel, the electronic device can obtain information about the lane where the vehicle is located, and can determine adjacent lanes based on the information about the lane where the vehicle is located. When it is determined that the vehicle needs to use the lane, for example, when it is determined that there is an obstacle in front of the lane where the vehicle is located, or when the vehicle in front of the vehicle is traveling at a slow speed, the electronic device can determine the reference lane based on the adjacent lanes. It should be understood that the embodiments of this application do not limit the specific method by which the electronic device obtains the lane where the vehicle is located, and can be determined according to the actual scenario. For example, the electronic device can obtain the lane where the vehicle is located based on high-precision map data on the vehicle, on-board perception system (such as cameras, radar, etc.), or V2X communication module.

[0036] It should be noted that the length of the first road segment can be determined based on the actual scenario. For example, the length of the first road segment can be set by default by the electronic device. For instance, the electronic device can be set to a default length of 10 meters, 15 meters, or 20 meters. For example, when a vehicle is using the road to overcome an obstacle ahead, the electronic device can determine the length of the first road segment based on the distance between the vehicle and the obstacle. For example, when a vehicle is using the road to overcome a vehicle traveling at a slower speed ahead, the electronic device can determine the length of the first road segment based on the distance between the vehicle and the vehicle ahead, the vehicle's speed 1, and the vehicle ahead's speed 2.

[0037] For example, when a vehicle needs to change lanes, after determining a reference lane, the electronic device can determine whether there are dynamic obstacles in the reference lane. When there are no dynamic obstacles in the reference lane (e.g., no obstacles or only static obstacles), the electronic device can determine that there is sufficient space in the reference lane to change lanes, and can control the vehicle to change lanes into the reference lane. It should be understood that the way the electronic device determines whether there are dynamic obstacles in the reference lane can be determined according to the actual scenario, and this application embodiment does not limit this. For example, the electronic device can identify dynamic obstacles through an onboard perception system to obtain the state information of dynamic obstacles in front of the vehicle, and thus determine whether there are dynamic obstacles in the reference lane based on the state information of the dynamic obstacles.

[0038] S102, The electronic equipment determines at least one lane segment corresponding to the first road segment.

[0039] In this embodiment of the application, after determining the first road segment in the reference lane, the electronic device can divide the first road segment into one or more lane segments with relatively stable widths (generally multiple lane segments, which will be used as an example for the following description). Based on multiple lane segments with relatively stable widths, the vehicle can make a judgment on the lane-borrowing space, which can adapt to changes in lane width and avoid misjudgment caused by global averaging. This allows for accurate judgment of lane-borrowing space even in scenarios with sudden changes in lane width, thereby enabling vehicles to borrow lanes accurately and safely.

[0040] In some embodiments, after determining a first road segment in a reference lane, the electronic device can acquire a reference line point sequence corresponding to the first road segment, and can divide the first road segment into at least one lane segment based on the reference line point sequence (the following will illustrate this using multiple lane segments as an example). The reference line point sequence may include multiple reference line points, which can be points on the reference line corresponding to the reference lane, and can be points located in the first road segment. Each lane segment may include a road segment containing multiple reference line points.

[0041] It should be noted that the reference line corresponding to the reference lane can be the centerline of the reference lane. This application does not limit the specific method by which the electronic device obtains the reference line corresponding to the reference lane and the specific method by which it obtains the reference line point sequence corresponding to the first road segment; these methods can be determined according to the actual scenario. For example, the electronic device can obtain the reference line corresponding to the reference lane and the reference line point sequence corresponding to the first road segment based on high-precision map data carried by the vehicle. For example, the electronic device can obtain the reference line corresponding to the reference lane based on high-precision map data carried by the vehicle, and after obtaining the reference line corresponding to the reference lane, it can determine the local reference line located in the first road segment, and can obtain multiple reference line points from this local reference line according to preset selection rules (e.g., rules with a certain distance interval) to obtain the reference line point sequence corresponding to the first road segment.

[0042] In one embodiment, the electronic device can divide the first road segment into multiple lane segments based on a third width and a fourth width corresponding to multiple reference line points. Specifically, for each reference line point, the third width can be the width between the reference line point and the left boundary of the reference lane, and the fourth width can be the width between the reference line point and the right boundary of the reference lane.

[0043] For example, the reference line point sequence corresponding to the first road segment can be represented as follows: .in, s i Reference line points P i Arc length along the reference line, This can be the third width corresponding to the reference line point. This can be the fourth width corresponding to the reference line point. N This represents the number of reference points in the reference point sequence. In the reference point sequence, the number of reference points... P i Corresponding arc length s i It can be larger than the reference line point. P i-1 Corresponding arc length s i-1 That is, the reference points in the reference point sequence can be arranged in order of distance from the vehicle from closest to furthest.

[0044] For example, an electronic device can start from a reference line point sequence. P Starting from 0, determine the initial arc length of the first lane segment. The end arc length of the first lane segment Minimum left width corresponding to the first lane segment Minimum right width corresponding to the first lane segment Among them, the minimum left width corresponding to the first lane segment. This can be the minimum width between the left edge of the first lane segment and the reference lane, and the minimum right edge width corresponding to the first lane segment. This can be the minimum width between the right boundary of the first lane segment and the reference lane. The starting arc length of the first lane segment. and the final arc length All can be used as reference points. P Arc length corresponding to 0 s 0, the minimum left width corresponding to the first lane segment. Reference line points P The third width corresponding to 0 Minimum right-hand width corresponding to the first lane segment Reference line points P The fourth width corresponding to 0 .

[0045] Subsequently, the electronic device can traverse the subsequent reference line points of the reference line point sequence, for example, it can obtain the reference line points. P 1. And the reference line point can be determined. P 1 and reference line points P Width variation between 0 and 0. For example, electronic devices can be based on reference line points. P The third width corresponding to 1 and reference line points P The third width corresponding to 0 Determine the width change And based on the reference line points P The fourth width corresponding to 1 and reference line points P The fourth width corresponding to 0 Determine the width change .

[0046] Determine the width variation and width variation Then, the electronic device can determine the width change. and width variation Is the larger of the two values ​​greater than a preset threshold? At that time, electronic devices can be based on reference lines. P 1. Update the end arc length of the first lane segment. Minimum left width corresponding to the first lane segment Minimum right width corresponding to the first lane segment Among them, the updated ending arc length Reference line points P Arc length corresponding to 1 s 1. Updated minimum left width Updated minimum right width = . This can be the minimum left width before the update. This can be the minimum right width before the update.

[0047] Update the end arc length of the first lane segment. Minimum left width and minimum right width Afterwards, the electronic device can acquire reference line points. P 2. And determine the reference line points. P 2 and reference line points P Width variation between 1. For example, electronic devices can be based on reference line points. P The third width corresponding to 2 and reference line points P The third width corresponding to 1 Determine the width change And based on the reference line points P The fourth width corresponding to 2 and reference line points P The fourth width corresponding to 1 Determine the width change .

[0048] Determine the width variation and width variation Then, the electronic device can determine the width change. and width variation Is the larger of the two values ​​greater than a preset threshold? At that time, electronic devices can be based on reference lines. P 2. Update the end arc length of the first lane segment. Minimum left width corresponding to the first lane segment Minimum right width corresponding to the first lane segment Among them, the electronic equipment is based on the reference line point. P 2. Update the end arc length of the first lane segment. Minimum left width corresponding to the first lane segment Minimum right width corresponding to the first lane segment For details, please refer to the aforementioned electronic device based on reference lines. P 1. Update the end arc length of the first lane segment. Minimum left width corresponding to the first lane segment Minimum right width corresponding to the first lane segment The relevant descriptions will not be repeated here.

[0049] when At this time, the electronic device can determine that a sudden width change has occurred. At this point, the electronic device can use a reference line point... P The previous reference point (i.e., the reference point) P 1) End the first lane segment, which can be based on the reference line point. P 1. Determine the starting arc length of the first lane segment. The end arc length of the first lane segment Minimum left width corresponding to the first lane segment (Also known as the first width corresponding to the first lane segment) and the minimum right-side width corresponding to the first lane segment. (This can also be referred to as the second width corresponding to the first lane segment). Additionally, electronic devices can also be based on reference line points. P 2 and reference line points P 1. Construct a new second lane section. This can be done based on the reference line points. P 2 and reference line points P 1. Determine the starting arc length of the second lane segment. The end arc length of the second lane segment Minimum left width corresponding to the second lane segment Minimum right width corresponding to the second lane segment For example, the initial arc length of the second lane segment. Reference line points P Arc length corresponding to 1 s 1. Ending arc length of the second lane segment Reference line points P Arc length corresponding to 2 s 2. Minimum left width corresponding to the second lane segment = Minimum right-hand width corresponding to the second lane segment = .

[0050] Subsequently, the electronic device can acquire reference line points. P 3. Determine the reference line points. P 3 and reference line points P The width variation between 2. For example, electronic devices can be based on reference line points. P The third width corresponding to 3 and reference line points P The third width corresponding to 2 Determine the width change And based on the reference line points P The fourth width corresponding to 3 and reference line points P The fourth width corresponding to 2 Determine the width change .

[0051] Determine the width variation and width variation Then, the electronic device can determine the width change. and width variation Is the larger of the two values ​​greater than a preset threshold? At that time, electronic devices can be based on reference lines. P 3. Update the end arc length of the second lane segment. Minimum left width corresponding to the second lane segment Minimum right width corresponding to the second lane segment Among them, the electronic equipment is based on the reference line point. P 3. Update the end arc length of the second lane segment. Minimum left width corresponding to the second lane segment Minimum right width corresponding to the second lane segment For details, please refer to the aforementioned electronic device based on reference lines. P 1. Update the end arc length of the first lane segment. Minimum left width corresponding to the first lane segment Minimum right width corresponding to the first lane segment The relevant descriptions will not be repeated here.

[0052] when At this time, the electronic device can determine that a sudden width change has occurred. At this point, the electronic device can use a reference line point... P The previous reference point of 3 (i.e., the reference point) P 2) End the second lane segment, which can be based on the reference line points.P 2. Determine the starting arc length of the second lane segment. The end arc length of the second lane segment Minimum left width corresponding to the second lane segment (Also known as the first width corresponding to the second lane segment) and the minimum right-side width corresponding to the second lane segment. (This can also be referred to as the second width corresponding to the second lane segment). Additionally, electronic devices can also be based on reference line points. P 3 and reference line points P 2. Construct a new third lane section. This can be done based on the reference line points. P 3 and reference line points P 2. Determine the starting arc length of the third lane segment. The ending arc length of the third lane segment Minimum left width corresponding to the third lane segment Minimum right width corresponding to the third lane segment Among them, the electronic equipment is based on the reference line point. P 3 and reference line points P 2. Determine the starting arc length of the third lane segment. The ending arc length of the third lane segment Minimum left width corresponding to the third lane segment Minimum right width corresponding to the third lane segment For details, please refer to the aforementioned electronic equipment based on reference lines. P 2 and reference line points P 1. Determine the starting arc length of the second lane segment. The end arc length of the second lane segment Minimum left width corresponding to the second lane segment Minimum right width corresponding to the second lane segment The relevant descriptions will not be repeated here.

[0053] This process continues until the electronic device has traversed all the reference points in the reference point sequence. After traversing all the reference points in the reference point sequence, the electronic device can obtain the multiple lane segments corresponding to the first road segment, that is, it can obtain the set of lane segments corresponding to the first road segment. .in, Let j be the starting arc length of lane segment j. Let be the ending arc length of lane segment j. The minimum left width corresponding to lane segment j. Let J be the minimum right-hand width corresponding to lane segment j, and J be the number of lane segments corresponding to the first road segment. The total available lateral width of lane segment j. .

[0054] In one embodiment, the electronic device can acquire the width of the vehicle and determine the corresponding lateral safety buffer width based on the vehicle's width. To determine the width of the lateral safety buffer Determine a preset threshold. For example, the preset threshold could be related to the lateral safety buffer width. same.

[0055] For example, to ensure the safety of vehicles crossing the road, electronic devices can add a preset width to the vehicle's width to obtain the corresponding lateral safety buffer width. That is, the lateral safety buffer width corresponding to the vehicle. = Vehicle width + preset width. It should be understood that the preset width can be determined according to actual needs, and this application embodiment does not impose any limitations on it.

[0056] For example, the electronic device can also acquire the length of the vehicle and determine the corresponding longitudinal safety buffer length based on the vehicle's length. This allows for the assessment of the feasibility of using the alternate route to be based on the corresponding longitudinal safety buffer length of the vehicle. This is used to assess the feasibility of the longitudinal study.

[0057] S103. The electronic device determines the passability of at least one lane segment based on a first width and a second width corresponding to at least one lane segment; for each lane segment, the first width corresponding to the lane segment is the minimum width of the left boundary of the lane segment and the reference lane, and the second width corresponding to the lane segment is the minimum width of the right boundary of the lane segment and the reference lane.

[0058] In this embodiment of the application, after determining the reference lane, the electronic device can acquire the dynamic obstacles corresponding to the reference lane. For each lane segment, the electronic device can determine the passability of the lane segment based on the dynamic obstacles corresponding to the reference lane, the first width of the lane segment, and the second width of the lane segment, that is, determine whether there is sufficient space for vehicles to use the lane segment in the lateral and longitudinal directions.

[0059] In some embodiments, after determining a first road segment in the reference lane, the electronic device can determine the first time required for the vehicle to pass through the first road segment, and can divide the first time into multiple time steps to support multi-time-step prediction of dynamic obstacles, which can be applied to high-speed lane-changing scenarios. It should be understood that the embodiments of this application do not limit the specific method of dividing the first time into multiple time steps, and can determine it according to the actual scenario. For example, the first time can be divided into multiple time steps according to a preset number of time steps. For example, the first time can be divided into multiple time steps according to a preset duration for each time step, and so on.

[0060] In one embodiment, after dividing the first time period into multiple time steps, for each dynamic obstacle corresponding to the reference lane, the electronic device can predict the position of the dynamic obstacle at each time step to obtain the dynamic obstacle corresponding to the reference lane in each time step. For example, for each dynamic obstacle, the electronic device can predict the trajectory of the dynamic obstacle. After obtaining the trajectory of each dynamic obstacle, the electronic device can determine the dynamic obstacle corresponding to the reference lane in each time step based on the trajectory of each dynamic obstacle. It should be understood that the embodiments of this application do not limit the specific method by which the electronic device predicts the trajectory of the dynamic obstacle, and can be determined according to the actual scenario. For example, the electronic device can determine the trajectory of the dynamic obstacle by progressively pushing the future state of the dynamic obstacle based on the kinematic model of the object, based on the historical state and current state of the dynamic obstacle.

[0061] For example, for each time step, such as the k-th time step, after determining the dynamic obstacles corresponding to the reference lane in the k-th time step, that is, after determining the position information of each dynamic obstacle on the reference lane in the k-th time step, the electronic device can determine the original bounding box of each dynamic obstacle in the Frenet coordinate system based on the position information of each dynamic obstacle. 1≤k≤K, where K is the total number of time steps. For example, the original bounding box of the m-th dynamic obstacle in the reference lane in the Frenet coordinate system in the k-th time step. . Let be the minimum length (also called the minimum arc length) of the original bounding box of the m-th dynamic obstacle in the vertical direction. The maximum length (also known as the maximum arc length) of the original bounding box of the m-th dynamic obstacle in the vertical direction. Let be the minimum horizontal length of the original bounding box of the m-th dynamic obstacle. Let be the maximum horizontal length of the original bounding box of the m-th dynamic obstacle. It should be understood that in the embodiments of this application, in the Frenet coordinate system, length and arc length can indicate the same meaning, i.e., both can refer to the vertical value in the Frenet coordinate system.

[0062] After determining the original bounding box of each dynamic obstacle in the Frenet coordinate system, the electronic equipment can adjust the lateral safety buffer width corresponding to the vehicle. and longitudinal safety buffer length In time step k, the original bounding boxes of each dynamic obstacle are expanded to obtain the target bounding boxes of each dynamic obstacle in time step k. Based on the target bounding boxes of each dynamic obstacle in time step k, and the first and second widths corresponding to each lane segment, the passability of each lane segment in time step k can be determined. That is, electronic equipment can determine the passability based on the lateral safety buffer width. and longitudinal safety buffer length Dynamic obstacle expansion is performed to ensure that there is sufficient safety margin in both the longitudinal and lateral directions of the reference lane when changing lanes, thereby reducing the risk of collision and improving the safety of vehicles changing lanes.

[0063] For example, at time step k, referring to the m-th dynamic obstacle on the lane, the electronic device can determine the minimum length of the target bounding box of the m-th dynamic obstacle in the longitudinal direction. It can also determine the maximum length of the target bounding box of the m-th dynamic obstacle in the vertical direction. .

[0064] In the Frenet coordinate system, the horizontal axis is centered on the reference line, with positive values ​​on the left and negative values ​​on the right. For each dynamic obstacle's original bounding box... The left boundary of the original bounding box can be used. For ease of subsequent analysis, after inflating the original bounding box, the electronic device takes the negative of the width of the original bounding box in the horizontal direction to unify the coordinate orientation. Here, left and right are defined based on the vehicle's frontal orientation as forward. For example, for the m-th dynamic obstacle on the reference lane in the k-th time step, the electronic device can determine the minimum width of the target bounding box of the m-th dynamic obstacle in the horizontal direction. The maximum width of the bounding box of the m-th dynamic obstacle in the horizontal direction is .

[0065] After obtaining the target bounding boxes of each dynamic obstacle on the reference lane at time step k, the electronic device can sort the target bounding boxes of each dynamic obstacle in ascending order according to the minimum length of each obstacle in the longitudinal direction, thus obtaining a sorted set of target bounding boxes. M represents the number of dynamic obstacles on the reference lane at the k-th time step.

[0066] It should be understood that when determining the target bounding box set, the electronic device can also delete the target bounding box located behind the vehicle based on the vehicle's position.

[0067] In one embodiment, after determining the target bounding box set corresponding to the dynamic obstacle at time step k, for each lane segment, for example, taking the j-th lane segment as an example, the electronic device can, based on the target bounding box set corresponding to the dynamic obstacle at time step k, Determine the first bounding box located in the j-th lane segment. The first bounding box can be a set of target bounding boxes. The bounding box within the target. For example, an electronic device can select from a set of target bounding boxes. In the middle, obtain ,and The target bounding box 1 can be the first bounding box located in the j-th lane segment.

[0068] After determining the first bounding box located in the j-th lane segment, the electronic device can sort the first bounding boxes according to their minimum and maximum widths in the lateral direction, and in ascending order of their left endpoints (e.g., minimum widths), to obtain a set of first bounding boxes sorted by width.

[0069] For example, after obtaining the first bounding box set sorted by width, it is determined that there is no first bounding box in the first bounding box set, and the total available lateral width of the j-th lane segment is greater than the lateral safety buffer width. When the electronic device determines that the lateral space for lane sharing in lane segment j is sufficient, it can also determine the longitudinal space for lane sharing in lane segment j. In this case, the longitudinal space for lane sharing in lane segment j is generally sufficient; therefore, the electronic device can determine that lane segment j is passable. It should be understood that the passability of a lane segment can include passability or impassability.

[0070] For example, when a first bounding box exists within the first bounding box set, the electronic device can determine the first lateral lane-crossing space corresponding to the j-th lane segment based on the first width corresponding to the j-th lane segment, the fifth width corresponding to the first bounding box, and the sixth width corresponding to the first bounding box. The fifth width corresponding to the first bounding box can be the minimum width between the left boundary of the first bounding box and the reference lane, and the sixth width corresponding to the first bounding box can be the maximum width between the left boundary of the first bounding box and the reference lane.

[0071] For example, the electronic device can initialize the available left-hand starting position from the left boundary of the reference lane. Subsequently, the electronic device can sequentially traverse the first bounding box set sorted by width. For example, it can obtain the first bounding box 1 in the first bounding box set, and determine the current interval width (also known as the first horizontal passage space) 1 based on the left starting position and the fifth width corresponding to the first bounding box 1. In the first lateral passage space 1 > lateral safety buffer width At that time, the electronic equipment can determine that there is a potentially passable first lateral bypass space 1 in the j-th lane segment.

[0072] After determining that there is a potentially passable first lateral lane-sharing space 1 in lane segment j, the electronic device can determine the first longitudinal lane-sharing space corresponding to lane segment j based on the first arc length corresponding to lane segment j, the second arc length and the third arc length corresponding to each first bounding box in the first bounding box set. The first arc length corresponding to lane segment j can be the arc length corresponding to the starting point of lane segment j. For each first bounding box in the first bounding box set, the second arc length corresponding to the first bounding box can be the minimum arc length of that first bounding box along the reference line, and the third arc length corresponding to the first bounding box can be the maximum arc length of that first bounding box along the reference line.

[0073] For example, the electronic device can obtain the second bounding box located in the first lateral bypass space 1 based on the fifth width and the sixth width corresponding to the first bounding box 1, and determine the first longitudinal bypass space corresponding to the j-th lane segment based on the first arc length corresponding to the j-th lane segment, the second arc length corresponding to the second bounding box, and the third arc length corresponding to the second bounding box.

[0074] For example, after determining that there is a potentially passable first lateral bypass space 1 in lane segment j, the electronic equipment can determine a second bounding box that laterally covers the first lateral bypass space 1, that is, determine the first bounding box set where the sixth width ≥ And the fifth width is less than or equal to the fifth width of the first bounding box 1.

[0075] After determining the second bounding box, the electronic device can sort the second bounding boxes according to their starting points based on the arc lengths corresponding to them, and merge overlapping or adjacent second bounding boxes to obtain a merged set of second bounding boxes. Additionally, the electronic device can initialize the longitudinal starting point of the first longitudinal passageway space. After obtaining the second bounding box set, the electronic device can sequentially traverse the second bounding box set to obtain the first second bounding box in the set, and then determine the second arc length and vertical starting point corresponding to the first second bounding box. Determine the first longitudinal borrowing space 1 corresponding to the j-th lane segment. For example, the first longitudinal borrowing space 1 corresponding to the j-th lane segment = the second arc length corresponding to the first second bounding box - the longitudinal starting point. When the first longitudinal borrowing space corresponding to the j-th lane segment is greater than or equal to the longitudinal safety buffer length... At that time, the electronic device can update the vertical starting point based on the third arc length corresponding to the first second bounding box. For example, the updated vertical starting point =max( (The third arc length corresponding to the first second bounding box). It can be the vertical starting point before the update, for example, with same.

[0076] Update the vertical starting point Subsequently, the electronic device can continue to acquire a second bounding box from the second bounding box set, and can determine the second bounding box based on the second arc length and vertical starting point corresponding to the second bounding box. Determine the first longitudinal borrowing space 2 corresponding to the j-th lane segment. For example, the first longitudinal borrowing space 2 corresponding to the j-th lane segment = the second arc length corresponding to the second second bounding box - the longitudinal starting point. When the first longitudinal borrowing space 2 corresponding to the j-th lane segment is greater than or equal to the longitudinal safety buffer length. At that time, the electronic device can update the vertical starting point based on the third arc length corresponding to the second bounding box. Specifically, the electronic device updates the vertical starting point based on the third arc length corresponding to the second bounding box. For details, please refer to the aforementioned description of updating the vertical starting point of the electronic device based on the third arc length corresponding to the first second bounding box. For the sake of brevity, it will not be repeated here. For example, the updated vertical starting point could be... The larger of the third arc lengths corresponding to the second second bounding box.

[0077] Similarly, based on the last second bounding box P in the second bounding box set, determine the first longitudinal borrowing space P corresponding to the j-th lane segment, which is greater than or equal to the longitudinal safety buffer length. At time k, the electronic device can determine that the first longitudinal lane-sharing space corresponding to lane j is safe for vehicles to pass. At this point, the electronic device can also determine that lane j is passable at time k. In other words, based on the above lane-sharing judgment, the electronic device can perform a precise search for lane-sharing space, thereby enabling more aggressive yet safe lane-sharing (e.g., lane-sharing with small gaps to the side), reducing missed lane-sharing due to conservative judgments, improving lane-sharing decision-making efficiency, and increasing the success rate of lane-sharing.

[0078] It should be noted that, in any of the second bounding boxes in the second bounding box set, the first longitudinal borrowing space corresponding to the j-th lane segment is less than the longitudinal safety buffer length. When the electronic device determines that there is no longitudinal space for safe passage of vehicles in the j-th lane segment under the first lateral lane-sharing space 1, the electronic device can update the left starting position according to the first bounding box 1, wherein the updated left starting position max( (The fifth width corresponding to the first bounding box 1). Update the starting position on the left. Afterwards, the electronic device can continue to traverse the first bounding box set to obtain the first bounding box 2 in the first bounding box set, and determine the first horizontal access space 2 based on the fifth width corresponding to the first bounding box 2. In the first lateral passage space 2 > lateral safety buffer width At that time, the electronic device can determine that there is a potentially passable first lateral lane-sharing space 2 in the j-th lane segment, and based on the first lateral lane-sharing space 2, it can determine whether there is a first longitudinal lane-sharing space for safe passage of vehicles in the j-th lane segment. It should be understood that the specific details of the electronic device determining whether there is a safe longitudinal lane-sharing space for vehicles in the j-th lane segment based on the first lateral lane-sharing space 2 can be found in the aforementioned description of the electronic device determining whether there is a safe longitudinal lane-sharing space for vehicles in the j-th lane segment based on the first lateral lane-sharing space 1, and will not be repeated here.

[0079] In one embodiment, based on the left boundary of the reference lane, the first lateral lane-crossing space corresponding to the j-th lane segment is smaller than the lateral safety buffer width corresponding to the vehicle. At this time, the electronic device can determine the second lateral lane-sharing space corresponding to the j-th lane segment, starting from the right boundary of the reference lane. For example, the electronic device can initialize the available right-hand starting position. Subsequently, the electronic device can sequentially traverse the first bounding box set. For example, it can obtain the first bounding box 1 in the first bounding box set, and determine the second horizontal access space 1 based on the starting position on the right and the sixth width corresponding to the first bounding box 1. In the second lateral passage space, 1 > lateral safety buffer width. At that time, the electronic equipment can determine that there is a potentially passable second lateral bypass space in the j-th lane segment.

[0080] After determining that there is a potentially passable second lateral lane-sharing space 1 in lane segment j, the electronic device can determine the first longitudinal lane-sharing space corresponding to lane segment j based on the first arc length corresponding to lane segment j, the second arc length and the third arc length corresponding to each first bounding box in the first bounding box set, and then determine the passability of lane segment j in time step k based on the first longitudinal lane-sharing space corresponding to lane segment j. It should be understood that the specific details of the electronic device determining the first longitudinal lane-sharing space corresponding to lane segment j after determining that there is a potentially passable second lateral lane-sharing space 1 in lane segment j, and the specific details of determining the passability of lane segment j in time step k based on the first longitudinal lane-sharing space corresponding to lane segment j, can refer to the aforementioned description of the electronic device determining the first longitudinal lane-sharing space corresponding to lane segment j after determining that there is a potentially passable first lateral lane-sharing space 1 in lane segment j, and the relevant description of determining the passability of lane segment j in time step k based on the first longitudinal lane-sharing space corresponding to lane segment j, which will not be repeated here.

[0081] S104. Electronic devices control vehicles to use lanes based on the passability of at least one lane segment.

[0082] In this embodiment of the application, when the drivability of each lane segment is drivable in each time step corresponding to the first time, the electronic device can control the vehicle to borrow a lane to the reference lane, so as to realize the vehicle borrowing a lane accurately and safely, thereby improving the safety of autonomous driving.

[0083] For example, if the accessibility of any lane segment is impassable at any time step, the electronic device will not control the vehicle to change lanes to the reference lane. In this case, the electronic device can select the dynamic obstacle with the smallest longitudinal position from all dynamic obstacles in the reference lane, so that the vehicle's upper-level planning module can make targeted avoidance or deceleration decisions, thereby improving the safety of vehicle driving.

[0084] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0085] Corresponding to the vehicle lane-changing method described in the above embodiments, Figure 2 The structural block of the vehicle lane-changing device provided in an embodiment of this application is shown. For ease of explanation, Figure 2 Only the parts relevant to the embodiments of this application are shown. Figure 2 As shown, the vehicle lane-changing device may include: The road segment determination module 201 is used to determine the first road segment in the reference lane; the reference lane is the lane that the vehicle needs to use, and the first road segment is the road segment in front of the vehicle. Lane segment determination module 202 is used to determine at least one lane segment corresponding to the first road segment; The passability determination module 203 is used to determine the passability of the at least one lane segment based on the first width and the second width corresponding to the at least one lane segment; for each lane segment, the first width corresponding to the lane segment is the minimum width of the left boundary of the lane segment and the reference lane, and the second width corresponding to the lane segment is the minimum width of the right boundary of the lane segment and the reference lane. The lane-borrowing control module 204 is used to control the vehicle to borrow lanes based on the passability of the at least one lane segment.

[0086] In some embodiments, the lane segment determination module 202 is used to obtain a reference line point sequence corresponding to the first road segment; the reference line point sequence includes multiple reference line points, which are points on the reference line corresponding to the reference lane located on the first road segment; the first road segment is divided into at least one lane segment according to the third width and fourth width corresponding to the multiple reference line points; each lane segment includes a road segment where multiple reference line points are located, the third width corresponding to the reference line point is the width between the reference line point and the left boundary of the reference lane, and the fourth width corresponding to the reference line point is the width between the reference line point and the right boundary of the reference lane.

[0087] In some embodiments, the passability determination module 203 is used to acquire dynamic obstacles corresponding to the reference lane; and determine the passability of the at least one lane segment based on the dynamic obstacles corresponding to the reference lane and the first width and second width corresponding to the at least one lane segment.

[0088] For example, the passability determination module 203 is used to determine the first time when the vehicle passes through the first road segment and divide the first time into multiple time steps; obtain the dynamic obstacles corresponding to the reference lane in each time step; and determine the passability of the at least one lane segment in each time step based on the dynamic obstacles corresponding to the reference lane in each time step and the first width and second width corresponding to the at least one lane segment.

[0089] In one embodiment, the drivability determination module 203 is used to obtain the original bounding box of the dynamic obstacle corresponding to the reference lane in the k-th time step; 1≤k≤K, where K is the total number of time steps; expand the original bounding box of the dynamic obstacle in the k-th time step according to the lateral safety buffer width and longitudinal safety buffer length corresponding to the vehicle to obtain the target bounding box of the dynamic obstacle in the k-th time step; the lateral safety buffer width corresponding to the vehicle is determined according to the width of the vehicle, and the longitudinal safety buffer length corresponding to the vehicle is determined according to the length of the vehicle; determine the drivability of the at least one lane segment in the k-th time step according to the target bounding box of the dynamic obstacle in the k-th time step, and the first width and second width corresponding to the at least one lane segment.

[0090] For example, the passability determination module 203 is configured to determine a first bounding box located in the j-th lane segment based on the target bounding box of the dynamic obstacle in the k-th time step; the first bounding box is the bounding box within the target bounding box; 1≤j≤J, where J is the total number of the at least one lane segment; and determine a first lateral access space corresponding to the j-th lane segment based on the first width corresponding to the j-th lane segment, the fifth width corresponding to the first bounding box, and the sixth width corresponding to the first bounding box; the fifth width corresponding to the first bounding box is the minimum width between the first bounding box and the left boundary of the reference lane, and the sixth width corresponding to the first bounding box is the minimum width between the first bounding box and the reference lane. The maximum width of the left boundary of the lane; when the first lateral lane-sharing space is greater than or equal to the lateral safety buffer width corresponding to the vehicle, the first longitudinal lane-sharing space corresponding to the j-th lane segment is determined according to the first arc length corresponding to the j-th lane segment, the second arc length corresponding to the first enclosing frame, and the third arc length corresponding to the first enclosing frame; the first arc length corresponding to the j-th lane segment is the arc length corresponding to the starting point of the j-th lane segment, the second arc length corresponding to the first enclosing frame is the minimum cumulative arc length of the first enclosing frame along the reference line; the third arc length corresponding to the first enclosing frame is the maximum cumulative arc length of the first enclosing frame along the reference line; the passability of the j-th lane segment is determined according to the first longitudinal lane-sharing space.

[0091] In one embodiment, the passability determination module 203 is used to obtain a second bounding box located in the first lateral bypass space based on the fifth width and the sixth width corresponding to the first bounding box; and to determine the first longitudinal bypass space corresponding to the j-th lane segment based on the first arc length corresponding to the j-th lane segment, the second arc length corresponding to the second bounding box, and the third arc length corresponding to the second bounding box.

[0092] In some embodiments, the passability determination module 203 is further configured to: when all first lateral lane-crossing spaces corresponding to the j-th lane segment are determined to be less than the lateral safety buffer width corresponding to the vehicle, determine a second lateral lane-crossing space corresponding to the j-th lane segment based on the second width corresponding to the j-th lane segment, the fifth width corresponding to the first enclosing frame, and the sixth width corresponding to the first enclosing frame; when the second lateral lane-crossing space is greater than or equal to the lateral safety buffer width corresponding to the vehicle, determine a second longitudinal lane-crossing space corresponding to the j-th lane segment based on the first arc length corresponding to the j-th lane segment, the second arc length corresponding to the first enclosing frame, and the third arc length corresponding to the first enclosing frame; and determine the passability of the j-th lane segment based on the second longitudinal lane-crossing space.

[0093] In some embodiments, the lane-borrowing control module 204 is used to control the vehicle to borrow a lane to the reference lane when the passability of each lane segment is passable in each of the time steps.

[0094] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0095] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0096] Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 3 As shown, the electronic device 3 of this embodiment includes: at least one processor 30 ( Figure 3 (Only one is shown in the diagram), memory 31, and computer program 32 stored in said memory 31 and executable on said at least one processor 30, which, when executed by said processor 30, implements the steps in any of the above-described vehicle lane-change method embodiments.

[0097] The electronic device 3 may be a mobile phone, tablet computer, wearable device, in-vehicle device, AR / VR device, laptop computer, UMPC, netbook, PDA, etc. The electronic device 3 may include, but is not limited to, a processor 30 and a memory 31. Those skilled in the art will understand that... Figure 3 The electronic device 3 is merely an example and does not constitute a limitation on the electronic device 3. It may include more or fewer components than shown in the figure, or combine certain components, or different components. For example, it may also include input / output devices, network access devices, etc.

[0098] The processor 30 can be a central processing unit (CPU), or it can be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0099] In some embodiments, the memory 31 may be an internal storage unit of the electronic device 3, such as a hard disk or memory of the electronic device 6. In other embodiments, the memory 31 may be an external storage device of the electronic device 6, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the electronic device 3. Furthermore, the memory 31 may include both internal and external storage units of the electronic device 3. The memory 31 is used to store the operating system, applications, bootloader, data, and other programs, such as the program code of the computer program. The memory 31 can also be used to temporarily store data that has been output or will be output.

[0100] This application also provides a computer-readable storage medium storing a computer program that, when executed by an electronic device, causes the electronic device to implement the steps in the above-described vehicle lane-change method embodiments.

[0101] This application provides a computer program product, which includes a computer program. When the computer program is executed by an electronic device, the electronic device performs the steps described in the above-described vehicle lane-change method embodiments.

[0102] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of this application can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable storage medium can include at least: any entity or device capable of carrying computer program code to a device / electronic device, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium. Examples include USB flash drives, portable hard drives, magnetic disks, or optical disks.

[0103] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0104] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0105] In the embodiments provided in this application, it should be understood that the disclosed devices / electronic devices and methods can be implemented in other ways. For example, the device / electronic device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual couplings or direct couplings or communication connections may be through some interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0106] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0107] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A method for vehicles to change lanes, characterized in that, include: Identify the first segment in the reference lane; The reference lane is the lane that the vehicle needs to use, and the first road segment is the road segment in front of the vehicle. Determine at least one lane segment corresponding to the first road segment; The passability of the at least one lane segment is determined based on the first width and the second width corresponding to the at least one lane segment; For each lane segment, the first width corresponding to the lane segment is the minimum width of the left boundary of the lane segment and the reference lane, and the second width corresponding to the lane segment is the minimum width of the right boundary of the lane segment and the reference lane. The vehicle is controlled to use another lane based on the passability of the at least one lane segment.

2. The vehicle lane-changing method according to claim 1, characterized in that, Determining at least one lane segment corresponding to the first road segment includes: Obtain the reference line point sequence corresponding to the first road segment; the reference line point sequence includes multiple reference line points, and the multiple reference line points are points located on the reference line corresponding to the reference lane and located in the first road segment; The first road segment is divided into at least one lane segment based on the third width and fourth width corresponding to the multiple reference line points; each lane segment includes a road segment composed of multiple reference line points, the third width corresponding to the reference line point is the width between the reference line point and the left boundary of the reference lane, and the fourth width corresponding to the reference line point is the width between the reference line point and the right boundary of the reference lane.

3. The vehicle lane-changing method according to claim 1 or 2, characterized in that, Determining the passability of the at least one lane segment based on the first width and the second width corresponding to the at least one lane segment includes: Obtain the dynamic obstacles corresponding to the reference lane; The passability of the at least one lane segment is determined based on the dynamic obstacles corresponding to the reference lane and the first and second widths corresponding to the at least one lane segment.

4. The vehicle lane-changing method according to claim 3, characterized in that, The step of acquiring the dynamic obstacle corresponding to the reference lane includes: Determine the first time when the vehicle passes through the first road segment, and divide the first time into multiple time steps; Obtain the dynamic obstacles corresponding to the reference lane in each of the time steps; Determining the passability of the at least one lane segment based on the dynamic obstacle corresponding to the reference lane and the first width and second width corresponding to the at least one lane segment includes: Based on the dynamic obstacles corresponding to the reference lane in each time step, and the first width and second width corresponding to the at least one lane segment, the passability of the at least one lane segment in each time step is determined.

5. The vehicle lane-changing method according to claim 4, characterized in that, Determining the passability of the at least one lane segment in each time step based on the dynamic obstacles corresponding to the reference lane and the first and second widths corresponding to the at least one lane segment in each time step includes: Obtain the original bounding box of the dynamic obstacle corresponding to the reference lane at the k-th time step; 1≤k≤K, where K is the total number of time steps; Based on the lateral safety buffer width and longitudinal safety buffer length corresponding to the vehicle, the original bounding box of the dynamic obstacle in the k-th time step is expanded to obtain the target bounding box of the dynamic obstacle in the k-th time step; the lateral safety buffer width corresponding to the vehicle is determined according to the width of the vehicle, and the longitudinal safety buffer length corresponding to the vehicle is determined according to the length of the vehicle. Based on the target bounding box of the dynamic obstacle in the k-th time step, and the first width and second width corresponding to the at least one lane segment, the passability of the at least one lane segment in the k-th time step is determined.

6. The vehicle lane-changing method according to claim 5, characterized in that, Determining the passability of the at least one lane segment in the k-th time step based on the target bounding box of the dynamic obstacle and the first and second widths corresponding to the at least one lane segment includes: Based on the target bounding box of the dynamic obstacle in the k-th time step, a first bounding box located in the j-th lane segment is determined; the first bounding box is the bounding box in the target bounding box; 1≤j≤J, where J is the total number of the at least one lane segment; Based on the first width corresponding to the j-th lane segment, the fifth width corresponding to the first enclosing frame, and the sixth width corresponding to the first enclosing frame, the first lateral borrowing space corresponding to the j-th lane segment is determined; the fifth width corresponding to the first enclosing frame is the minimum width of the left boundary between the first enclosing frame and the reference lane, and the sixth width corresponding to the first enclosing frame is the maximum width of the left boundary between the first enclosing frame and the reference lane. When the first lateral lane-sharing space is greater than or equal to the lateral safety buffer width corresponding to the vehicle, the first longitudinal lane-sharing space corresponding to the j-th lane segment is determined according to the first arc length corresponding to the j-th lane segment, the second arc length corresponding to the first enclosing frame, and the third arc length corresponding to the first enclosing frame; the first arc length corresponding to the j-th lane segment is the arc length corresponding to the starting point of the j-th lane segment, the second arc length corresponding to the first enclosing frame is the minimum arc length of the first enclosing frame along the reference line, and the third arc length corresponding to the first enclosing frame is the maximum arc length of the first enclosing frame along the reference line; Based on the first longitudinal borrowing space, the passability of the j-th lane segment is determined.

7. The vehicle lane-changing method according to claim 6, characterized in that, The step of determining the first longitudinal borrowing space corresponding to the j-th lane segment based on the first arc length corresponding to the j-th lane segment, the second arc length corresponding to the first bounding box, and the third arc length corresponding to the first bounding box includes: Based on the fifth and sixth widths corresponding to the first bounding box, obtain the second bounding box located in the first horizontal passage space; The first longitudinal borrowing space corresponding to the j-th lane segment is determined based on the first arc length corresponding to the j-th lane segment, the second arc length corresponding to the second bounding box, and the third arc length corresponding to the second bounding box.

8. The vehicle lane-changing method according to claim 6, characterized in that, After determining the first lateral lane-sharing space corresponding to the j-th lane segment based on the first width corresponding to the j-th lane segment, the fifth width corresponding to the first bounding frame, and the sixth width corresponding to the first bounding frame, the vehicle lane-sharing method further includes: When it is determined that all the first lateral lane-crossing spaces corresponding to the j-th lane segment are less than the lateral safety buffer width corresponding to the vehicle, the second lateral lane-crossing space corresponding to the j-th lane segment is determined according to the second width corresponding to the j-th lane segment, the fifth width corresponding to the first enclosure frame, and the sixth width corresponding to the first enclosure frame. When the second lateral lane-sharing space is greater than or equal to the lateral safety buffer width corresponding to the vehicle, the second longitudinal lane-sharing space corresponding to the j-th lane segment is determined according to the first arc length corresponding to the j-th lane segment, the second arc length corresponding to the first enclosing frame, and the third arc length corresponding to the first enclosing frame. The passability of the j-th lane segment is determined based on the second longitudinal borrowing space.

9. The vehicle lane-changing method according to any one of claims 4 to 8, characterized in that, The step of controlling the vehicle to use another lane based on the passability of the at least one lane segment includes: When the passability of each lane segment is passable in each of the time steps, the vehicle is controlled to transfer to the reference lane.

10. A vehicle lane device, characterized in that, include: The road segment determination module is used to determine the first road segment in the reference lane; The reference lane is the lane that the vehicle needs to use, and the first road segment is the road segment in front of the vehicle. The lane segment determination module is used to determine at least one lane segment corresponding to the first road segment; A passability determination module is used to determine the passability of the at least one lane segment based on a first width and a second width corresponding to the at least one lane segment; For each lane segment, the first width corresponding to the lane segment is the minimum width of the left boundary of the lane segment and the reference lane, and the second width corresponding to the lane segment is the minimum width of the right boundary of the lane segment and the reference lane. The lane-change control module is used to control the vehicle to change lanes based on the passability of the at least one lane segment.

11. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it causes the electronic device to implement the vehicle lane method as described in any one of claims 1 to 9.

12. A vehicle, characterized in that, The vehicle includes the electronic equipment as described in claim 11.

13. A computer program product, the computer program product comprising a computer program, characterized in that, When the computer program is executed by the electronic device, the electronic device implements the vehicle lane method as described in any one of claims 1 to 9.

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