Method and device for determining vehicle traffic efficiency, vehicle

Abstract

The present invention provides a method and device for identifying vehicle traffic efficiency, and relates to a vehicle, and relates to the field of smart driving technology. [Solution] The vehicle traffic efficiency identification method includes the steps of identifying obstructing vehicles, including a vehicle ahead of the traveling vehicle in the same lane and a vehicle ahead of the traveling vehicle in another lane, corresponding to each lane of the traveling vehicle, identifying a vehicle blocking cost parameter based on a first speed of the traveling vehicle and a second speed of the vehicle ahead of the traveling vehicle in the same lane, acquiring an obstacle blocking cost parameter of the vehicle ahead of the traveling vehicle in another lane, and identifying a lane traffic efficiency representing an expected traffic smoothness situation when the traveling vehicle enters and travels in a lane based on the vehicle blocking cost parameter, the obstacle blocking cost parameter and a blocking weighting coefficient, thereby selecting a change lane in which the vehicle will change lanes according to the lane traffic efficiency. The present invention can satisfy the requirements for stability and safety of identifying the lane change intention of the vehicle, and significantly improve the planning accuracy of lane change.

Description

[Technical Field]

[0001] The present invention relates to the technical field of smart driving, and in particular to a method and apparatus for determining vehicle traffic efficiency, and a vehicle. [Background technology]

[0002] With the rapid development of intelligent driving technology, the control of vehicle driving process is becoming more and more precise, among which, it is common for a vehicle to change lanes during driving to meet different driving plan needs.

[0003] Currently, conventional methods for identifying a vehicle's lane change intention generally involve smart prediction based on a machine learning algorithm, which then identifies the vehicle's lane change intention and then creates a lane change driving plan. For example, sensing information, map information, vehicle state information, etc. are used as input parameters for the machine learning algorithm to obtain output parameters including the lane change direction, etc. However, the lane change intention of a vehicle identified based on the machine learning algorithm requires training using a large amount of historical data, which can cause instability in the lane change intention and significantly increase safety risks during vehicle driving, thereby failing to meet the requirements for stability and safety in identifying the vehicle's lane change intention. Therefore, there is an urgent need for a method for identifying vehicle traffic efficiency that solves the above problems and creates a lane change planning plan for a vehicle. Summary of the Invention [Problem to be solved by the invention]

[0004] In view of this, the present invention provides a method and apparatus for identifying vehicle traffic efficiency, and a vehicle, which are primarily intended to solve the problem of poor stability in identifying lane change intentions of conventional vehicles. [Means for solving the problem]

[0005] One aspect of the present invention provides a method for determining vehicle traffic efficiency, the method comprising: A step of identifying obstructing vehicles corresponding to each lane of the traveling vehicle, including a vehicle ahead of the traveling vehicle in the same lane and a vehicle ahead of the traveling vehicle in a different lane; determining a vehicle blocking cost parameter based on a first speed of the traveling vehicle and a second speed of the preceding vehicle in the same lane, and obtaining an obstacle blocking cost parameter of the preceding vehicle in the different lane; The method includes a step of determining a lane traffic efficiency based on the vehicle blocking cost parameter, the obstacle blocking cost parameter, and the blocking weight coefficient to represent the expected traffic smoothness situation when the traveling vehicle enters and travels in a lane, and selecting a change lane for the vehicle to change lanes in accordance with the lane traffic efficiency.

[0006] In an embodiment of the present invention, an obstructing vehicle corresponding to each lane of a moving vehicle is identified, and the obstructing vehicles include a vehicle in front of the moving vehicle in the same lane and a vehicle in front of the moving vehicle in another lane. A vehicle blocking cost parameter is determined based on a first speed of the moving vehicle and a second speed of the vehicle in front of the moving vehicle in the same lane. An obstacle blocking cost parameter of the vehicle in front of the other lane is obtained. A lane passing efficiency is determined based on the vehicle blocking cost parameter, the obstacle blocking cost parameter, and the blocking weight coefficient to represent the expected traffic smoothness situation when the moving vehicle enters a lane. A lane to change lanes for the vehicle to change lanes is selected according to the lane passing efficiency. The lane passing efficiency can be directly calculated using a linear calculation method and used as the basis for lane change decisions, which greatly improves the accuracy of lane change intention recognition, meets the requirements for stability and safety in identifying a vehicle's lane change intention, and improves the accuracy of lane change planning.

[0007] Furthermore, the obstacle blocking cost parameter includes a blocked cost parameter and a self-blocking cost parameter, and acquiring the obstacle blocking cost parameter of the leading vehicle in the other lane includes: determining a blocked cost parameter based on a difference between a third speed of the leading vehicle in the different lane and a fourth speed of the related leading vehicle; determining a self-interdiction cost parameter based on the third speed, the fourth speed and a lane reference speed; The lane reference speed is determined based on a predetermined driving speed and a minimum lane speed.

[0008] Further, determining lane passage efficiency based on the vehicle blocking cost parameter, the obstacle blocking cost parameter, and the blocking weighting factor includes: determining a vehicle blocking efficiency based on a product of the vehicle blocking cost parameter and a first blocking weighting factor; Calculating a first multiplication value of the blocked cost parameter and the first blocking weight coefficient, and a first multiplication value of the self-blocking cost parameter and the second blocking weight coefficient, and obtaining an obstacle blocking efficiency based on a sum of the first multiplication values; determining a lane passage efficiency based on the sum of the vehicle blocking efficiency and the obstacle blocking efficiency.

[0009] Furthermore, determining a lane passage efficiency based on the sum of the vehicle blocking efficiency and the obstacle blocking efficiency includes: acquiring a first collision weight with a vehicle ahead in the same lane of the traveling vehicle and a second collision weight with a vehicle ahead in a different lane; The method includes calculating a second multiplication value of the vehicle blocking efficiency and a first collision weight, and a second multiplication value of the obstacle blocking efficiency and a second collision weight, and determining a lane passage efficiency based on the sum of the second multiplication values.

[0010] Furthermore, identifying an obstructing vehicle corresponding to each lane of the traveling vehicle includes: Searching for all preceding obstructing vehicles corresponding to the traveling position of the traveling vehicle; and identifying a preceding vehicle in the same lane and a preceding vehicle in a different lane based on the lane position of the preceding obstructing vehicle.

[0011] Furthermore, after determining lane traffic efficiency based on the vehicle blocking cost parameter, the obstacle blocking cost parameter, and the blocking weight coefficient, the vehicle traffic efficiency determination method includes: acquiring driving state information of the traveling vehicle; The method further includes a step of triggering a lane change driving plan operation of the vehicle when the driving state information does not match the lane change suppression policy of the target lane.

[0012] Furthermore, the vehicle traffic efficiency specification method includes: activating a lane change cool-down timer when the vehicle collision time in the target lane does not match a reference collision time or when the driving state information matches a lane change suppression policy of the target lane; The method further includes a step of re-executing the step of identifying an obstructing vehicle corresponding to each lane of the traveling vehicle when the cool-down timing reaches a predetermined cool-down time interval.

[0013] Another aspect of the present invention provides a vehicle traffic efficiency determination device, the vehicle traffic efficiency determination device comprising: a first identification module for identifying an obstructing vehicle corresponding to each lane of the traveling vehicle, the obstructing vehicle including a vehicle ahead of the traveling vehicle in the same lane and a vehicle ahead of the traveling vehicle in a different lane; an acquisition module for determining a vehicle blocking cost parameter based on a first speed of the traveling vehicle and a second speed of a leading vehicle in the same lane, and acquiring an obstacle blocking cost parameter of the leading vehicle in the different lane; and a second identification module for identifying a lane traffic efficiency representing an expected traffic smoothness situation when the traveling vehicle enters and travels in a lane based on the vehicle blocking cost parameter, the obstacle blocking cost parameter, and the blocking weighting coefficient, and for selecting a change lane for the vehicle to change lanes in accordance with the lane traffic efficiency.

[0014] Further, the obstacle blocking cost parameter includes a blocked cost parameter and a self-blocking cost parameter, and the acquisition module: a first determination means for determining a blocked cost parameter based on a difference between a third speed of the preceding vehicle in the different lane and a fourth speed of the related preceding vehicle; and a second determination means for determining a self-interdiction cost parameter based on the third speed, the fourth speed, and a lane reference speed determined based on a predetermined traveling speed and a lane minimum speed.

[0015] Furthermore, the second identification module a third determination means for determining a vehicle blocking efficiency based on a multiplication value of the vehicle blocking cost parameter and a first blocking weighting factor; a calculation means for calculating a first multiplication value of the blocked cost parameter and the first blocking weight coefficient, and a first multiplication value of the self-blocking cost parameter and the second blocking weight coefficient, and obtaining an obstacle blocking efficiency based on a sum of the first multiplication values; and a fourth determination means for determining a lane traffic efficiency based on the sum of the vehicle blocking efficiency and the obstacle blocking efficiency.

[0016] Furthermore, the fourth identification means specifically acquires a first collision weight with a vehicle in front in the same lane of the traveling vehicle and a second collision weight with a vehicle in front in a different lane, calculates a second multiplication value of the vehicle blocking efficiency and the first collision weight, and a second multiplication value of the obstacle blocking efficiency and the second collision weight, and identifies the lane traffic efficiency based on the sum of the second multiplication values.

[0017] Furthermore, the first identification module a search means for searching for all preceding obstructing vehicles corresponding to the traveling position of the traveling vehicle; and a fifth identification means for identifying a preceding vehicle in the same lane and a preceding vehicle in a different lane based on the lane position where the preceding obstructing vehicle is located.

[0018] The apparatus further comprises a trigger module; The acquisition module acquires driving state information of the driving vehicle, The trigger module triggers a lane change driving plan operation of the vehicle when the driving state information does not match a lane change suppression policy of the target lane.

[0019] Furthermore, the device an activation module for activating a lane change cool-down timer when the vehicle collision time in the target lane does not match a reference collision time or when the driving state information matches a lane change suppression policy of the target lane; and an execution module for re-executing the step of identifying an obstructing vehicle corresponding to each lane of the traveling vehicle when the cool-down timing reaches a predetermined cool-down time interval.

[0020] Another aspect of the present invention provides a vehicle, the vehicle including the vehicle traffic efficiency determination device.

[0021] Another aspect of the present invention provides a readable storage medium having a program or instructions stored thereon, the program or instructions being executed by a processor to perform the steps of the method for determining vehicle traffic efficiency.

[0022] Another aspect of the present invention provides a computer device including at least one processor coupled to a memory, the memory storing programs or instructions to be executed by the processor, the programs or instructions being executed by the processor to perform the steps of the method for determining vehicle traffic efficiency.

[0023] The above description is only a summary of the solution of the present invention, which can be implemented in accordance with the contents of the specification so as to make the technical solution of the present invention more clearly understood. In addition, in order to make the above and other objects, features and advantages of the present invention more clearly understood, the following provides specific embodiments of the present invention.

[0024] Various other benefits and advantages will become apparent to those skilled in the art upon reading the following detailed description of the preferred embodiments. The drawings are merely for the purpose of illustrating the preferred embodiments and are not to be construed as limiting the invention. The same reference numerals are used throughout the drawings to refer to the same parts. [Brief explanation of the drawings]

[0025] [Figure 1] 1 shows a flowchart of a method for determining vehicle traffic efficiency according to an embodiment of the present invention. [Figure 2] 10 shows a flowchart of another method for determining vehicle traffic efficiency according to an embodiment of the present invention. [Figure 3] 1 is a schematic diagram showing sensing of an interfering vehicle in another lane or the same lane as a traveling vehicle according to an embodiment of the present invention; [Figure 4] 10 shows a flowchart of another method for determining vehicle traffic efficiency according to an embodiment of the present invention. [Figure 5] 1 shows a configuration block diagram of a vehicle traffic efficiency specifying device according to an embodiment of the present invention. [Figure 6] 1 is a structural schematic diagram of a terminal according to an embodiment of the present invention; DETAILED DESCRIPTION OF THE INVENTION

[0026]

[0023] Exemplary embodiments of the present invention will now be described in more detail with reference to the drawings. While the drawings illustrate exemplary embodiments of the present invention, it should be understood that the present invention may be embodied in various forms and should not be limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0027] An embodiment of the present invention provides a method for determining vehicle traffic efficiency, as shown in Figure 1, the method includes steps 101 to 103.

[0028] In step 101, an obstructing vehicle corresponding to each lane of traveling vehicles is identified. In an embodiment of the present invention, in the trajectory planning process for an unmanned smart vehicle, the autonomous driving processor that is the current executing entity may be a processor located on the vehicle itself or a cloud server of a matching vehicle. In this case, the current executing entity identifies obstructing vehicles corresponding to each lane of the moving vehicle and calculates vehicle traffic efficiency to determine whether the moving vehicle can change lanes to the corresponding lanes. Here, the obstructing vehicles include vehicles ahead of the moving vehicle in the same lane and vehicles ahead of the moving vehicle in a different lane. A forward vehicle in the same lane is a vehicle ahead of the moving vehicle in the same lane, and a forward vehicle in a different lane is a vehicle ahead of the moving vehicle in a different lane. These forward vehicles may be multiple or may be one. In this case, the different lanes are preferably identified as the left and right lanes of the same lane, but are not specifically limited in this embodiment of the present invention.

[0029] The vehicle is a vehicle having an automatic control system in an autonomous driving scenario, and includes passenger cars and commercial vehicles. Typical passenger car models include, but are not limited to, sedans, sport utility vehicles, and multi-person commercial vehicles. Typical commercial vehicle models include, but are not limited to, picocars, pickers, dump trucks, carts, tow trucks, trailers, and mining vehicles. In this case, the vehicle may perform autonomous driving based on the automatic control system.

[0030] In step 102, a vehicle blocking cost parameter is determined based on the first speed of the traveling vehicle and the second speed of the preceding vehicle in the same lane, and an obstacle blocking cost parameter of the preceding vehicle in the different lane is obtained.

[0031] In an embodiment of the present invention, since the driving state of a moving vehicle in the same lane is limited by the speed of a preceding vehicle in the same lane, the current executing entity determines the vehicle blocking cost parameter based on a first speed of the moving vehicle and a second speed of a preceding vehicle in the same lane. Here, the current executing entity may determine the first speed and the second speed by scanning the moving vehicle and the preceding vehicle in the same lane via a sensing system. This makes it easier for the current executing entity to calculate the vehicle blocking cost parameter. Specifically, the vehicle blocking cost parameter satisfies egoBlockedCost=max(v_ego-v_lead, 0), where v_ego is the first speed and v_lead is the second speed. That is, the maximum value between the difference between the first speed and the second speed and 0 is determined as the vehicle blocking cost parameter.

[0032] It should be noted that when a moving vehicle changes lanes, the driving state after the lane change is limited by the speed of the preceding vehicle in the lane to be changed, so the current executing entity obtains an obstacle blocking cost parameter of the preceding vehicle in another lane. The obstacle blocking cost parameter includes a blocked cost parameter and a self-blocking cost parameter. The blocked cost parameter is used to represent the situation in which the moving vehicle is affected by the speed of the preceding vehicle in the lane to be changed after the lane change, and the self-blocking cost parameter is used to represent the situation in which the moving vehicle is affected by the speed limit of the lane to be changed and the automatic driving set speed after the lane change, thereby determining the lane passing efficiency in the lane to be changed.

[0033] In step 103, a lane passage efficiency is determined based on the vehicle blocking cost parameter, the obstacle blocking cost parameter, and a blocking weighting factor.

[0034] In an embodiment of the present invention, the lane traffic efficiency is used to represent the expected traffic smoothness situation when the traveling vehicle enters and travels in a lane. This makes it easy for the current executing entity to select a lane to change lanes for the vehicle according to the lane traffic efficiency of each lane. Specifically, the blocking weight coefficient is used to represent the impact situation of taking a blocking measure to predict a collision with another vehicle when the traveling vehicle travels at an autonomous driving set speed and when traveling at a speed limit within the lane. The blocking weight coefficient may be set and calculated based on the collision time or speed between the traveling vehicle and another vehicle. The blocking weight coefficient includes a first blocking weight coefficient and a second blocking weight coefficient, and is not specifically limited in the embodiment of the present invention. After the lane traffic efficiency is determined, it may be determined whether the traveling vehicle will change lanes based on the lane traffic efficiency.

[0035] In another embodiment of the present invention, for further explanation and limitation, the obstacle blocking cost parameter includes a blocked cost parameter and a self-blocking cost parameter, and obtaining the obstacle blocking cost parameter of the leading vehicle in the other lane includes: determining a blocked cost parameter based on a difference between a third speed of the leading vehicle in the different lane and a fourth speed of the related leading vehicle; determining a self-interdiction cost parameter based on the third speed, the fourth speed, and a lane reference speed.

[0036] To accurately obtain the obstacle blocking cost parameter of the preceding vehicle in the other lane and improve the calculation efficiency of lane passing efficiency to ensure that vehicles can change lanes safely and effectively, the current executing entity determines the blocked cost parameter based on the difference between the third speed of the preceding vehicle in the other lane and the fourth speed of the related preceding vehicle. Here, the third speed of the preceding vehicle in the other lane and the fourth speed of the related preceding vehicle may be determined by a sensing system scanning the lane leading vehicle and the related preceding vehicle. The related preceding vehicle is a vehicle located ahead of the preceding vehicle in the other lane, and the blocked cost parameter satisfies objectBlockedCost=max(v_object-v_object_front, 0), where v_object is the third speed and v_object_front is the fourth speed. That is, after determining the difference between the third speed and the fourth speed, the greater of this difference and 0 is determined as the blocked cost parameter. The lane reference speed is determined based on a predetermined driving speed and a lane minimum speed, where the predetermined driving speed is a preset autonomous driving speed for the traveling vehicle and the lane minimum speed is the lane's minimum speed limit. Furthermore, a self-interdiction cost parameter objectSelfCost=max(min(v_object_front, v_preferred)-v_object, 0) is determined, where v_preferred=min(user_set_velocity, lane_velocity_limit), where user_set_velocity is the predetermined driving speed and lane_velocity_limit is the lane minimum speed. In this way, the smaller of the lane minimum speed and the predetermined driving speed is set as the lane reference speed, and the self-interdiction cost parameter is determined taking into consideration the third and fourth speeds.

[0037] In another embodiment of the present invention, for further explanation and limitation, as shown in FIG. 2, the step of determining lane traffic efficiency based on the vehicle blocking cost parameter, the obstacle blocking cost parameter and the blocking weighting factor includes steps 201 to 203.

[0038] In step 201, a vehicle blocking efficiency is determined based on the product of the vehicle blocking cost parameter and a first blocking weighting factor.

[0039] In step 202, a first multiplication value of the blocked cost parameter and the first blocking weight coefficient, and a first multiplication value of the self-blocking cost parameter and the second blocking weight coefficient are calculated, and the obstacle blocking efficiency is obtained based on the sum of the first multiplication values.

[0040] In step 203, a lane traffic efficiency is determined based on the sum of the vehicle blocking efficiency and the obstacle blocking efficiency.

[0041] In order to improve the effectiveness of the determination of lane traffic efficiency and meet the lane change planning needs based on vehicle traffic efficiency, in an embodiment of the present invention, when determining lane traffic efficiency based on the vehicle blocking cost parameter, the obstacle blocking cost parameter, and the blocking weight coefficient, the blocking weight coefficient includes a first blocking weight coefficient and a second blocking weight coefficient, so that the vehicle blocking efficiency is obtained based on the multiplication value of the vehicle blocking cost parameter and the first blocking weight coefficient, and the multiplication value is denoted as a1*egoBlocked Cost; the multiplication value of the blocked cost parameter and the first blocking weight coefficient is denoted as a1*objectBlocked Cost; and the multiplication value of the self-blocking cost parameter and the second blocking weight coefficient is denoted as a2*objectSelf Cost i The obstacle blocking efficiency is obtained by the sum of the multiplication values:

number

number

[0042] However, LaneEfficiencyCost is the vehicle passing efficiency, egoBlocked Cost is the vehicle blocking cost parameter, objectBlocked Cost is the blocked cost parameter, and objectSelf Cost i is the self-blocking cost parameter, a1 is the first blocking weight coefficient, a2 is the second blocking weight coefficient, i is the i-th vehicle, and N is the total number of specified obstructive vehicles.

[0043] In another embodiment of the present invention, for further explanation and limitation, specifying the lane passing efficiency based on the sum of the vehicle blocking efficiency and the obstacle blocking efficiency is obtaining the first collision weight with the leading vehicle in the same lane of the traveling vehicle and the second collision weight with the leading vehicle in another lane, calculating the second multiplication value of the vehicle blocking efficiency and the first collision weight, and the second multiplication value of the obstacle blocking efficiency and the second collision weight, respectively, and specifying the lane passing efficiency based on the sum of the second multiplication values.

[0044] In order to ensure that no collision occurs between the traveling vehicle and the obstructive vehicle during the process of making a lane change plan based on the lane passing efficiency, the collision weight can also be considered when specifying the lane passing efficiency. In this way, the effectiveness of specifying the lane passing efficiency is improved. Specifically, the current execution entity is the first collision weight ω l with the leading vehicle in the same lane of the traveling vehicle and the second collision weight ω i with the leading vehicle in another lane. When v_object≧v_prefered, the first collision weight ω l is set to 0, and when v_object<v_prefered, it may be specified based on the vehicle collision time ttc = distance / (object_v - v_prefered). That is, the larger the ttc, the smaller the value of the second collision weight ω i , distance is the predetermined following distance, which is set according to the need for lane change, and the first collision weight ω lis set according to the v_lead of the preceding vehicle in the same lane. For example, the higher the speed, the higher the first collision weight ω l The value of is large, and is not specifically limited in the embodiment of the present invention. Specifically, in the embodiment of the present invention, the lane traffic efficiency is specifically defined as

number

[0045] In another embodiment of the present invention, for further explanation and limitation, identifying an obstructing vehicle corresponding to each lane of a moving vehicle includes: Searching for all preceding obstructing vehicles corresponding to the traveling position of the traveling vehicle; and identifying a preceding vehicle in the same lane and a preceding vehicle in a different lane based on the lane position of the preceding obstructing vehicle.

[0046] To accurately identify obstructing vehicles that affect a vehicle's lane change and effectively improve the lane passage efficiency of the vehicle before the lane change, the current executing entity first identifies the vehicle's driving position. All preceding obstructing vehicles corresponding to the vehicle's driving position are then searched for using a sensing system. Here, the driving position refers to a specific lane position in the vehicle's lane. For example, when a vehicle is driving on a four-lane expressway section, the vehicle's driving position can be determined to be in the second lane on the left side using a sensing system or a global positioning system, but this is not limited to this embodiment of the present invention. Furthermore, all preceding obstructing vehicles corresponding to the vehicle's driving position are searched for using sensing coefficients, for example, preceding obstructing vehicle 1, preceding obstructing vehicle 2, and preceding obstructing vehicle 3 corresponding to vehicle ego shown in FIG. 3, but this is not limited to this embodiment of the present invention. Furthermore, to calculate and obtain the vehicle blocking cost parameter and the obstacle blocking cost parameter, preceding vehicles in the same lane and preceding vehicles in different lanes are identified according to the lane position of each preceding obstructing vehicle. For example, front obstructing vehicle 2 is a vehicle ahead in the same lane, front obstructing vehicle 1 and front obstructing vehicle 3 are vehicles ahead in different lanes, and front obstructing vehicle 1 is a vehicle ahead in the left lane, and front obstructing vehicle 3 is a vehicle ahead in the right lane.

[0047] It should be noted that the sensing system in the embodiment of the present invention is a system that has the function of scanning images in units of time frames. In this way, information such as the speed and position of the vehicle is identified based on the vehicle position in the image of each frame. Furthermore, the content of the vehicle's environmental information may be identified by performing recognition on the image data of each frame. However, the embodiment of the present invention is not specifically limited.

[0048] In another embodiment of the present invention, for further explanation and limitation, as shown in FIG. 4, after determining the lane passage efficiency based on the vehicle blocking cost parameter, the obstacle blocking cost parameter and the blocking weight coefficient, the method further includes steps 301 to 302.

[0049] In step 301, when the vehicle collision time in the target lane selected according to the lane traffic efficiency matches the reference collision time, the driving state information of the running vehicle is acquired.

[0050] In step 302, if the driving state information does not match the lane change suppression policy of the target lane, a lane change driving plan operation of the vehicle is triggered.

[0051] To allow a traveling vehicle to change lanes safely and effectively by selecting a target lane based on lane traffic efficiency, the lane traffic efficiency is determined, and then the target lane is selected based on the lane traffic efficiency. Preferably, the lane corresponding to the maximum value among a plurality of lane traffic efficiencies may be selected as the target lane, or a plurality of traveling vehicles that meet predetermined lane change conditions may be selected, but this is not specifically limited in the embodiments of the present disclosure. Furthermore, after the current execution entity selects the target lane, in order to avoid a collision with an obstructing vehicle after the traveling vehicle enters the target lane to be changed, a reference collision time is previously matched based on the vehicle collision time in the target lane as a basis for determining whether to enter the target lane. Here, the reference collision time is determined based on a steady-state following factor and a predetermined following distance. The steady-state following factor represents the need for a moving vehicle to stably follow a preceding vehicle. The current execution entity is set in advance based on the moving vehicle's autonomous driving following requirements, e.g., the steady-state following factor = 0.9. The predetermined following distance represents the minimum distance for a moving vehicle to stably follow a preceding vehicle. The current execution entity is set in advance based on the moving vehicle's autonomous driving following needs, but the embodiment of the present invention is not specifically limited. Furthermore, to prevent a moving vehicle from colliding with another obstructing vehicle in the target lane after changing lanes, the reference collision time is determined directly based on the steady-state following factor and the predetermined following distance. For example, the reference collision time may be set manually or calculated using a linear relationship, but is not specifically limited in the embodiment of the present invention. Here, the vehicle collision time is the time at which a moving vehicle is expected to collide with another obstacle after predicting that it will change to the target lane. The reference collision time may be calculated based on the speed of the moving vehicle and the distance of the sensed obstructing vehicle, but is not specifically limited in the embodiment of the present invention. In this case, the current execution entity acquires the driving state information of the driving vehicle, and the driving state information includes, but is not limited to, the driving speed, driving scene information, lane change function status, time after lane change, automatic driving status, etc., which facilitates matching with the lane change suppression policy based on the driving state information.Here, the driving status information may be acquired by scanning through a sensing system, may be acquired based on data recorded in the current executing subject, or may be acquired through a car navigation system, and is not specifically limited in the embodiments of the present disclosure.

[0052] The current execution entity is configured in advance with a lane change suppression policy for the moving vehicle. In this way, the system determines whether the lane change conditions are met based on the driving state information of the moving vehicle, and if the lane change conditions are met, a driving plan for the moving vehicle to change lanes is made. Here, the lane change suppression policy includes at least one sub-rule that prevents the moving vehicle from changing lanes. For example, if the driving scene information in the driving state information indicates that the moving vehicle is in a non-ramp way and the sub-rule prohibits lane changes within a ramp way, this means that the moving vehicle does not match the lane change suppression policy for the target lane, and the current execution entity generates a lane change command for the target lane. This is not specifically limited in the embodiment of the present invention. Different lane change suppression sub-policies may be configured in advance in the current execution entity so that lane change demands that change in real time can be met. For example, the lane change suppression policy may include, but is not limited to, any one or a combination of multiple sub-rules, such as prohibiting lane changes by not activating an overtaking lane change autonomous driving function, prohibiting lane changes only on non-expressways, prohibiting lane changes in solid lanes, prohibiting lane changes when a dangerous vehicle is present behind the vehicle, prohibiting lane changes before a predetermined lane change cooldown time has elapsed, prohibiting lane changes when the vehicle is in a non-autonomous driving state, prohibiting lane changes when a ramp is within a predetermined distance ahead, prohibiting lane changes when the target vehicle speed is lower than a predetermined vehicle speed, prohibiting lane changes when the curvature speed limit of the traveling vehicle is lower than a predetermined speed, and prohibiting lane changes when a fixed obstacle is present ahead of the target lane, etc. Furthermore, after the current executing entity triggers a lane change driving planning operation for the vehicle, the traveling vehicle plans a driving route for changing lanes and entering the target lane based on the autonomous driving route plan, and the traveling vehicle automatically drives in the target lane according to the planned route, but this is not limited to any specific example, in the embodiment of the present invention.

[0053] In another embodiment of the present invention, for purposes of further explanation and limitation, activating a lane change cool-down timer when the vehicle collision time in the target lane does not match a reference collision time or when the driving state information matches a lane change suppression policy of the target lane; The method further includes a step of re-executing the step of identifying an obstructing vehicle corresponding to each lane of the traveling vehicle when the cool-down timing reaches a predetermined cool-down time interval.

[0054] To meet the requirements for safety and efficiency of vehicle lane changes, in one specific scenario of an embodiment of the present invention, if the vehicle collision time in the target lane does not match the reference collision time, or if the driving state information matches the lane change suppression policy, it indicates that it is not appropriate for the target vehicle to change lanes. Therefore, the current execution entity activates a cool-down timer. After the timer reaches a predetermined cool-down time, it re-executes the steps of identifying obstructing vehicles corresponding to each lane of the moving vehicle and subsequent steps to determine the next vehicle traffic efficiency. In another specific scenario of an embodiment of the present invention, the current execution entity can update the lane to which the target vehicle should change. When the predetermined cool-down time interval is reached, it indicates that the timer has already reached the predetermined cool-down time interval after the target vehicle has changed lanes, and the next vehicle traffic efficiency can be determined. Therefore, the current execution entity executes the steps of identifying obstructing vehicles corresponding to each lane of the moving vehicle and subsequent steps to determine the next vehicle traffic efficiency. Here, the predetermined cool-down time may be 2 seconds, 5 seconds, etc., and is set according to the needs of lane changes, and is not specifically limited in the embodiment of the present invention.

[0055] An embodiment of the present invention provides a method for identifying vehicle traffic efficiency. Compared with the prior art, this embodiment of the present invention identifies obstructing vehicles corresponding to each lane of a moving vehicle, including a vehicle ahead of the moving vehicle in the same lane and a vehicle ahead of the moving vehicle in another lane, determines a vehicle blocking cost parameter based on a first speed of the moving vehicle and a second speed of the vehicle ahead in the same lane, obtains an obstacle blocking cost parameter for the vehicle ahead in the other lane, and determines a lane traffic efficiency representing an expected traffic smoothness situation when the moving vehicle enters a lane based on the vehicle blocking cost parameter, the obstacle blocking cost parameter, and a blocking weight coefficient. A lane to change lanes for the vehicle to change lanes is selected according to the lane traffic efficiency, so that the lane traffic efficiency can be directly calculated using a linear calculation method and used as a basis for lane change decisions, which greatly improves the accuracy of lane change intention recognition, meets the requirements for stability and safety in identifying a vehicle's lane change intention, and improves the accuracy of lane change planning.

[0056] Furthermore, as an implementation form of the method shown in Fig. 1, the embodiment of the present invention provides a vehicle traffic efficiency determination device. As shown in Fig. 5, the vehicle traffic efficiency determination device a first identification module 41 for identifying an obstructing vehicle corresponding to each lane of the traveling vehicle, the obstructing vehicle including a vehicle ahead of the traveling vehicle in the same lane and a vehicle ahead of the traveling vehicle in a different lane; an acquisition module 42 for determining a vehicle blocking cost parameter based on a first speed of the traveling vehicle and a second speed of a preceding vehicle in the same lane, and acquiring an obstacle blocking cost parameter of the preceding vehicle in the different lane; and a second identification module 43 for identifying a lane traffic efficiency representing the expected traffic smoothness situation when the traveling vehicle enters and travels in a lane based on the vehicle blocking cost parameter, the obstacle blocking cost parameter, and the blocking weight coefficient, and for selecting a change lane for the vehicle to change lanes in accordance with the lane traffic efficiency.

[0057] Further, the obstacle blocking cost parameter includes a blocked cost parameter and a self-blocking cost parameter, and the acquisition module: a first determination means for determining a blocked cost parameter based on a difference between a third speed of the preceding vehicle in the different lane and a fourth speed of the related preceding vehicle; and a second determination means for determining a self-interdiction cost parameter based on the third speed, the fourth speed, and a lane reference speed determined based on a predetermined traveling speed and a lane minimum speed.

[0058] Furthermore, the second identification module a third determination means for determining a vehicle blocking efficiency based on a multiplication value of the vehicle blocking cost parameter and a first blocking weighting factor; a calculation means for calculating a first multiplication value of the blocked cost parameter and the first blocking weight coefficient, and a first multiplication value of the self-blocking cost parameter and the second blocking weight coefficient, and obtaining an obstacle blocking efficiency based on a sum of the first multiplication values; and a fourth determination means for determining a lane traffic efficiency based on the sum of the vehicle blocking efficiency and the obstacle blocking efficiency.

[0059] Furthermore, the fourth identification means specifically acquires a first collision weight with a vehicle in front in the same lane of the traveling vehicle and a second collision weight with a vehicle in front in a different lane, calculates a second multiplication value of the vehicle blocking efficiency and the first collision weight, and a second multiplication value of the obstacle blocking efficiency and the second collision weight, and identifies the lane traffic efficiency based on the sum of the second multiplication values.

[0060] Furthermore, the first identification module a search means for searching for all preceding obstructing vehicles corresponding to the traveling position of the traveling vehicle; and a fifth identification means for identifying a preceding vehicle in the same lane and a preceding vehicle in a different lane based on the lane position where the preceding obstructing vehicle is located.

[0061] The apparatus further comprises a trigger module. The acquisition module acquires driving state information of the driving vehicle, The trigger module triggers a lane change driving plan operation of the vehicle when the driving state information does not match a lane change suppression policy of the target lane.

[0062] Furthermore, the device an activation module for activating a lane change cool-down timer when the vehicle collision time in the target lane does not match a reference collision time or when the driving state information matches a lane change suppression policy of the target lane; The system further includes an execution module for re-executing the step of identifying an obstructing vehicle corresponding to each lane of the traveling vehicle when the cool-down timing reaches a predetermined cool-down time interval.

[0063] An embodiment of the present invention provides a vehicle traffic efficiency identification device. Compared with the prior art, this embodiment of the present invention identifies obstructing vehicles corresponding to each lane of a moving vehicle, the obstructing vehicles including a vehicle ahead of the moving vehicle in the same lane and a vehicle ahead of the moving vehicle in another lane, determines a vehicle blocking cost parameter based on a first speed of the moving vehicle and a second speed of the vehicle ahead of the moving vehicle in the same lane, obtains an obstacle blocking cost parameter for the vehicle ahead of the vehicle in the other lane, and determines a lane traffic efficiency representing an expected traffic smoothness situation when the moving vehicle enters a lane based on the vehicle blocking cost parameter, the obstacle blocking cost parameter, and a blocking weight coefficient. A lane to change lanes for the vehicle to change lanes is selected according to the lane traffic efficiency, so that the lane traffic efficiency can be directly calculated using a linear calculation method and used as a basis for lane change decisions, greatly improving the accuracy of lane change intention recognition, meeting the requirements for stability and safety in identifying a vehicle's lane change intention, and improving the accuracy of lane change planning.

[0064] One embodiment of the present invention provides a vehicle, the vehicle including the vehicle traffic efficiency determination device.

[0065] One embodiment of the present invention provides a readable storage medium having a program or instructions stored therein, the program or instructions being executed by a processor to perform the steps of the method for determining vehicle traffic efficiency.

[0066] 6 shows a structural diagram of a computer device according to one embodiment of the present invention. The computer device includes at least one processor coupled to a memory, and the memory stores programs or instructions to be executed by the processor. When the programs or instructions are executed by the processor, the steps of the method for determining vehicle traffic efficiency are performed. The specific embodiment of the present invention does not limit the specific implementation of the computer device.

[0067] As shown in FIG. 6, the computer device may include a processor 502, a communications interface 504, a memory 506, and a communications bus 508.

[0068] The processor 502 , the communication interface 504 , and the memory 506 are in communication with each other via a communication bus 508 .

[0069] The communication interface 504 enables the network element to communicate with other devices, such as clients or other servers.

[0070] The processor 502 executes the program 510 and can specifically execute the relevant steps in the embodiment of the method for determining vehicle traffic efficiency described above.

[0071] Specifically, the program 510 may include program code, which includes computer operating instructions.

[0072] The processor 502 may be a central processing unit CPU, an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the present invention. The one or more processors included in the terminal may be the same type of processor, e.g., one or more CPUs, or different types of processors, e.g., one or more CPUs and one or more ASICs.

[0073] The memory 506 stores a program 510. The memory 506 may include a high-speed RAM memory, or may include a non-volatile memory, such as at least one magnetic disk memory.

[0074] Specifically, the program 510 performs the following operations: Identifying an obstructing vehicle corresponding to each lane of the traveling vehicle, the obstructing vehicle including a vehicle ahead of the traveling vehicle in the same lane and a vehicle ahead of the traveling vehicle in a different lane; determining a vehicle blocking cost parameter based on a first speed of the traveling vehicle and a second speed of a preceding vehicle in the same lane, and obtaining an obstacle blocking cost parameter of the preceding vehicle in the different lane; The processor 502 can perform the following: based on the vehicle blocking cost parameter, the obstacle blocking cost parameter, and the blocking weighting coefficient, determine a lane traffic efficiency to represent the expected traffic smoothness situation when the traveling vehicle enters and travels in a lane, and select a change lane for the vehicle to change lanes in accordance with the lane traffic efficiency.

[0075] As will be appreciated by those skilled in the art, the modules or steps of the present invention described above may be implemented by a general-purpose computing device, or may be integrated into a single computing device or distributed across a network of multiple computing devices. Alternatively, they may be implemented by executable program code on a computing device, which may then be stored in a storage device and executed by the computing device. In some cases, the steps shown or described herein may be performed in a different order, or may be implemented in separate integrated circuit modules, or multiple modules or steps may be implemented in a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0076] The above-mentioned are only preferred embodiments of the present invention and are not intended to limit the present invention. Those skilled in the art may find the present invention subject to various modifications and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A method for determining vehicle traffic efficiency, comprising: A step of identifying obstructing vehicles corresponding to each lane of the traveling vehicle, including a vehicle ahead of the traveling vehicle in the same lane and a vehicle ahead of the traveling vehicle in a different lane; specifying a vehicle blocking cost parameter as a larger value of a difference between a first speed of the traveling vehicle and a second speed of the preceding vehicle in the same lane, or 0, and acquiring an obstacle blocking cost parameter of the preceding vehicle in the other lane; and determining a lane traffic efficiency representing an expected traffic smoothness condition when the traveling vehicle enters and travels in a lane based on the vehicle blocking cost parameter, the obstacle blocking cost parameter, and the blocking weight coefficient, thereby selecting a change lane for the vehicle to change lanes in accordance with the lane traffic efficiency, the obstacle blocking cost parameters include a blocked cost parameter and a self-blocking cost parameter; The obtaining of the obstacle blocking cost parameter of the leading vehicle in the different lane includes: Specifying the larger value of a difference between a third speed of the leading vehicle in the other lane and a fourth speed of an associated leading vehicle that is a vehicle in front of the leading vehicle in the other lane, and 0 as the blocked cost parameter; a lane reference speed being the smaller of a lane minimum speed and a predetermined travel speed, calculating a difference between the smaller of the fourth speed and the lane reference speed and the third speed, and specifying the larger of the difference and 0 as the self-interdiction cost parameter.

2. Determining lane passage efficiency based on the vehicle blocking cost parameter, the obstacle blocking cost parameter, and a blocking weighting factor includes: determining a vehicle blocking efficiency based on a product of the vehicle blocking cost parameter and a first blocking weighting factor; Calculating a first multiplication value of the blocked cost parameter and the first blocking weight coefficient, and a first multiplication value of the self-blocking cost parameter and the second blocking weight coefficient, and obtaining an obstacle blocking efficiency based on a sum of the first multiplication values; 2. The method of claim 1, further comprising: determining a lane traffic efficiency based on a sum of the vehicle blocking efficiency and the obstacle blocking efficiency.

3. Determining lane traffic efficiency based on the sum of the vehicle blocking efficiency and the obstacle blocking efficiency includes: acquiring a first collision weight with a vehicle ahead in the same lane of the traveling vehicle and a second collision weight with a vehicle ahead in a different lane; 3. The method for determining vehicle traffic efficiency according to claim 2, further comprising: calculating a second multiplication value of the vehicle blocking efficiency and a first collision weight, and a second multiplication value of the obstacle blocking efficiency and a second collision weight, and determining lane traffic efficiency based on the sum of the second multiplication values.

4. Identifying an obstructing vehicle corresponding to each lane of the traveling vehicle includes: Searching for all preceding obstructing vehicles corresponding to the traveling position of the traveling vehicle; 2. The method for determining vehicle traffic efficiency according to claim 1, further comprising: determining a preceding vehicle in the same lane and a preceding vehicle in a different lane based on the lane position of the preceding obstructing vehicle.

5. After determining lane traffic efficiency based on the vehicle blocking cost parameter, the obstacle blocking cost parameter, and the blocking weight coefficient, the vehicle traffic efficiency determination method includes: acquiring driving state information of the traveling vehicle when a vehicle collision time in the target lane selected according to the lane traffic efficiency matches a reference collision time; If the driving state information does not match the lane change suppression policy of the target lane, triggering a lane change driving plan operation of the vehicle, 5. The method for determining vehicle traffic efficiency according to claim 1, wherein the lane change suppression policy includes at least one sub-rule that prevents the traveling vehicle from changing lanes.

6. The vehicle traffic efficiency specification method includes: activating a lane change cool-down timer when the vehicle collision time in the target lane does not match a reference collision time or when the driving state information matches a lane change suppression policy of the target lane; The method for determining vehicle traffic efficiency according to claim 5, further comprising: a step of re-executing the step of identifying an obstructing vehicle corresponding to each lane of the traveling vehicle when the cool-down timing reaches a predetermined cool-down time interval.

7. A vehicle traffic efficiency identification device, a first identification module for identifying an obstructing vehicle corresponding to each lane of the traveling vehicle, the obstructing vehicle including a vehicle ahead of the traveling vehicle in the same lane and a vehicle ahead of the traveling vehicle in a different lane; an acquisition module for determining a vehicle blocking cost parameter as a larger value of a difference between a first speed of the traveling vehicle and a second speed of a leading vehicle in the same lane, and zero, and acquiring an obstacle blocking cost parameter of the leading vehicle in the other lane; a second identification module for identifying a lane traffic efficiency representing an expected traffic smoothness situation when the traveling vehicle enters and travels in a lane based on the vehicle blocking cost parameter, the obstacle blocking cost parameter, and a blocking weighting coefficient, and for selecting a change lane for the vehicle to change lanes in accordance with the lane traffic efficiency; the obstacle blocking cost parameters include a blocked cost parameter and a self-blocking cost parameter; The acquisition module, when acquiring the obstacle blocking cost parameter of the leading vehicle in the different lane, Identifying the blocked cost parameter as the larger value of a difference between a third speed of the leading vehicle in the different lane and a fourth speed of an associated leading vehicle that is a vehicle in front of the leading vehicle in the different lane, and 0; and A vehicle traffic efficiency determination device characterized by using the smaller of a lane minimum speed and a predetermined driving speed as a lane reference speed, calculating the difference between the smaller of the fourth speed and the lane reference speed and the third speed, and determining the larger of the difference and 0 as the self-interdiction cost parameter.

8. A vehicle comprising the vehicle traffic efficiency specification device according to claim 7.

9. A computer device comprising: at least one processor; the processor is coupled to a memory, the memory storing programs or instructions for execution by the processor; A computer device, characterized in that, when the program or instructions are executed by the processor, the steps of the vehicle traffic efficiency determination method according to any one of claims 1 to 4 are performed.

10. A readable storage medium on which a program or instruction is stored, A readable storage medium, wherein when the program or instructions are executed by a processor, the steps of the method for determining vehicle traffic efficiency according to any one of claims 1 to 4 are performed.

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