Lane changing control method and apparatus, and terminal device and storage medium

Abstract

Disclosed in the present application are a lane changing control method and apparatus, and a terminal device and a storage medium. The method comprises: in response to identifying a lane changing instruction, entering a lane changing execution state, and determining a risk level of the current vehicle; and if the risk level meets a first risk condition, selecting a risk target, and controlling the current vehicle and the risk target to execute interactive lane changing. By means of the solution of the present application, when a risk occurs during lane changing, a flexible response can be made, and interactive lane changing with a risk target is executed, thereby completing a lane changing behavior; thus, the solution of the present application can improve the flexibility of a vehicle while ensuring the safety and comfort of a lane changing behavior, thereby effectively improving the lane changing capability.

Description

Lane change control method, device, terminal device and storage medium

[0001] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office on June 27, 2023, with application number 2023107720680 and application name “Lane change control method, device, terminal equipment and storage medium”, all contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of intelligent driving technology, and in particular to a lane change control method, apparatus, terminal device, and storage medium. Background Art

[0003] Lane changing is a core capability of advanced driver assistance and automated driving. Lane change planning primarily involves two steps: initiation and execution. To ensure safety and comfort, related technical solutions typically prioritize initiation over execution. These solutions prioritize assessing the timing of lane change initiation, only allowing lane changes when longitudinal space is sufficiently safe, and immediately canceling any dangerous lane change. This often leads to conservative initiation and weak lane change capabilities in complex scenarios, such as urban areas, resulting in limited vehicle flexibility during lane change execution.

[0004] Therefore, it is necessary to propose a solution to improve the flexibility of vehicles during lane change execution.

[0005] Summary of the Invention

[0006] In order to solve or partially solve the problems existing in the related art, the present application provides a lane change control method, apparatus, terminal device and storage medium, aiming to improve the flexibility of the vehicle during the lane change execution process.

[0007] To achieve the above objectives, the present application provides a lane change control method, which includes:

[0008] In response to recognizing a lane change instruction, entering a lane change execution state and determining a risk level of the current vehicle;

[0009] If the risk level meets the first risk condition, a risk target is selected, and the current vehicle is controlled to perform an interactive lane change with the risk target.

[0010] In one embodiment, selecting a risk target and controlling the current vehicle to perform an interactive lane change with the risk target includes:

[0011] selecting the risk target;

[0012] Obtain the driving information of the current vehicle and the driving information of the risk target;

[0013] Planning an avoidance path based on the driving information of the current vehicle and the driving information of the risk target;

[0014] Controlling the current vehicle to move to a straightened state according to the avoidance path;

[0015] Maintain the straightened state, obtain lane conditions, and plan a driving path based on the lane conditions.

[0016] In one embodiment, the lane condition includes a target lane condition and a current lane condition, and obtaining the lane condition further includes:

[0017] Reselect the subsequent lane based on the target lane condition and the current lane condition.

[0018] In one embodiment, after entering the lane change execution state and determining the risk level of the current vehicle, the process further includes:

[0019] If the risk level meets the second risk condition, the lane change execution state is modified to a lane change cancellation state, and the current vehicle is controlled to return to the original lane;

[0020] If the risk level meets the third risk condition, the current vehicle is controlled to perform lane change normally.

[0021] In one embodiment, determining the risk level of the current vehicle includes:

[0022] Obtain lane change space information, target lane preceding vehicle information, target lane following vehicle information, and static obstacle information;

[0023] Determine the longitudinal distance between the vehicle in front of the target lane and the current vehicle based on the vehicle in front of the target lane information, and determine the longitudinal distance between the vehicle in the rear of the target lane and the current vehicle based on the vehicle in the rear of the target lane information;

[0024] If the longitudinal distance between the preceding vehicle in the target lane and the current vehicle is within a first threshold range, and the target lane following vehicle information including the longitudinal distance between the preceding vehicle in the target lane and the current vehicle is within a second threshold range, then it is determined that the risk level meets the first risk condition;

[0025] If the longitudinal distance between the preceding vehicle in the target lane and the current vehicle is within a third threshold range, or the target lane rear vehicle information including the longitudinal distance between the preceding vehicle in the target lane and the current vehicle is within a fourth threshold range, or there is a static obstacle within a preset range of the target lane, then it is determined that the risk level meets the second risk condition;

[0026] If there is no target lane front vehicle, target lane rear vehicle, or static obstacle within the preset range of the target lane, it is determined that the risk level meets the third risk condition.

[0027] In one embodiment, the target lane preceding vehicle information includes the relative position, speed, acceleration, time distance, and risk factor of the preceding vehicle in the target lane and the current vehicle; the target lane following vehicle information includes the relative position, speed, acceleration, time distance, and risk factor of the following vehicle in the target lane and the current vehicle;

[0028] In one embodiment, determining the longitudinal distance between the preceding vehicle in the target lane and the current vehicle based on the preceding vehicle information in the target lane includes:

[0029] Calculate the forward minimum following distance based on the relative position, speed, acceleration and time distance between the preceding vehicle in the target lane and the current vehicle;

[0030] Calculating the longitudinal distance between the preceding vehicle in the target lane and the current vehicle based on the forward minimum following distance and the preceding vehicle risk coefficient;

[0031] In one embodiment, determining the longitudinal distance between the vehicle behind the target lane and the current vehicle based on the information of the vehicle behind the target lane includes:

[0032] Calculate the minimum rearward following distance based on the relative position, speed, acceleration, and time distance between the vehicle behind the target lane and the current vehicle;

[0033] The longitudinal distance between the rear vehicle in the target lane and the current vehicle is calculated based on the rear minimum following distance and the rear vehicle risk coefficient.

[0034] In one embodiment, in response to identifying the lane change instruction, before entering the lane change execution state, the process further includes:

[0035] determining a lane change requirement based on at least one of a navigation requirement, a requirement to overtake a slower vehicle, and a requirement to bypass an obstacle;

[0036] determining whether there is lane change space according to the lane change demand;

[0037] If the lane change space exists, the lane change instruction is generated.

[0038] In one embodiment, planning an avoidance path based on the driving information of the current vehicle and the driving information of the risk target includes:

[0039] Determining the center position of the front axle of the vehicle according to the current vehicle driving information;

[0040] Determining a target lane guide line of the lane where the risk target is located according to the driving information of the risk target;

[0041] Calculating a lateral offset based on the center position of the front axle of the vehicle and the target lane guide line;

[0042] An avoidance path is determined according to the lateral offset.

[0043] In addition, to achieve the above-mentioned purpose, the present application further provides a lane change control device, the lane change control device comprising:

[0044] a judgment module, configured to enter a lane change execution state in response to recognizing a lane change instruction, and determine a risk level of the current vehicle;

[0045] An execution module is configured to select a risk target if the risk level meets a first risk condition, and control the current vehicle to perform an interactive lane change with the risk target.

[0046] In addition, to achieve the above-mentioned purpose, the present application also provides a terminal device, which includes a memory, a processor, and a lane change control program stored on the memory and runnable on the processor. When the lane change control program is executed by the processor, the steps of the lane change control method described above are implemented.

[0047] In addition, to achieve the above-mentioned purpose, the present application also provides a computer-readable storage medium, on which a lane change control program is stored. When the lane change control program is executed by a processor, the steps of the lane change control method described above are implemented.

[0048] A lane change control method, apparatus, terminal device, and storage medium proposed in an embodiment of the present application enter a lane change execution state in response to identifying a lane change instruction, and determine the risk level of the current vehicle; if the risk level meets a first risk condition, a risk target is selected, and the current vehicle is controlled to perform an interactive lane change with the risk target. When risks arise during the lane change process, the method can flexibly respond to them and perform an interactive lane change with the risk target, thereby completing the lane change behavior. While ensuring the safety and comfort of the lane change behavior, the flexibility of the vehicle can be improved, effectively enhancing the lane change capability. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The above and other objects, features and advantages of the present application will become more apparent through a more detailed description of exemplary embodiments of the present application in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments of the present application.

[0050] FIG1 is a schematic diagram of the functional modules of a terminal device to which the lane change control device of the present application belongs;

[0051] FIG2 is a flow chart of an exemplary embodiment of a lane change control method of the present application;

[0052] FIG3 is a schematic diagram of the longitudinal space for lane change in an embodiment of the present application;

[0053] FIG4 is a flow chart of another exemplary embodiment of the lane change control method of the present application;

[0054] FIG5 is a first schematic diagram of a lane change execution state according to an embodiment of the present application;

[0055] FIG6 is a second schematic diagram of a lane change execution state according to an embodiment of the present application;

[0056] FIG7 is a third schematic diagram of a lane change execution state according to an embodiment of the present application;

[0057] FIG8 is a schematic diagram of a specific flow chart of step S20 in the embodiment of FIG2 ;

[0058] FIG9 is a schematic diagram of a slow-moving target ahead in an embodiment of the present application;

[0059] FIG10 is a schematic diagram of a rear fast target in an embodiment of the present application;

[0060] FIG11 is a schematic diagram of simultaneous lane change targets in an embodiment of the present application;

[0061] FIG12 is a schematic diagram of an interactive execution path in an embodiment of the present application;

[0062] FIG13 is a schematic diagram of the overall flow of the lane change control method in an embodiment of the present application. DETAILED DESCRIPTION

[0063] The following describes embodiments of the present application in more detail with reference to the accompanying drawings. Although the accompanying drawings illustrate embodiments of the present application, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. Rather, these embodiments are provided to make the present application more thorough and complete, and to fully convey the scope of the present application to those skilled in the art.

[0064] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. As used in this application and the appended claims, the singular forms "a," "an," "the," and "the" are intended to include the plural forms, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0065] The present application is described in detail below. Examples of the present application are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0066] The solution of the embodiment of the present application includes: entering the lane change execution state in response to identifying the lane change instruction, and determining the risk level of the current vehicle; if the risk level meets the first risk condition, selecting the risk target, and controlling the current vehicle to perform interactive lane change with the risk target. When risks arise during the lane change process, it can flexibly respond to and perform interactive lane change with the risk target to complete the lane change behavior. While ensuring the safety and comfort of the lane change behavior, it can improve the flexibility of the vehicle and effectively enhance the lane changing capability.

[0067] Referring to Figure 1 , a schematic diagram of the functional modules of a terminal device to which the lane change control device of the present application belongs is shown. The lane change control device can be a device independent of the terminal device that performs lane change control and can be hosted on the terminal device in the form of hardware or software. The terminal device can be a smart mobile terminal with data processing capabilities, such as a mobile phone or tablet computer, or a fixed terminal device or server with data processing capabilities.

[0068] In this embodiment, the terminal device to which the lane change control apparatus belongs includes at least an output module 110 , a processor 120 , a memory 130 and a communication module 140 .

[0069] Memory 130 stores an operating system and a lane change control program. The lane change control device can store lane change instructions and selected risk targets, among other information, in memory 130. Output module 110 can be a display screen, for example. Communication module 140 can include a Wi-Fi module, a mobile communication module, and a Bluetooth module, enabling communication with external devices or servers.

[0070] When the lane change control program in the memory 130 is executed by the processor, the following steps are implemented:

[0071] In response to recognizing a lane change instruction, entering a lane change execution state and determining a risk level of the current vehicle;

[0072] If the risk level meets the first risk condition, the risk target is selected, and the current vehicle is controlled to perform an interactive lane change with the risk target.

[0073] In one embodiment, when the lane change control program in the memory 130 is executed by the processor, the following steps are further implemented:

[0074] Select risk targets;

[0075] Obtain the driving information of the current vehicle and the driving information of the risk target;

[0076] Plan an avoidance path based on the current vehicle's driving information and the risk target's driving information;

[0077] Control the current vehicle to move to a straightened state according to the avoidance path;

[0078] Keep the vehicle aligned, obtain lane conditions, and plan the driving path based on the lane conditions.

[0079] In one embodiment, when the lane change control program in the memory 130 is executed by the processor, the following steps are further implemented:

[0080] Reselect the subsequent lane based on the target lane conditions and the current lane conditions.

[0081] In one embodiment, when the lane change control program in the memory 130 is executed by the processor, the following steps are further implemented:

[0082] If the risk level meets the second risk condition, the lane change execution state is changed to the lane change cancellation state, and the current vehicle is controlled to return to the original lane;

[0083] If the risk level meets the third risk condition, the current vehicle is controlled to perform lane change normally.

[0084] In one embodiment, when the lane change control program in the memory 130 is executed by the processor, the following steps are further implemented:

[0085] Obtain lane change space information, target lane preceding vehicle information, target lane following vehicle information, and static obstacle information;

[0086] Determine the longitudinal distance between the vehicle in front of the target lane and the current vehicle based on the vehicle in front of the target lane information, and determine the longitudinal distance between the vehicle behind the target lane and the current vehicle based on the vehicle behind the target lane information;

[0087] If the longitudinal distance between the vehicle ahead in the target lane and the current vehicle is within a first threshold range, and the target lane rear vehicle information, including the longitudinal distance between the vehicle ahead in the target lane and the current vehicle, is within a second threshold range, then the risk level is determined to meet the first risk condition;

[0088] If the longitudinal distance between the preceding vehicle in the target lane and the current vehicle is within the third threshold range, or the target lane rear vehicle information, including the longitudinal distance between the preceding vehicle in the target lane and the current vehicle, is within the fourth threshold range, or there is a static obstacle within the preset range of the target lane, then the risk level is determined to meet the second risk condition;

[0089] If there is no target lane front vehicle, target lane rear vehicle, or static obstacle within the preset range of the target lane, the risk level is determined to meet the third risk condition.

[0090] In one embodiment, when the lane change control program in the memory 130 is executed by the processor, the following steps are further implemented:

[0091] Calculate the minimum forward following distance based on the relative position, speed, acceleration, and time distance between the vehicle in front of the target lane and the current vehicle;

[0092] Calculate the longitudinal distance between the vehicle in front of the target lane and the current vehicle based on the forward minimum following distance and the risk factor of the vehicle in front.

[0093] In one embodiment, when the lane change control program in the memory 130 is executed by the processor, the following steps are further implemented:

[0094] Calculate the minimum rearward following distance based on the relative position, speed, acceleration, and time distance between the vehicle behind the target lane and the current vehicle;

[0095] Calculate the longitudinal distance between the vehicle behind the target lane and the current vehicle based on the minimum rear following distance and the risk factor of the vehicle behind the target lane.

[0096] In one embodiment, when the lane change control program in the memory 130 is executed by the processor, the following steps are further implemented:

[0097] determining a lane change requirement based on at least one of a navigation requirement, a requirement to overtake a slower vehicle, and a requirement to bypass an obstacle;

[0098] Determine whether there is space for lane change based on lane change requirements;

[0099] If there is room to change lanes, a lane change instruction is generated.

[0100] In one embodiment, when the lane change control program in the memory 130 is executed by the processor, the following steps are further implemented:

[0101] Determine the center position of the front axle of the vehicle based on the current vehicle driving information;

[0102] Determine the target lane guide line of the lane where the risk target is located according to the driving information of the risk target;

[0103] Calculate the lateral offset based on the center position of the front axle of the vehicle and the target lane guide line;

[0104] The avoidance path is determined based on the lateral offset.

[0105] This embodiment adopts the above scheme, including entering a lane change execution state in response to identifying a lane change instruction and determining the risk level of the current vehicle; if the risk level meets the first risk condition, a risk target is selected, and the current vehicle is controlled to perform an interactive lane change with the risk target. When risks arise during the lane change process, the vehicle can flexibly respond to and perform an interactive lane change with the risk target, thereby completing the lane change behavior. While ensuring the safety and comfort of the lane change behavior, the flexibility of the vehicle can be improved, and the lane change capability is effectively enhanced.

[0106] Based on the above terminal device architecture but not limited to the above architecture, an embodiment of the method of the present application is proposed.

[0107] The execution subject of the method of this embodiment may be a lane change control device or a terminal device, etc. This embodiment takes a lane change control device as an example.

[0108] Referring to FIG. 2 , FIG. 2 is a flow chart of an exemplary embodiment of a lane change control method of the present application. The lane change control method includes:

[0109] Step S10, in response to recognizing the lane change instruction, entering the lane change execution state and determining the current risk level of the vehicle;

[0110] The lane change control method in the embodiment of the present application can be applied to intelligent driving systems such as assisted driving or automatic driving. The lane change command received by the system can be a lane change command initiated by the user, or it can be a lane change command automatically initiated by the system according to actual needs.

[0111] In one embodiment, in response to recognizing a lane change instruction, before entering the lane change execution state, the step further includes:

[0112] determining a lane change requirement based on at least one of a navigation requirement, a requirement to overtake a slower vehicle, and a requirement to bypass an obstacle;

[0113] Determine whether there is space for lane change based on lane change requirements;

[0114] If there is room for lane change, a lane change instruction is generated.

[0115] For example, in determining whether and whether a lane change can be initiated, the decision is first made based on navigation needs, overtaking slow vehicles, bypassing obstacles, and other requirements, and then based on whether there is space for lane change. The conditions for whether a lane change can be initiated mainly depend on the safety of the longitudinal space for lane change. Referring to FIG3 , FIG3 is a schematic diagram of the longitudinal space for lane change in an embodiment of the present application. As shown in FIG3 , the following conditions must be met: S f ≥S fmin , S r ≥S rmin

[0116] Among them, S f 、S r Respectively represent the longitudinal distance between the current vehicle and the preceding and following vehicles in the target lane; S fmin 、S rmin The minimum forward and rearward safe distances required for lane change are usually determined by the relative position, speed, and acceleration of the current vehicle and the preceding and following vehicles in the target lane. For example:

[0117] S fmin =max(S f0 , t fmin *Δv), S f0 , t fminThey represent the minimum forward following distance and time interval respectively.

[0118] When there is a need to change lanes, such as navigation, overtaking a slow vehicle, and bypassing an obstacle, it is determined whether there is space to change lanes. If there is space to change lanes, a lane change command can be automatically initiated.

[0119] In one embodiment, after the system recognizes the lane change instruction, it controls the current vehicle to enter the lane change execution state. During the lane change execution process, the subsequent state is determined based on whether there is risk and the risk level.

[0120] In step S20, if the risk level meets the first risk condition, a risk target is selected, and the current vehicle is controlled to perform an interactive lane change with the risk target.

[0121] In another embodiment, the risk level can be divided into three situations in the embodiment of the present application. When the risk level meets the first risk condition, that is, there is a risk target but the urgency is low, the lane change can be completed by controlling the current vehicle to interact with the risk target; when the risk level meets the second risk condition, that is, there is a more urgent risk target, or there is a static obstacle in front of the target lane, etc., it is more reasonable to cancel the lane change at this time, so the current vehicle is controlled to cancel the lane change; when the risk level meets the third risk condition, that is, there is no risk target, there is ample space for lane change, and the lane change can be performed normally.

[0122] In this embodiment, by responding to the recognition of the lane change instruction, the lane change execution state is entered, and the risk level of the current vehicle is determined; if the risk level meets the first risk condition, the risk target is selected, and the current vehicle is controlled to perform interactive lane change with the risk target. When risks arise during the lane change process, the system can flexibly respond and perform interactive lane change with the risk target to complete the lane change behavior. While ensuring the safety and comfort of the lane change behavior, it can improve the flexibility of the vehicle and effectively enhance the lane changing capability.

[0123] 4 , which is a flow chart of another exemplary embodiment of a lane change control method of the present application.

[0124] Based on the embodiment shown in FIG. 2 , in this embodiment, after entering the lane change execution state and determining the risk level of the current vehicle, the lane change control method further includes:

[0125] Step S30: If the risk level meets the second risk condition, the lane change execution state is changed to the lane change cancellation state, and the current vehicle is controlled to return to the original lane;

[0126] Step S40: If the risk level meets the third risk condition, the current vehicle is controlled to perform lane change normally.

[0127] Referring to Figure 5, Figure 5 is a first schematic diagram of the lane change execution state in an embodiment of the present application. As shown in Figure 5, when the risk level meets the first risk condition, that is, there is a risk target but the urgency is low, the lane change can be completed by controlling the current vehicle to interact with the risk target; referring to Figure 6, Figure 6 is a second schematic diagram of the lane change execution state in an embodiment of the present application. As shown in Figure 6, when the risk level meets the second risk condition, that is, there is a more urgent risk target, or there is a static obstacle in front of the target lane, etc., it is more reasonable to cancel the lane change at this time, so the current vehicle is controlled to cancel the lane change; referring to Figure 7, Figure 7 is a third schematic diagram of the lane change execution state in an embodiment of the present application. As shown in Figure 7, when the risk level meets the third risk condition, that is, there is no risk target, there is ample space for lane change, and the lane change can be performed normally.

[0128] In one embodiment, the step of determining the risk level of the current vehicle, i.e., performing risk level judgment, includes:

[0129] Obtain lane change space information, target lane preceding vehicle information, target lane following vehicle information, and static obstacle information;

[0130] Determine the longitudinal distance between the vehicle in front of the target lane and the current vehicle based on the vehicle in front of the target lane information, and determine the longitudinal distance between the vehicle behind the target lane and the current vehicle based on the vehicle behind the target lane information;

[0131] If the longitudinal distance between the vehicle ahead in the target lane and the current vehicle is within a first threshold range, and the target lane rear vehicle information, including the longitudinal distance between the vehicle ahead in the target lane and the current vehicle, is within a second threshold range, then the risk level is determined to meet the first risk condition;

[0132] If the longitudinal distance between the preceding vehicle in the target lane and the current vehicle is within the third threshold range, or the target lane rear vehicle information, including the longitudinal distance between the preceding vehicle in the target lane and the current vehicle, is within the fourth threshold range, or there is a static obstacle within the preset range of the target lane, then the risk level is determined to meet the second risk condition;

[0133] If there is no target lane front vehicle, target lane rear vehicle, or static obstacle within the preset range of the target lane, the risk level is determined to meet the third risk condition.

[0134] In one embodiment, the target lane preceding vehicle information includes the relative position, speed, acceleration, time distance and leading vehicle risk coefficient between the target lane preceding vehicle and the current vehicle, and the target lane following vehicle information includes the relative position, speed, acceleration, time distance and trailing vehicle risk coefficient between the target lane following vehicle and the current vehicle.

[0135] In one embodiment, the step of determining the longitudinal distance between the preceding vehicle in the target lane and the current vehicle based on the preceding vehicle information in the target lane includes:

[0136] Calculate the minimum forward following distance based on the relative position, speed, acceleration, and time distance between the vehicle in front of the target lane and the current vehicle;

[0137] Calculate the longitudinal distance between the vehicle in front of the target lane and the current vehicle based on the forward minimum following distance and the risk factor of the vehicle in front.

[0138] In one embodiment, the step of determining the longitudinal distance between the vehicle behind the target lane and the current vehicle based on the vehicle behind the target lane information includes:

[0139] Calculate the minimum rearward following distance based on the relative position, speed, acceleration, and time distance between the vehicle behind the target lane and the current vehicle;

[0140] Calculate the longitudinal distance between the vehicle behind the target lane and the current vehicle based on the minimum rear following distance and the risk factor of the vehicle behind the target lane.

[0141] For example, under the first risk condition, the risk level can be considered to be average, S f ≥C f *S f min , S r ≥C r *S r min , where C f 、C r The risk factor can be dynamically adjusted based on factors such as vehicle control capability and driver acceptance. This allows the current vehicle to dynamically interact with surrounding risk targets, such as avoiding fast targets behind or bypassing slow targets in front, and performing interactive lane changes.

[0142] In one embodiment, under the second risk condition, it may be considered that the risk level is very high or it is more reasonable to cancel the lane change, for example, when S f or S r Sharply shrinking, that is, S f <C f *S f min or S r <C r *S r min , it means that the risk level is very high; when there is a static obstacle in front of the target lane and it is necessary to detour or change lanes again, it can be determined that canceling the lane change is more reasonable.

[0143] In one embodiment, under the third risk condition, there is ample space for lane change, and the lane change is performed normally without any adjustment to the lane change path.

[0144] This embodiment adopts the above scheme, including: if the risk level meets the second risk condition, the lane change execution state is modified to the lane change cancellation state, and the current vehicle is controlled to return to the original lane; if the risk level meets the third risk condition, the current vehicle is controlled to execute the lane change normally, effectively considering the influencing factors during the lane change process, and flexibly adjusting the lane change state according to changes in the lane change space and risk factors, thereby ensuring safety and flexibility during the lane change process.

[0145] Referring to Figure 8, Figure 8 is a schematic diagram of a specific flow chart of step S20 in the embodiment of Figure 2. This embodiment is based on the embodiment shown in Figure 2 above. In this embodiment, the above step S20 includes:

[0146] Step S201, selecting a risk target;

[0147] Step S202, obtaining the driving information of the current vehicle and the driving information of the risk target;

[0148] Step S203, planning an avoidance path based on the driving information of the current vehicle and the driving information of the risk target;

[0149] Step S204, controlling the current vehicle to move to a straightened state according to the avoidance path;

[0150] Step S205: maintain the straightened state, obtain lane conditions, and plan a driving path according to the lane conditions.

[0151] For example, the risk targets in the embodiment of the present application mainly include the front slow target, the rear fast target, and the simultaneous lane changing target in the third lane, etc., referring to Figures 9, 10 and 11, Figure 9 is a schematic diagram of the front slow target in the embodiment of the present application, Figure 10 is a schematic diagram of the rear fast target in the embodiment of the present application, and Figure 11 is a schematic diagram of the simultaneous lane changing target in the embodiment of the present application. The risk target is usually a target that may collide with the current vehicle during the subsequent lane change process or seriously affect the traffic efficiency of the current vehicle. For the current vehicle, one or more risk targets may exist at the same time, and for each risk target, the current vehicle can perform interactive lane changes.

[0152] In one embodiment, the step of planning an avoidance path based on the driving information of the current vehicle and the driving information of the risk target includes:

[0153] Determine the center position of the front axle of the vehicle based on the current vehicle driving information;

[0154] Determine the target lane guide line of the lane where the risk target is located according to the driving information of the risk target;

[0155] Calculate the lateral offset based on the center position of the front axle of the vehicle and the target lane guide line;

[0156] The avoidance path is determined based on the lateral offset.

[0157] For example, after confirming the presence of a risk target, it is necessary to avoid the risk target. By obtaining the driving information of the current vehicle and the driving information of the risk target, an avoidance path can be planned. The center position of the front axle of the ego vehicle is determined based on the driving information of the current vehicle, and the target lane guide line (also known as the center line) of the lane where the risk target is located is determined based on the driving information of the risk target. Then, by controlling the lateral offset between the center position of the front axle of the ego vehicle and the target lane guide line of the lane where the risk target is located, the current vehicle and the risk target are ensured to maintain a safe distance. Therefore, a motion path from the initial state to the desired state can be planned based on the lateral offset between the center position of the front axle of the ego vehicle and the target lane guide line of the lane where the risk target is located. This is the avoidance path of the current vehicle. In the process of moving from the initial state to the desired state, the current vehicle will reach a straightened state with the vehicle body parallel to the target lane guide line. When the straightened state is reached, since there is no risk of collision with the risk target at this time, there is no need to follow the avoidance path to the desired state. The current vehicle can then travel according to the replanned path (for example, going straight forward). During the process of controlling vehicle movement, the avoidance path can also be updated according to information such as the vehicle's current position and current vehicle heading angle. The avoidance path is designed to ensure that the current vehicle's subsequent driving path is parallel to the target lane guide line, so as not to actively affect the traffic on the left or right sides.

[0158] Referring to Figure 12, Figure 12 is a schematic diagram of the interactive execution path in an embodiment of the present application. As shown in Figure 12, based on the lateral offset l1 of the front axle center of the current vehicle relative to the target lane guide line at the moment of state ① (i.e., the initial state of switching from normal execution to interactive execution), a motion path from state ① to state ③ (path 1 in Figure 12) is planned; then, in the process of the current vehicle executing path 1, if it is found that the current vehicle body is in state ② (the body is straightened and basically parallel to the target lane guide line), the path is replanned to keep the current vehicle traveling along path 2 shown in Figure 12.

[0159] In one embodiment, the lane condition includes a target lane condition and a current lane condition, and after the step of obtaining the lane condition, the following step is further included:

[0160] Reselect the subsequent lane based on the target lane conditions and the current lane conditions.

[0161] For example, in the interactive execution state, you can also flexibly select the subsequent lane based on the target lane and the current lane conditions. For example, if the target lane is more congested and the current lane is relatively unobstructed, you can select the current lane; or select the lane according to navigation needs, thereby further improving the intelligence of the vehicle's lane change and enhancing the user experience.

[0162] This embodiment adopts the above scheme, including selecting a risk target; obtaining the driving information of the current vehicle and the driving information of the risk target; planning an avoidance path based on the driving information of the current vehicle and the driving information of the risk target; controlling the current vehicle to move to a straightened state according to the avoidance path; maintaining the straightened state, and obtaining the lane conditions, and planning the driving path according to the lane conditions. It can increase the dynamic interaction function with the risk target during the lane change execution process, have the ability to actively avoid and detour, can effectively reduce the high requirements for lane change space, effectively reduce the lane change cancellation caused by factors such as perception uncertainty and lane change space changes, and significantly improve the lane changing ability while taking safety into consideration.

[0163] In addition, an embodiment of the present application further provides a lane change control device, which includes:

[0164] a judgment module, configured to enter a lane change execution state in response to recognizing a lane change instruction, and determine a risk level of the current vehicle;

[0165] The execution module is used to select a risk target and control the current vehicle to perform an interactive lane change with the risk target if the risk level meets the first risk condition.

[0166] Among them, the execution module selects the risk target; obtains the driving information of the current vehicle and the driving information of the risk target; plans an avoidance path based on the driving information of the current vehicle and the driving information of the risk target; controls the current vehicle to move to a straightened state according to the avoidance path; maintains the straightened state, obtains the lane conditions, and plans the driving path according to the lane conditions.

[0167] Among them, the execution module is also used to change the lane change execution state to the lane change cancellation state if the risk level meets the second risk condition, and control the current vehicle to return to the original lane; if the risk level meets the third risk condition, control the current vehicle to execute the lane change normally.

[0168] Among them, the judgment module obtains lane change space information, target lane front vehicle information, target lane rear vehicle information, and static obstacle information; determines the longitudinal distance between the target lane front vehicle and the current vehicle based on the target lane front vehicle information, and determines the longitudinal distance between the target lane rear vehicle and the current vehicle based on the target lane rear vehicle information; if the longitudinal distance between the target lane front vehicle and the current vehicle is within a first threshold interval, and the target lane rear vehicle information including the longitudinal distance between the target lane rear vehicle and the current vehicle is within a second threshold interval, then it is determined that the risk level meets the first risk condition; if the longitudinal distance between the target lane front vehicle and the current vehicle is within a third threshold interval, or, the target lane rear vehicle information including the longitudinal distance between the target lane rear vehicle and the current vehicle is within a fourth threshold interval, or there is a static obstacle within a preset range of the target lane, then it is determined that the risk level meets the second risk condition; if the target lane front vehicle, target lane rear vehicle and static obstacle do not exist within the preset range of the target lane, then it is determined that the risk level meets the third risk condition.

[0169] Referring to Figure 13 , a schematic diagram of the overall process of the lane change control method in an embodiment of the present application is provided. As shown in Figure 13 , when determining whether and if a lane change can be initiated, the system first determines whether a lane change can be initiated based on navigation needs, overtaking slower vehicles, and bypassing obstacles. The system then determines whether a lane change can be initiated based on whether there is space available for the lane change. The conditions for initiating a lane change primarily depend on the safety of the longitudinal lane change space. When there are navigation needs, overtaking slower vehicles, and bypassing obstacles, the system determines whether there is space available for the lane change. If so, the system automatically initiates the lane change. Once the system recognizes a lane change command, it controls the vehicle to enter the lane change execution state. During the lane change execution process, the subsequent state is determined based on the presence and level of risk. If a risk is determined, the system further determines whether the lane change must be canceled. If so, the lane change is canceled. If not, an interactive lane change is executed. If no risk is determined, the lane change is executed normally until the lane change is complete.

[0170] In this embodiment, by adding dynamic interaction functions with key targets in the environment during the lane change process, the vehicle has the ability to actively avoid (fast targets behind the target lane) and detour (slow targets in front of the target lane, static obstacles). This can effectively reduce the high requirements for lane change space and effectively reduce lane change cancellations caused by factors such as perception uncertainty and changes in lane change space, thereby creating a "humanized" lane change experience and making more reasonable and natural lane change behaviors, which can significantly improve lane changing capabilities while taking safety into consideration.

[0171] For the principles and implementation process of lane change control implemented in this embodiment, please refer to the above embodiments and will not be repeated here.

[0172] In addition, an embodiment of the present application also proposes a terminal device, which includes a memory, a processor, and a lane change control program stored in the memory and runnable on the processor. When the lane change control program is executed by the processor, the steps of the above lane change control method are implemented.

[0173] Since this lane change control program adopts all the technical solutions of all the aforementioned embodiments when executed by the processor, it has at least all the beneficial effects brought by all the technical solutions of all the aforementioned embodiments, which will not be described one by one here.

[0174] In addition, an embodiment of the present application further proposes a computer-readable storage medium, on which a lane change control program is stored. When the lane change control program is executed by a processor, the steps of the lane change control method described above are implemented.

[0175] Since this lane change control program adopts all the technical solutions of all the aforementioned embodiments when executed by the processor, it has at least all the beneficial effects brought by all the technical solutions of all the aforementioned embodiments, which will not be described one by one here.

[0176] Compared with related technologies, the lane change control method, device, terminal device and storage medium proposed in the embodiments of the present application enter the lane change execution state in response to identifying the lane change instruction, and determine the risk level of the current vehicle; if the risk level meets the first risk condition, the risk target is selected, and the current vehicle is controlled to perform interactive lane change with the risk target. When risks arise during the lane change process, it can flexibly respond to them and perform interactive lane change with the risk target to complete the lane change behavior. While ensuring the safety and comfort of the lane change behavior, it can improve the flexibility of the vehicle and effectively enhance the lane changing capability.

[0177] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or system comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or system. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or system comprising the element.

[0178] The serial numbers of the above embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0179] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the relevant technology can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as above, and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, controlled terminal, or network device, etc.) to execute the method of each embodiment of the present application.

[0180] The embodiments of the present application have been described above. The above description is illustrative and not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is selected to best explain the principles of the embodiments, their practical applications, or improvements to the technology in the market, or to enable other persons skilled in the art to understand the embodiments disclosed herein.

Claims

1. A lane change control method, characterized in that: include: In response to identifying a lane change instruction, entering a lane change execution state, and determining a risk level of a current vehicle; If the risk level meets the first risk condition, a risk target is selected, and the current vehicle is controlled to perform an interactive lane change with the risk target.

2. The lane change control method according to claim 1, characterized in that: The selecting a risk target and controlling the current vehicle to perform interactive lane change with the risk target includes: selecting the risk target; Obtain the driving information of the current vehicle and the driving information of the risk target; Planning an avoidance path based on the driving information of the current vehicle and the driving information of the risk target; Controlling the current vehicle to move to a straightened state according to the avoidance path; The straightened state is maintained, lane conditions are acquired, and a driving path is planned according to the lane conditions.

3. The lane change control method according to claim 2, characterized in that: The lane condition includes the target lane condition and the current lane condition. After acquiring the lane condition, the following further includes: Reselect the subsequent lane according to the target lane condition and the current lane condition.

4. The lane change control method according to claim 1, characterized in that: After entering the lane change execution state and determining the risk level of the current vehicle, the method further includes: If the risk level meets the second risk condition, the lane change execution state is modified to a lane change cancellation state, and the current vehicle is controlled to return to the original lane; If the risk level meets the third risk condition, the current vehicle is controlled to perform lane change normally.

5. The lane change control method according to claim 4, characterized in that: Determining the risk level of the current vehicle includes: Obtain lane change space information, target lane front vehicle information, target lane rear vehicle information, and static obstacle information; Determine the longitudinal distance between the front vehicle in the target lane and the current vehicle according to the front vehicle information of the target lane, and determine the longitudinal distance between the rear vehicle in the target lane and the current vehicle according to the rear vehicle information of the target lane; If the longitudinal distance between the front vehicle in the target lane and the current vehicle is within a first threshold interval, and the target lane rear vehicle information includes that the longitudinal distance between the rear vehicle in the target lane and the current vehicle is within a second threshold interval, it is determined that the risk level meets the first risk condition; If the longitudinal distance between the front vehicle in the target lane and the current vehicle is within the third threshold interval, or the target lane rear vehicle information includes the longitudinal distance between the rear vehicle in the target lane and the current vehicle is within the fourth threshold interval, or there is a static obstacle within the preset range of the target lane, then the risk is determined. The level meets the second risk condition; If there is no target lane front vehicle, target lane rear vehicle, or static obstacle within the preset range of the target lane, it is determined that the risk level meets the third risk condition.

6. The lane change control method according to claim 5, characterized in that: The target lane front vehicle information includes the relative position, speed, acceleration, time distance and risk factor of the target lane front vehicle and the current vehicle, and the target lane rear vehicle information includes the relative position, speed, acceleration, time distance and risk factor of the target lane rear vehicle and the current vehicle. The determining the longitudinal distance between the front vehicle in the target lane and the current vehicle according to the front vehicle information in the target lane includes: Calculate the forward minimum following distance based on the relative position, speed, acceleration and time distance between the front vehicle in the target lane and the current vehicle; Calculating the longitudinal distance between the front vehicle in the target lane and the current vehicle according to the forward minimum following distance and the risk coefficient of the front vehicle; The determining the longitudinal distance between the rear vehicle in the target lane and the current vehicle according to the rear vehicle information in the target lane includes: Calculate the minimum rearward following distance based on the relative position, speed, acceleration and time distance between the vehicle behind the target lane and the current vehicle; The longitudinal distance between the rear vehicle in the target lane and the current vehicle is calculated according to the rear minimum following distance and the rear vehicle risk coefficient.

7. The lane change control method according to claim 1, characterized in that: In response to identifying the lane change instruction, before entering the lane change execution state, the method further includes: determining a lane change requirement based on at least one of a navigation requirement, a requirement to overtake a slow vehicle, and a requirement to bypass an obstacle; determining whether there is lane change space according to the lane change demand; If the lane change space exists, the lane change instruction is generated.

8. The lane change control method according to claim 2, characterized in that: The planning of the avoidance path based on the driving information of the current vehicle and the driving information of the risk target includes: Determining the center position of the front axle of the vehicle according to the driving information of the current vehicle; Determine a target lane guide line of the lane where the risk target is located according to the driving information of the risk target; Calculating a lateral offset based on the center position of the front axle of the vehicle and the target lane guide line; An avoidance path is determined according to the lateral offset.

9. A lane change control device, characterized in that: include: a judgment module, for entering a lane change execution state in response to identifying a lane change instruction, and determining a risk level of a current vehicle; The execution module is used to select a risk target if the risk level meets the first risk condition, and control the current vehicle to perform an interactive lane change with the risk target.

10. The lane change control device according to claim 9, characterized in that: The execution module selects the risk target; obtains the driving information of the current vehicle and the driving information of the risk target; plans an avoidance path based on the driving information of the current vehicle and the driving information of the risk target; The current vehicle is controlled to move to a straightened state according to the avoidance path; the straightened state is maintained, and lane conditions are obtained, and a driving path is planned according to the lane conditions.

11. The lane change control device according to claim 9, characterized in that: The execution module is further configured to modify the lane change execution state to a lane change cancellation state if the risk level meets a second risk condition, and control the current vehicle to return to the original lane; If the risk level meets the third risk condition, the current vehicle is controlled to perform lane change normally.

12. The lane change control device according to claim 11, characterized in that: The judgment module obtains lane change space information, target lane front vehicle information, target lane rear vehicle information, and static obstacle information; Determine the longitudinal distance between the front vehicle in the target lane and the current vehicle according to the front vehicle information of the target lane, and determine the longitudinal distance between the rear vehicle in the target lane and the current vehicle according to the rear vehicle information of the target lane; If the longitudinal distance between the front vehicle in the target lane and the current vehicle is within a first threshold interval, and the target lane rear vehicle information includes that the longitudinal distance between the rear vehicle in the target lane and the current vehicle is within a second threshold interval, it is determined that the risk level meets the first risk condition; If the longitudinal distance between the front vehicle in the target lane and the current vehicle is within the third threshold interval, or the target lane rear vehicle information including the longitudinal distance between the rear vehicle in the target lane and the current vehicle is within the fourth threshold interval, or there is a static obstacle within the preset range of the target lane, it is determined that the risk level meets the second risk condition; If there is no target lane front vehicle, target lane rear vehicle, or static obstacle within the preset range of the target lane, it is determined that the risk level meets the third risk condition.

13. A terminal device, characterized in that: The terminal device includes a memory, a processor, and a lane change control program stored in the memory and executable on the processor. When the lane change control program is executed by the processor, the steps of the lane change control method as described in any one of claims 1 to 8 are implemented.

14. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a lane change control program, and when the lane change control program is executed by the processor, the steps of the lane change control method according to any one of claims 1 to 8 are implemented.

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