Decision and control method, apparatus and device for automatic overtaking and lane changing, and storage medium

Abstract

Disclosed are a decision and control method, apparatus and device for automatic overtaking and lane changing, and a storage medium, relating to the technical field of autonomous driving planning control. The method comprises: upon detection that there is a vehicle having the vehicle speed less than a preset low speed threshold in a lane of an ego vehicle, on the basis of a set speed of the ego vehicle, the speed of a preceding vehicle, and time headway, obtaining the necessity of overtaking and lane changing; obtaining traffic efficiency on the basis of the traffic flow and the average vehicle speed in a destination lane for lane changing; acquiring an overtaking and lane changing suppression condition; if an automatic lane changing control condition is satisfied, triggering an overtaking and lane changing request on the basis of the necessity, the traffic efficiency, and the overtaking and lane changing suppression condition; and if an overtaking and lane changing termination condition is satisfied, canceling overtaking and lane changing.

Description

Decision-making and control methods, devices, equipment, and storage media for automatic overtaking and lane changing. Cross-references to related applications

[0001] This application claims priority to Chinese patent application No. 202411643961.4, filed on November 18, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure relates to the field of autonomous driving planning and control technology, and in particular to decision-making and control methods, devices, equipment and storage media for automatic overtaking and lane changing. Background Technology

[0003] Automated overtaking and lane changing demonstrate the intelligence level of Navigate on Autopilot (NOA). Intelligent and sensitive overtaking and lane changing can improve traffic efficiency; however, some ineffective overtaking and lane changing can occur, leading to even lower traffic efficiency after the vehicle overtakes and enters the slower lane. Frequent ineffective overtaking and lane changing severely impacts the NOA experience. Therefore, reducing ineffective overtaking and lane changing is crucial for improving the NOA experience.

[0004] Therefore, how to reduce ineffective overtaking and lane changes is an urgent problem to be solved.

[0005] The above content is only used to assist in understanding the technical solutions disclosed herein and does not imply an admission that the above content is prior art. Summary of the Invention

[0006] The main objective of this disclosure is to provide a decision-making and control method, apparatus, device, and storage medium for automatic overtaking and lane changing. By utilizing one or more embodiments of the content of this disclosure, the technical problem of how to reduce ineffective overtaking and lane changing is solved.

[0007] In a first aspect, this disclosure proposes an automatic overtaking and lane-changing decision-making method, comprising: if a vehicle with a speed lower than a preset low-speed threshold is detected in the vehicle's lane, then determining the necessity of overtaking and lane-changing based on the vehicle's set speed, the speed of the preceding vehicle, and the following time; determining the traffic efficiency based on the traffic flow and average speed of the lane on the lane changing side; obtaining overtaking and lane-changing suppression conditions; if the automatic lane-changing control conditions are met, then triggering an overtaking and lane-changing request based on the necessity, the traffic efficiency, and the overtaking and lane-changing suppression conditions; and canceling the overtaking and lane-changing termination condition if the overtaking and lane-changing termination condition is met.

[0008] In a second aspect, this disclosure also proposes an automatic overtaking and lane-changing decision-making control device, comprising: a necessity module, used to determine the necessity of overtaking and lane-changing based on the vehicle's set speed, the speed of the preceding vehicle, and the following time if a vehicle with a speed lower than a preset low-speed threshold is detected in the vehicle's lane; a traffic efficiency module, used to determine the traffic efficiency based on the traffic flow and average speed of the lane on the lane changing side; a suppression module, used to obtain overtaking and lane-changing suppression conditions; a judgment module, used to trigger an overtaking and lane-changing request based on the necessity, the traffic efficiency, and the overtaking and lane-changing suppression conditions if the automatic lane-changing control conditions are met; and a termination module, used to cancel the overtaking and lane-changing if the overtaking and lane-changing termination conditions are met.

[0009] In a third aspect, this disclosure also proposes an automatic overtaking and lane-changing decision control device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the automatic overtaking and lane-changing decision control method as described above.

[0010] In a fourth aspect, this disclosure also proposes a storage medium, which is a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, causes the processor to implement the steps of the automatic overtaking and lane-changing decision-making control method described above.

[0011] In a fifth aspect, this disclosure also provides a computer program product comprising a computer program that, when executed by a processor, causes the processor to implement the steps of the automatic overtaking and lane-changing decision-making control method described above. Attached Figure Description

[0012] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0013] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 shows a flowchart of an automatic overtaking and lane-changing decision control method according to some embodiments of the present disclosure;

[0015] Figure 2 shows a schematic diagram of one structure of the lane in Figure 1;

[0016] Figure 3 shows a simplified flowchart of Figure 1;

[0017] Figure 4 shows a schematic diagram of the module structure of an automatic overtaking and lane-changing decision control device according to some embodiments of the present disclosure; and

[0018] Figure 5 shows a schematic diagram of the device structure of the hardware operating environment involved in the decision control method for automatic overtaking and lane changing according to some embodiments of the present disclosure.

[0019] The purpose, features, and advantages of this disclosure will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0020] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this disclosure and are not intended to limit this disclosure.

[0021] To better understand the technical solutions disclosed herein, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0022] The main solution of this disclosure is to determine whether overtaking or lane changing is necessary based on three aspects: necessity of lane changing, traffic efficiency, and overtaking / lane changing suppression conditions. It also designs conditions to cancel overtaking / lane changing after an invalid overtaking / lane changing is detected.

[0023] The relevant technology only designs conventional overtaking and lane changing methods. This method usually results in some invalid overtaking and lane changing situations, which leads to lower traffic efficiency after the vehicle overtakes and changes lanes to enter the slow lane. Frequent invalid overtaking and lane changing seriously affects the navigation-assisted driving experience.

[0024] This disclosure provides a solution that, when a vehicle with a speed lower than a preset low-speed threshold is detected in the vehicle's lane, determines the necessity of overtaking and lane changing based on the vehicle's set speed, the speed of the vehicle in front, and the following time. Then, it calculates the traffic efficiency based on the traffic flow and average speed of the lane on the lane changing side. If the vehicle's driving state meets the automatic lane change control conditions, an overtaking and lane change request is triggered based on necessity, traffic efficiency, and overtaking and lane change suppression conditions. Simultaneously, if the vehicle's driving state meets the overtaking and lane change termination conditions, the overtaking and lane change is cancelled. This disclosure determines whether overtaking and lane changing is necessary based on three aspects: necessity, traffic efficiency, and overtaking and lane change suppression conditions. It also includes conditions for cancelling overtaking and lane changes upon detection of invalid overtaking and lane changes, reducing the number of invalid overtaking and lane changes and greatly improving the user experience.

[0025] It should be noted that the executing entity of this disclosure can be a computing service device with data processing, network communication, and program execution functions, such as a tablet computer, personal computer, or mobile phone, or an electronic device or vehicle-mounted system capable of performing the above functions. The following description uses a vehicle-mounted system as an example to illustrate this disclosure and the following embodiments.

[0026] This disclosure provides a decision-making and control method for automatic overtaking and lane changing. Referring to FIG1, FIG1 shows a schematic flowchart of an automatic overtaking and lane changing decision-making and control method according to some embodiments of this disclosure.

[0027] In some embodiments, the automatic overtaking and lane changing decision control method may include steps S10 to S50.

[0028] In step S10, if a vehicle with a speed lower than a preset low speed threshold is detected in the vehicle lane, the necessity of overtaking and changing lanes is determined based on the vehicle's set speed, the speed of the vehicle in front, and the following time.

[0029] It should be noted that the preset low-speed threshold can be the speed difference limit between the vehicle in front and the vehicle itself (e.g., 10 km / h). When the relative speed between the vehicle in front and the vehicle itself is greater than the speed difference limit, it is determined that there is a low-speed vehicle ahead, and a calculation of the necessity for overtaking and changing lanes is required. Alternatively, the preset low-speed threshold can be the standard speed for judging the speed of the vehicle in front (e.g., 10 km / h). When the speed of the vehicle in front is less than the standard speed, it is determined that there is a low-speed vehicle ahead, and a calculation of the necessity for overtaking and changing lanes is required.

[0030] Understandably, step S10 is necessary to reduce the number of invalid overtaking and lane changes. This avoids unnecessary overtaking and lane changes when the vehicle in front is traveling at a high speed and the vehicle is not following behind, thus reducing the number of invalid overtaking and lane changes and ensuring driving stability.

[0031] In some embodiments, step S10 may include steps A11 to A13.

[0032] In step A11, if a no-overtaking sign is detected in front of the vehicle, overtaking and lane changing are prohibited.

[0033] It should be noted that the no-overtaking sign is usually a red circular sign with a white diagonal line in the middle, indicating that vehicles are prohibited from overtaking on this section of the road.

[0034] In some embodiments, if there is a no-overtaking sign in front of the vehicle, then P = 0, where P represents necessity.

[0035] In step A12, if the vehicle passes the first fixed distance of the no-overtaking sign, recognizes the sign as being lifted, or completes an overtaking lane change, the necessity is determined as the initial value.

[0036] In some embodiments, when the vehicle passes the no-overtaking sign by 200m (a first fixed distance) or the no-overtaking sign is detected to be lifted, P can be determined to be P0, where P0 is the initial value of necessity.

[0037] In step A13, the speed of the preceding vehicle, the set speed of the vehicle itself, and the acceleration of the vehicle itself can be obtained; the difference between the speed of the preceding vehicle and the set speed of the vehicle itself is calculated to obtain the relative speed; based on the relative speed, a first preset following time threshold and a second preset following time threshold are calibrated; if the following time is less than the first preset following time threshold, the necessity is determined to be an initial value; if the following time is greater than the first preset following time threshold and less than the second preset following time threshold, the necessity is determined to be a first fixed value; if the following time is greater than the second preset following time threshold, the necessity is determined to be a second fixed value, wherein the first preset following time threshold is less than the second preset following time threshold.

[0038] It should be noted that the first and second preset following time thresholds can be used to determine necessity. Step A13 is only executed when the vehicle's driving status does not meet the requirements of steps A11 and A12.

[0039] In some embodiments, the speed of the vehicle ahead in the lane can be set to V. t The vehicle's set speed is V. s The current vehicle speed (i.e., the actual speed of the vehicle) is V. e The vehicle's acceleration is a e The necessity for the vehicle to overtake and change lanes is P, with an initial value of P0 = 0.

[0040] The current vehicle speed is 5% lower than the vehicle's set speed, i.e. (V s -V t )≥V s *5%, and the vehicle does not accelerate or decelerate rapidly; the vehicle's acceleration is -1 m / s². 2 ≤a e ≤0.2m / s 2 And the following time is greater than the first preset following time threshold T. x Then the vehicle needs to trigger an overtaking or lane change.

[0041] The longer a car follows a slower car, the greater the necessity for overtaking and changing lanes. The first preset following time threshold T... x Calibration can be performed based on relative vehicle speed, as shown in Table 1:

[0042] Table 1

[0043] When the following time exceeds the first preset following time threshold T x Then, P=1 is determined; when the following time is greater than the second preset following time threshold 2T. x Then, P=2 is determined; when P=1, it indicates that there is a need to overtake and change lanes, and when P=2, it indicates that the desire to overtake and change lanes is more urgent.

[0044] In this embodiment of the disclosure, the necessity under special circumstances is first set, and then, for the following situation that exists in the normal driving route, the necessity judgment rules are set according to the relative vehicle speed and the following time to ensure the reliability of the necessity judgment.

[0045] The above are only some implementations of step S10 provided in this disclosure. This disclosure does not specifically limit the specific implementation of step S10.

[0046] In step S20, the traffic efficiency is obtained based on the traffic flow and average speed of the lane on the lane changing side.

[0047] It should be noted that traffic flow can be the number of vehicles passing through the lane on the lane change side per minute, and traffic efficiency can be used to determine whether the lane on the lane change side is suitable for triggering overtaking and lane change.

[0048] Understandably, judging traffic efficiency by the traffic flow and average speed of the lane on the side of the lane change provides reliable data support for overtaking and lane changing, further improving the safety and reliability of overtaking and lane changing.

[0049] In some embodiments, step S20 may include: determining the lane on the lane-changing side, a traffic flow reference value, and a vehicle speed percentage based on the lane-changing direction; obtaining the number of vehicles in the lane on the lane-changing side and the speed of each vehicle within a fixed time period; obtaining the traffic flow based on the fixed time and the number of vehicles; obtaining the average vehicle speed based on the number of vehicles and the speed of each vehicle; calculating a traffic efficiency judgment value based on the lane-changing direction, the actual vehicle speed, the traffic flow reference value, the vehicle speed percentage, the traffic flow, and the average vehicle speed; if the traffic efficiency judgment value is less than a first preset threshold, then determining the traffic efficiency as a first standard; if the traffic efficiency judgment value is greater than the first preset threshold and less than a second preset threshold, then determining the traffic efficiency as a second standard; and if the traffic efficiency judgment value is greater than the second preset threshold, then determining the traffic efficiency as a third standard, wherein the first preset threshold is less than the second preset threshold.

[0050] It should be noted that when a vehicle changes lanes from left to right, the lane to be changed can be the right lane; the traffic flow benchmark value can refer to the number of vehicles passing through a certain road segment within a certain time period. It is an indicator to measure the traffic flow of the road. Exceeding this value is considered to be a large traffic flow; the speed percentage can be the ratio between the actual speed of the vehicle at a certain moment and the maximum speed allowed on the road segment; the fixed time can be 1 minute, and the first preset threshold and the second preset threshold can be used to determine whether the traffic efficiency belongs to the first standard, the second standard, or the third standard.

[0051] In some embodiments, the step of calculating the traffic flow per minute in the lane changing side is as follows: Let M be the number of vehicles in the lane changing side after the current time (e.g., 20 seconds), and let V be the speed of each vehicle. m Then the traffic flow per minute is:

[0052]

[0053] The average vehicle speed within time t is:

[0054]

[0055] The traffic efficiency judgment value is:

[0056]

[0057] q0 is the baseline value for traffic flow per minute. If the traffic flow exceeds this value, it is considered to be relatively large. k is the percentage of vehicle speed, V1 is the average vehicle speed within time t, and Q is the calculated traffic efficiency judgment value.

[0058] When q = 0, that is, no vehicle is identified within time t, the traffic efficiency is the highest (third standard).

[0059] Figure 2 shows a schematic diagram of one lane structure in Figure 1. As shown in Figure 2, since changing lanes from left to right involves entering the slow lane from the fast lane (e.g., changing from left 1 to left 2), the traffic efficiency calculation is strict when entering the slow lane. However, changing lanes from right to left (e.g., changing from left 2 to left 1), after overtaking and changing lanes, allows for a more lenient calculation of traffic efficiency. Therefore, q0 and k need to be designed with different parameter values ​​depending on whether the lane change is to the left or right.

[0060] In some embodiments, when changing lanes from left to right to overtake, assuming q0 = 4 and k = 20%, the traffic efficiency is determined as follows:

[0061] If Q≥2, then the passage efficiency is high (third standard);

[0062] If 1 < Q < 2, then the traffic efficiency is in the middle (second standard);

[0063] If Q≤1, then the passage efficiency is low (first criterion).

[0064] In some embodiments, when changing lanes from right to left to overtake, assuming q0 = 6 and k = 10%, the traffic efficiency is determined as follows:

[0065] If Q≥2, then the passage efficiency is high (third standard);

[0066] If 1 ≤ Q < 2, then the traffic efficiency is in the middle (second standard);

[0067] If Q < 1, then the passage efficiency is low (first criterion).

[0068] In this embodiment, different traffic flow baseline values ​​and vehicle speed percentages are first set according to different lane change directions, then the traffic flow is calculated, and further the traffic efficiency is calculated, ensuring safety during overtaking and lane changing.

[0069] The above are only some implementations of step S20 provided in the embodiments of this disclosure. The embodiments of this disclosure do not specifically limit the specific implementation of step S20.

[0070] In step S30, the overtaking lane change suppression condition is obtained.

[0071] It should be noted that the overtaking and lane-changing suppression conditions may include: when changing lanes from left to right, there are no vehicles in front of the vehicle with a speed less than a first preset multiple of the vehicle's actual speed; when changing lanes from right to left, there are no vehicles in front of the vehicle with a speed less than a second preset multiple of the vehicle's actual speed; there are no vehicles in the lane to which the vehicle changes lanes that exceed a preset volume (the volume is obtained by multiplying the vehicle's length, width, and height, and then comparing the volume with the preset volume); if a high-precision map is available, then based on the high-precision map, it is determined that there are no merging or merging intersections within a second fixed distance segment in front of the vehicle; when the number of lanes is greater than a third fixed value, the vehicle is prohibited from overtaking or changing lanes to the rightmost lane.

[0072] Understandably, after determining necessity and traffic efficiency, additional logical judgments are needed, taking into account actual road conditions and recognition capabilities, to reduce erroneous lane changes.

[0073] In some embodiments, the overtaking and lane change suppression condition may be:

[0074] (1) When changing lanes from left to right: There are no vehicles ahead with a speed less than the vehicle's speed × 1.2 (first preset multiple);

[0075] (2) When changing lanes from right to left: There are no vehicles ahead with a speed less than the vehicle's speed × 1.1 (second preset multiple);

[0076] (3) There are no large vehicles in the lane where the vehicle changes lanes. Vehicles with a volume exceeding the preset volume can be considered large vehicles.

[0077] (4) If there is a high-precision map, obtain the structure of the road ahead of the vehicle based on the high-precision map information, and there are no merging or merging intersections within 800m (second fixed distance) ahead;

[0078] (5) As shown in Figure 2, when the number of lanes is ≥3 (the third fixed value), in order to prevent vehicles from entering the rightmost slow lane, overtaking and lane changing into the rightmost slow lane should be prohibited. As shown in Figure 2, lane changing from left 3 to left 4 is prohibited.

[0079] In step S40, if the automatic lane change control conditions are met, an overtaking lane change request is triggered based on the necessity, the traffic efficiency, and the overtaking lane change suppression conditions.

[0080] It should be noted that automatic lane change control conditions may include construction targets such as the existence of adjacent lane lines, the current lane line curvature radius being greater than a certain value, the lane line on the lane change side being a dashed line, the adjacent lane not being a ramp, and the adjacent lane not having cones.

[0081] Understandably, by using automatic lane change control conditions as a prerequisite for overtaking and lane changing, these conditions can help make more rational decisions during the decision-making process.

[0082] In some embodiments, step S40 may include steps C41 to C44:

[0083] Step C41: When the lane change direction is from left to right, if the necessity is a first fixed value, the traffic efficiency is a third standard, and the overtaking lane change suppression condition is not met, then it is determined that a right overtaking lane change request can be triggered.

[0084] Step C42: When the lane change direction is from left to right, if the necessity is the second fixed value, the traffic efficiency is the second standard or the third standard, and the overtaking lane change suppression condition is not met, then it is determined that a right overtaking lane change request can be triggered.

[0085] Step C43: When the lane change direction is from right to left, if the necessity is a first fixed value or a second fixed value, the traffic efficiency is a second standard or a third standard, and the overtaking lane change suppression condition is not met, then it is determined that a request to overtake and change lanes to the left can be triggered.

[0086] Step C44: When the conditions for triggering a right overtaking lane change request and the conditions for triggering a left overtaking lane change request are met simultaneously, a left overtaking lane change request is triggered.

[0087] In some embodiments, when overtaking and changing lanes from left to right, if the necessity of overtaking and changing lanes is P=1, the traffic efficiency is high, and the overtaking and changing lanes suppression condition is not met, a request to overtake and change lanes to the right can be triggered.

[0088] When overtaking and changing lanes from left to right, a request to overtake and change lanes to the right can be triggered if the necessity of overtaking and changing lanes is P=2, the traffic efficiency is medium or high, and the overtaking and lane changing condition suppression condition is not met.

[0089] When overtaking and changing lanes from right to left, a request to overtake and change lanes to the left can be triggered when the necessity of overtaking and changing lanes is P≥1, the traffic efficiency is medium or high, and the overtaking and lane changing condition suppression condition is not met.

[0090] When both the left and right lanes meet the above-mentioned overtaking and lane-changing conditions, the vehicle will be given priority to trigger a left overtaking and lane-changing request; when the automatic lane-changing control conditions are met, the vehicle will trigger an overtaking and lane-changing request based on the above decision.

[0091] In this embodiment of the disclosure, five situations are identified that can trigger overtaking and lane changing requests. Reasonable overtaking and lane changing can improve overall traffic efficiency.

[0092] The above are only some implementations of step S40 provided in this disclosure. This disclosure does not specifically limit the specific implementation of step S40.

[0093] In step S50, if the overtaking lane change termination condition is met, the overtaking lane change is cancelled.

[0094] It should be noted that the overtaking and lane change termination conditions are used to cancel the overtaking and lane change request so that the vehicle can return to its original lane. These conditions can include: if the center of the vehicle has not crossed the lane line, and a vehicle with a speed lower than the vehicle's actual speed is detected in the lane on the side of the lane change, the overtaking and lane change will be canceled so that the vehicle can return to its original lane; if the center of the vehicle has not crossed the lane line, and the center of the vehicle in front has crossed the lane line, the overtaking and lane change will be canceled so that the vehicle can return to its original lane; if the center of the vehicle has not crossed the lane line, and a vehicle exceeding a preset vehicle specification threshold is detected in the lane on the side of the lane change, the overtaking and lane change will be canceled so that the vehicle can return to its original lane.

[0095] Understandably, when the center of the vehicle has not crossed the lane line, by suppressing overtaking and lane changing and returning to the original lane, the impact of invalid overtaking and lane changing on the customer is reduced.

[0096] This disclosure provides an automatic overtaking and lane-changing decision-making control method. When a vehicle with a speed lower than a preset low-speed threshold is detected in the vehicle's lane, the necessity of overtaking and changing lanes is determined based on the vehicle's set speed, the speed of the vehicle in front, and the following time. Then, the traffic efficiency is obtained based on the traffic flow and average speed of the lane on the lane to be changed. If the vehicle's driving state meets the automatic lane-changing control conditions, an overtaking and lane-changing request is triggered based on necessity, traffic efficiency, and overtaking and lane-changing suppression conditions. If the vehicle's driving state meets the overtaking and lane-changing termination conditions during the overtaking and lane-changing process, the overtaking and lane-changing is canceled. This disclosure determines whether overtaking and lane-changing is necessary based on three aspects: lane-changing necessity, traffic efficiency, and overtaking and lane-changing suppression conditions. It also designs conditions to cancel overtaking and lane-changing after detecting invalid overtaking and lane-changing, reducing the number of invalid overtaking and lane-changing, and greatly improving the user experience.

[0097] To help understand the implementation flow of the automatic overtaking and lane-changing decision control method in the above embodiments, please refer to Figure 3, which shows a simplified flowchart of Figure 1. As shown in Figure 3, after the navigation-assisted driving activates the straight-ahead operation, it first detects the presence of vehicles with speeds lower than a preset low-speed threshold in the vehicle's lane. That is, it determines whether there are low-speed vehicles in front of the vehicle. If not, it continues straight-ahead; if so, it begins to determine the necessity and efficiency of overtaking and lane-changing. Based on the vehicle's speed, the speed of the vehicle in front, and the following time, the necessity of overtaking and lane-changing is obtained. Based on the traffic flow and average speed of the lane on the lane changing side, the efficiency is obtained. Then, it is determined whether the vehicle's driving state meets the overtaking and lane-changing suppression conditions. If not, it continues straight-ahead; if so, it triggers an overtaking and lane-changing request based on necessity and efficiency. At the same time, it is also necessary to determine whether the vehicle's driving state meets the overtaking and lane-changing termination conditions. If so, the overtaking and lane-changing is canceled, and the vehicle returns to the original lane; if not, the vehicle continues to execute the overtaking and lane-changing.

[0098] It should be noted that the above examples are only for understanding this disclosure and do not constitute a limitation on the decision-making and control method for automatic overtaking and lane changing disclosed herein. Any simple modifications based on this technical concept are within the protection scope of this disclosure.

[0099] This disclosure also provides an automatic overtaking and lane-changing decision-making and control device. Referring to Figure 4, the automatic overtaking and lane-changing decision-making and control device may include:

[0100] The necessity module 10 is used to determine the necessity of overtaking and changing lanes based on the vehicle's set speed, the speed of the vehicle in front, and the following time if a vehicle with a speed lower than a preset low speed threshold is detected in the vehicle's lane.

[0101] Traffic efficiency module 20 is used to obtain traffic efficiency based on traffic flow and average speed of the lane on the lane changing side;

[0102] Suppression module 30 is used to obtain overtaking and lane change suppression conditions;

[0103] The judgment module 40 is configured to, if the automatic lane change control conditions are met, trigger an overtaking lane change request based on the necessity, the traffic efficiency, and the overtaking lane change suppression conditions; and

[0104] Termination module 50 is used to cancel overtaking and lane changing if the overtaking and lane changing termination conditions are met.

[0105] The automatic overtaking and lane-changing decision-making and control device provided in this disclosure adopts the automatic overtaking and lane-changing decision-making and control method in the above embodiments, and can solve the technical problem of how to reduce ineffective overtaking and lane-changing. Compared with the prior art, the beneficial effects of the automatic overtaking and lane-changing decision-making and control device provided in this disclosure are the same as the beneficial effects of the automatic overtaking and lane-changing decision-making and control method provided in the above embodiments, and other technical features in the automatic overtaking and lane-changing decision-making and control device are the same as the features disclosed in the methods of the above embodiments, and will not be repeated here.

[0106] In some embodiments, the necessity module 10 is further configured to prohibit overtaking and lane changing if a no-overtaking sign is detected in front of the vehicle.

[0107] In some embodiments, the necessity module 10 is further configured to determine that the necessity is zero when overtaking and lane changing are prohibited.

[0108] In some embodiments, the necessity module 10 is further configured to determine the necessity as an initial value if the vehicle has driven past a first fixed distance from the no-overtaking sign, after recognizing that the no-overtaking sign has been lifted, or after completing an overtaking lane change.

[0109] In some embodiments, the necessity module 10 is further configured to calculate the difference between the speed of the preceding vehicle and the set speed of the vehicle itself to obtain a relative speed; based on the relative speed, calibrate a first preset following time threshold and a second preset following time threshold; if the following time is less than the first preset following time threshold, then the necessity is determined to be an initial value; if the following time is greater than the first preset following time threshold and less than the second preset following time threshold, then the necessity is determined to be a first fixed value; if the following time is greater than the second preset following time threshold, then the necessity is determined to be a second fixed value, wherein the first preset following time threshold is less than the second preset following time threshold.

[0110] In some embodiments, the traffic efficiency module 20 is further configured to: determine the lane on the lane-changing side, the traffic flow reference value, and the vehicle speed percentage based on the lane-changing direction; obtain the number of vehicles in the lane on the lane-changing side and the speed of each vehicle within a fixed time period; obtain the traffic flow based on the fixed time and the number of vehicles; obtain the average vehicle speed based on the number of vehicles and the speed of each vehicle; and obtain the traffic efficiency based on the lane-changing direction, the actual vehicle speed, the traffic flow reference value, the vehicle speed percentage, the traffic flow, and the average vehicle speed.

[0111] In some embodiments, the traffic efficiency module 20 is further configured to calculate a traffic efficiency judgment value based on the lane change direction, the actual vehicle speed, the traffic flow benchmark value, the vehicle speed percentage, the traffic flow, and the average vehicle speed; if the traffic efficiency judgment value is less than a first preset threshold, then the traffic efficiency is determined to be a first standard; if the traffic efficiency judgment value is greater than the first preset threshold and less than a second preset threshold, then the traffic efficiency is determined to be a second standard; and if the traffic efficiency judgment value is greater than the second preset threshold, then the traffic efficiency is determined to be a third standard, wherein the first preset threshold is less than the second preset threshold.

[0112] In some embodiments, the suppression module 30 is further configured to: when the lane change direction is from left to right, ensure that there are no vehicles in front of the vehicle with a speed less than a first preset multiple of the vehicle's actual speed; when the lane change direction is from right to left, ensure that there are no vehicles in front of the vehicle with a speed less than a second preset multiple of the vehicle's actual speed; ensure that there are no vehicles exceeding a preset volume in the lane on the side of the lane change; if a high-precision map is available, determine that there are no merging or merging intersections within a second fixed distance section in front of the vehicle based on the high-precision map; and prohibit the vehicle from overtaking or changing lanes to the rightmost lane when the number of lanes is greater than a third fixed value.

[0113] In some embodiments, the determining module 40 is further configured to: when the lane change direction is from left to right, if the necessity is a first fixed value, the traffic efficiency is a third standard, and the overtaking lane change suppression condition is not met, then determine that a right overtaking lane change request can be triggered; when the lane change direction is from left to right, if the necessity is a second fixed value, the traffic efficiency is a second or third standard, and the overtaking lane change suppression condition is not met, then determine that a right overtaking lane change request can be triggered; when the lane change direction is from right to left, if the necessity is a first fixed value or a second fixed value, the traffic efficiency is a second or third standard, and the overtaking lane change suppression condition is not met, then determine that a left overtaking lane change request can be triggered; when the conditions for triggering a right overtaking lane change request and a left overtaking lane change request are met simultaneously, then trigger a left overtaking lane change request.

[0114] In some embodiments, the termination module 50 is further configured to: when the center of the vehicle has not crossed the lane line, if a vehicle with a speed lower than the actual speed of the vehicle is detected in the lane on the lane-changing side, cancel the overtaking lane change so that the vehicle returns to its original lane; when the center of the vehicle has not crossed the lane line, if the center of the preceding vehicle has crossed the lane line, cancel the overtaking lane change so that the vehicle returns to its original lane; when the center of the vehicle has not crossed the lane line, if a vehicle exceeding a preset vehicle specification threshold is detected in the lane on the lane-changing side, cancel the overtaking lane change so that the vehicle returns to its original lane.

[0115] This disclosure provides an automatic overtaking and lane-changing decision control device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the automatic overtaking and lane-changing decision control method in the above embodiments.

[0116] Referring now to Figure 5, a schematic diagram of a decision-making control device suitable for implementing the automatic overtaking and lane-changing system of the embodiments of this disclosure is shown. The automatic overtaking and lane-changing decision-making control device in the embodiments of this disclosure may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital radio receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Description), PMPs (Portable Media Players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. The automatic overtaking and lane-changing decision-making control device shown in Figure 5 is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this disclosure.

[0117] As shown in Figure 5, the automatic overtaking and lane-changing decision-making control device may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in read-only memory (ROM) 1002 or a program loaded from storage device 1003 into random access memory (RAM) 1004. The RAM 1004 also stores various programs and data required for the operation of the automatic overtaking and lane-changing decision-making control device. The processing unit 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to I / O interface 1006: input devices 1007 including, for example, touchscreens, touchpads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices 1008 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 1003 including, for example, magnetic tapes, hard disks, etc.; and communication devices 1009. Communication device 1009 allows the automatic overtaking and lane-changing decision-making control equipment to exchange data wirelessly or via wired communication with other devices. Although the figure shows an automatic overtaking and lane-changing decision-making control equipment with various systems, it should be understood that it is not required to implement or possess all the systems shown. More or fewer systems may be implemented alternatively.

[0118] Specifically, according to embodiments of this disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this disclosure include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from ROM 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of embodiments of this disclosure.

[0119] The automatic overtaking and lane-changing decision control device provided in this disclosure, employing the automatic overtaking and lane-changing decision control method in the above embodiments, can solve the technical problem of how to reduce ineffective overtaking and lane-changing. Compared with the prior art, the beneficial effects of the automatic overtaking and lane-changing decision control device provided in this disclosure are the same as the beneficial effects of the automatic overtaking and lane-changing decision control method provided in the above embodiments, and other technical features in this automatic overtaking and lane-changing decision control device are the same as those disclosed in the previous embodiment method, and will not be repeated here.

[0120] It should be understood that the various parts disclosed herein can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0121] The above description is merely a specific embodiment of this disclosure, but the scope of protection of this disclosure is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this disclosure should be included within the scope of protection of this disclosure. Therefore, the scope of protection of this disclosure should be determined by the scope of the claims.

[0122] This disclosure provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, the computer-readable program instructions being used to execute the automatic overtaking and lane-changing decision control method in the above embodiments.

[0123] The computer-readable storage medium provided in this disclosure may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0124] The aforementioned computer-readable storage medium may be included in the decision-making and control equipment for automatic overtaking and lane changing; or it may exist independently and not be assembled into the decision-making and control equipment for automatic overtaking and lane changing.

[0125] The aforementioned computer-readable storage medium carries one or more programs. When these programs are executed by the automatic overtaking and lane-changing decision-making and control device, the automatic overtaking and lane-changing decision-making and control device: if it detects a vehicle in its own lane with a speed lower than a preset low-speed threshold, it determines the necessity of overtaking and lane-changing based on its own set speed, the speed of the vehicle in front, and the following time; it determines the traffic efficiency based on the traffic flow and average speed of the lane on the lane changing side; it obtains the overtaking and lane-changing suppression conditions; if the automatic lane-changing control conditions are met, it triggers an overtaking and lane-changing request based on the necessity, the traffic efficiency, and the overtaking and lane-changing suppression conditions; if the overtaking and lane-changing termination conditions are met, it cancels the overtaking and lane-changing.

[0126] Computer program code for performing the operations of this disclosure can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0127] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0128] The modules described in the embodiments of this disclosure can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0129] The readable storage medium provided in this disclosure is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the above-described automatic overtaking and lane-changing decision-making control method, and is capable of solving the technical problem of automatic overtaking and lane-changing decision-making control. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this disclosure are the same as the beneficial effects of the automatic overtaking and lane-changing decision-making control method provided in the above embodiments, and will not be repeated here.

[0130] This disclosure also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the automatic overtaking and lane-changing decision control method described above.

[0131] The computer program product provided in this disclosure can solve the technical problem of decision-making and control for automatic overtaking and lane changing. Compared with the prior art, the beneficial effects of the computer program product provided in this disclosure are the same as the beneficial effects of the automatic overtaking and lane changing decision-making and control method provided in the above embodiments, and will not be repeated here.

[0132] One or more technical solutions proposed in this disclosure have at least the following technical effects:

[0133] When a vehicle with a speed lower than a preset low-speed threshold is detected in the vehicle's lane, the necessity of overtaking and changing lanes is determined based on the vehicle's set speed, the speed of the vehicle in front, and the following time. Then, the traffic efficiency is determined based on the traffic flow and average speed of the lane on the side of the lane to be overtaken. If the vehicle's driving state meets the automatic lane change control conditions, an overtaking and lane change request is triggered based on necessity, traffic efficiency, and overtaking and lane change suppression conditions. If the vehicle's driving state meets the overtaking and lane change termination conditions during the overtaking and lane change process, the overtaking and lane change is canceled. This disclosure determines whether an overtaking and lane change is necessary through three aspects: lane change necessity, traffic efficiency, and overtaking and lane change suppression conditions. It also designs conditions to cancel overtaking and lane changes after detecting invalid overtaking and lane changes, reducing the number of invalid overtaking and lane changes and greatly improving the user experience.

[0134] The above description is only a part of the embodiments of this disclosure and does not limit the patent scope of this disclosure. All equivalent structural transformations made under the technical concept of this disclosure using the contents of this specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of this disclosure.

Claims

1. A decision-making and control method for automatic overtaking and lane changing, comprising: If a vehicle with a speed lower than the preset low speed threshold is detected in the vehicle's lane, the necessity of overtaking and changing lanes is determined based on the vehicle's set speed, the speed of the vehicle in front, and the following time. Traffic efficiency is obtained based on the traffic flow and average speed of the lane on the side where the lane changes. Obtain the conditions for suppressing overtaking and lane changes; If the automatic lane change control conditions are met, an overtaking lane change request is triggered based on the necessity, the traffic efficiency, and the overtaking lane change suppression conditions. as well as If the conditions for terminating overtaking and lane changing are met, then the overtaking and lane changing will be cancelled.

2. The method of claim 1, wherein, The necessity of overtaking and changing lanes is determined based on the vehicle's set speed, the speed of the vehicle in front, and the following time, including: If a no-overtaking sign is detected in front of the vehicle, overtaking and lane changing are prohibited.

3. The method of claim 2, wherein, The necessity of overtaking and changing lanes is determined based on the vehicle's set speed, the speed of the vehicle in front, and the following time, including: When overtaking and lane changing are prohibited, the necessity is determined to be zero.

4. The method of claim 1, wherein, The necessity of overtaking and changing lanes is determined based on the vehicle's set speed, the speed of the vehicle in front, and the following time, including: If the vehicle passes the first fixed distance of the no-overtaking sign, then the necessity is determined to be the initial value.

5. The method of claim 1, wherein, The necessity of overtaking and changing lanes is determined based on the vehicle's set speed, the speed of the vehicle in front, and the following time, including: If the sign prohibiting overtaking is lifted is detected, then the necessity is determined to be the initial value.

6. The method of claim 1, wherein, The necessity of overtaking and changing lanes is determined based on the vehicle's set speed, the speed of the vehicle in front, and the following time, including: After completing an overtaking and lane change, the necessity is determined as the initial value.

7. The method of claim 1, wherein, The necessity of overtaking and changing lanes is determined based on the vehicle's set speed, the speed of the vehicle in front, and the following time, including: The difference between the speed of the preceding vehicle and the set speed of the vehicle itself is calculated to obtain the relative speed. Based on the relative vehicle speed, a first preset following time threshold and a second preset following time threshold are calibrated. If the following time is less than the first preset following time threshold, then the necessity is determined to be the initial value; If the following time is greater than the first preset following time threshold and less than the second preset following time threshold, then the necessity is determined to be a first fixed value; and If the following time is greater than the second preset following time threshold, then the necessity is determined to be a second fixed value, wherein the first preset following time threshold is less than the second preset following time threshold.

8. The method of claim 1, wherein, The method of obtaining traffic efficiency based on traffic flow and average speed in the lane changing side includes: Determine the lane on the side of the lane change, the baseline value of traffic flow, and the percentage of vehicle speed based on the direction of the lane change; Obtain the number of vehicles in the lane on the lane change side and the speed of each vehicle within a fixed time period; Traffic flow is obtained based on the fixed time and the number of vehicles; The average vehicle speed is obtained based on the number of vehicles and the speed of each vehicle; and Traffic efficiency is obtained based on the lane change direction, the actual vehicle speed, the traffic flow baseline value, the vehicle speed percentage, the traffic flow, and the average vehicle speed.

9. The method of claim 8, wherein, The process of obtaining traffic efficiency based on the lane change direction, the actual vehicle speed, the traffic flow benchmark value, the vehicle speed percentage, the traffic flow, and the average vehicle speed includes: The traffic efficiency judgment value is calculated based on the lane change direction, the actual speed of the vehicle, the traffic flow benchmark value, the speed percentage, the traffic flow, and the average speed. If the traffic efficiency judgment value is less than the first preset threshold, then the traffic efficiency is determined as the first standard; If the traffic efficiency judgment value is greater than a first preset threshold and less than a second preset threshold, then the traffic efficiency is determined to be the second standard; and If the traffic efficiency judgment value is greater than the second preset threshold, then the traffic efficiency is determined as the third standard, wherein the first preset threshold is less than the second preset threshold.

10. The method of claim 1, wherein, The overtaking and lane-changing suppression conditions include: When changing lanes from left to right, there are no vehicles in front of the vehicle whose speed is less than a first preset multiple of the vehicle's actual speed; and When the lane change direction is from right to left, there are no vehicles in front of the vehicle whose speed is less than a second preset multiple of the vehicle's actual speed.

11. The method of claim 10, wherein, The overtaking and lane-changing suppression conditions also include: There are no vehicles exceeding the preset volume in the lane where lanes are changed.

12. The method of claim 10, wherein, The overtaking and lane-changing suppression conditions also include: Based on the high-precision map, it was determined that there are no merging or merging intersections within the second fixed distance ahead of the vehicle.

13. The method of claim 12, wherein, The overtaking and lane-changing suppression conditions also include: When the number of lanes exceeds a third fixed value, the vehicle is prohibited from overtaking or changing lanes to the rightmost lane.

14. The method of claim 1, wherein, If the automatic lane change control conditions are met, then based on the necessity, the traffic efficiency, and the overtaking lane change suppression conditions, an overtaking lane change request is triggered, including: When the lane change direction is from left to right, if the necessity is a first fixed value, the traffic efficiency is a third standard, and the overtaking lane change suppression condition is not met, then it is determined that a right overtaking lane change request can be triggered. When the lane change direction is from left to right, if the necessity is a second fixed value, the traffic efficiency is a second standard or a third standard, and the overtaking lane change suppression condition is not met, then it is determined that a right overtaking lane change request can be triggered. When the lane change direction is from right to left, if the necessity is a first fixed value or a second fixed value, the traffic efficiency is a second standard or a third standard, and the overtaking lane change suppression condition is not met, then it is determined that a left overtaking lane change request can be triggered; and When both the conditions for triggering a right overtaking / lane change request and the conditions for triggering a left overtaking / lane change request are met simultaneously, a left overtaking / lane change request is triggered.

15. The method of claim 1, wherein, The clause stating that overtaking and lane changing will be cancelled if the conditions for terminating the overtaking / lane changing are met includes: If a vehicle with a speed lower than the vehicle's actual speed is detected in the lane on the side of the lane change when the center of the vehicle has not crossed the lane line, the overtaking and lane change will be canceled so that the vehicle can return to the original lane.

16. The method of claim 15, wherein, The clause stating that overtaking and lane changing will be cancelled if the conditions for terminating the overtaking and lane changing are met also includes: If the center of the vehicle has not crossed the lane line, and the center of the vehicle in front is detected to have crossed the lane line, the overtaking and lane change will be cancelled so that the vehicle can return to the original lane.

17. The method of claim 16, wherein, The clause stating that overtaking and lane changing will be cancelled if the conditions for terminating the overtaking and lane changing are met also includes: If a vehicle exceeding a preset vehicle specification threshold is detected in the lane on the lane change side before the vehicle's center has crossed the lane line, the overtaking and lane change will be canceled so that the vehicle can return to its original lane.

18. An automatic overtaking and lane-changing decision-making and control device, comprising: The necessity module is used to determine the necessity of overtaking and changing lanes based on the vehicle's set speed, the speed of the vehicle in front, and the following time if a vehicle with a speed lower than a preset low speed threshold is detected in the vehicle's lane. The traffic efficiency module is used to obtain traffic efficiency based on the traffic flow and average speed of the lane on the lane changing side; The suppression module is used to obtain the overtaking and lane-change suppression conditions; The judgment module is used to trigger an overtaking lane change request based on the necessity, the traffic efficiency, and the overtaking lane change suppression condition if the automatic lane change control conditions are met. as well as The termination module is used to cancel overtaking and lane changing if the overtaking and lane changing termination conditions are met.

19. A decision control device for automatic overtake lane change, comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the decision control method for automatic overtaking and lane changing as claimed in any one of claims 1 to 17.

20. A storage medium, wherein, The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, it causes the processor to implement the steps of the automatic overtaking and lane-changing decision-making control method as described in any one of claims 1 to 17.

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