CN118372831A - Vehicle lane change control method, device, vehicle, storage medium and program product - Google Patents

Abstract

The present disclosure relates to the field of autonomous driving technology, and in particular to a vehicle lane change control method, device, vehicle, storage medium and program product. The vehicle lane change control method includes: obtaining driving information of a second vehicle on a target lane and located in front of a first vehicle, the target lane includes a first lane where the first vehicle is located and a second lane adjacent to the first lane, and the second vehicle includes a vehicle within the perception range of the first vehicle and a vehicle beyond the perception range of the first vehicle; determining the lane change decision of the first vehicle according to the driving information of the second vehicle; and controlling the driving of the first vehicle according to the lane change decision. In this way, it is possible to achieve global optimal lane change planning, improve the reliability of the determined lane change decision, and enhance the autonomous driving experience.

Description

Vehicle lane change control method, device, vehicle, storage medium and program product

Technical Field

The present disclosure relates to the technical field of automatic driving of vehicles, and in particular to a vehicle lane change control method, device, vehicle, storage medium and program product.

Background technique

Autonomous vehicles rely on artificial intelligence, visual computing, radar, monitoring devices and global positioning systems to work together, allowing computers to automatically and safely operate motor vehicles without any human intervention. However, in actual applications, when a vehicle is driving on the road, it needs to change lanes. At this time, the vehicle's autonomous driving system needs to identify the surrounding environment and complete intelligent lane changes.

At present, most autonomous vehicles use their own perception capabilities to identify the surrounding environment and complete intelligent lane changes. Among them, the self-driving vehicle uses perception sensors installed on the self-vehicle, such as cameras, laser radars, millimeter-wave radars, etc., to realize the position perception of vehicles in the same lane and the adjacent lanes, so as to clarify the position relationship between the self-vehicle and the surrounding vehicles. However, the perception range of the self-vehicle is the perception range of the perception sensor, that is, the self-vehicle can only identify vehicles within the perception range of the self-vehicle, and cannot detect vehicles outside the perception range. In this way, the self-vehicle only changes lanes based on the driving information of vehicles within the perception range of the self-vehicle.

Summary of the invention

In order to overcome the problems existing in the related art, the present disclosure provides a vehicle lane change control method, device, vehicle, storage medium and program product.

According to a first aspect of an embodiment of the present disclosure, a vehicle lane change control method is provided, comprising:

Acquire driving information of a second vehicle on a target lane and located in front of the first vehicle, the target lane includes a first lane where the first vehicle is located and a second lane adjacent to the first lane, and the second vehicle includes a vehicle within a sensing range of the first vehicle and a vehicle beyond the sensing range of the first vehicle;

determining a lane change decision of the first vehicle according to the driving information of the second vehicle;

The first vehicle is controlled to travel according to the lane change decision.

Optionally, the driving information includes a driving speed, and determining the lane change decision of the first vehicle according to the driving information of the second vehicle includes:

determining a first traffic speed of the first lane and a second traffic speed of the second lane respectively according to the travel speed of the second vehicle;

A lane change decision of the first vehicle is determined according to the first traffic speed and the second traffic speed.

Optionally, determining the lane change decision of the first vehicle according to the first traffic speed and the second traffic speed includes:

If the first vehicle flow speed and the second vehicle flow speed meet a preset condition, determining that the first vehicle changes lanes from the first lane to the second lane;

The preset condition includes that the second traffic speed is greater than the first traffic speed, or that the second traffic speed is greater than the first traffic speed and the difference between the second traffic speed and the first traffic speed is greater than a preset threshold.

Optionally, the driving information further includes position information, and determining the lane change decision of the first vehicle according to the first traffic speed and the second traffic speed includes:

When the first traffic speed is greater than or equal to the second traffic speed, determining a third vehicle and a fourth vehicle closest to the first vehicle on the first lane and the second lane respectively according to the position information of the second vehicle;

A lane changing decision of the first vehicle is determined according to a driving speed of the third vehicle and a driving speed of the fourth vehicle.

Optionally, determining the lane change decision of the first vehicle according to the driving speed of the third vehicle and the driving speed of the fourth vehicle includes:

If the travel speed of the third vehicle is less than the travel speed of the fourth vehicle, determining a target vehicle among the second vehicles located on the first lane;

Determining a travel distance between each group of adjacent vehicles between the third vehicle and the target vehicle;

A lane change decision of the first vehicle is determined according to the driving distance between each group of adjacent vehicles.

Optionally, determining the lane change decision of the first vehicle according to the driving distance between each group of adjacent vehicles includes:

If it is determined that there is at least one group of target adjacent vehicles whose driving distance is greater than the preset allowable cut-in distance, determining that the first vehicle changes lanes from the first lane to the second lane, and changes lanes from the second lane to the first lane between the target adjacent vehicles;

If it is determined that the target adjacent vehicle does not exist, it is determined that the first vehicle does not change lanes.

Optionally, the lane changing from the second lane to the first lane between the target adjacent vehicles includes:

If there are multiple groups of target adjacent vehicles, the lane is changed from the second lane to the first lane between the target adjacent vehicles that are farthest from the first vehicle among the multiple groups of target adjacent vehicles.

Optionally, if the driving speed of the third vehicle is less than the driving speed of the fourth vehicle, determining the target vehicle among the second vehicles located on the first lane comprises:

If the driving speed of the third vehicle is less than the driving speed of the fourth vehicle, then the driving speeds of the second vehicles located on the first lane are sequentially traversed according to the driving direction of the first vehicle;

If a fifth vehicle whose driving speed is greater than that of the fourth vehicle is traversed, the fifth vehicle is determined as the target vehicle;

If a fifth vehicle having a travel speed greater than that of the fourth vehicle is not traversed, a second vehicle located within a preset range on the first lane and farthest from the first vehicle is determined as the target vehicle.

Optionally, determining the first traffic speed of the first lane and the second traffic speed of the second lane respectively according to the travel speed of the second vehicle includes:

Determine the minimum travel speed of a second vehicle located within a preset range on the first lane as a first traffic speed of the first lane;

The minimum travel speed of a second vehicle located within a preset range on the second lane is determined as a second traffic speed of the second lane.

Optionally, the obtaining of driving information of a second vehicle on the target lane and located ahead of the first vehicle:

The driving information of the second vehicle on the target lane and located in front of the first vehicle is obtained by receiving messages sent by the roadside unit and/or other vehicles communicating with the first vehicle and by obtaining the perception information of the perception device of the first vehicle.

According to a second aspect of an embodiment of the present disclosure, a vehicle lane change control device is provided, comprising:

an acquisition module, configured to acquire driving information of a second vehicle on a target lane and located in front of the first vehicle, the target lane including a first lane where the first vehicle is located and a second lane adjacent to the first lane, and the second vehicle including a vehicle within a sensing range of the first vehicle and a vehicle beyond the sensing range of the first vehicle;

a determination module, configured to determine a lane change decision of the first vehicle according to the driving information of the second vehicle;

The control module is configured to control the driving of the first vehicle according to the lane change decision.

According to a third aspect of an embodiment of the present disclosure, a vehicle is provided, comprising:

a first processor;

a memory for storing processor-executable instructions;

Among them, the first processor is configured to execute the instructions to implement the steps of the method described in the first aspect of the embodiment of the present disclosure.

According to a fourth aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a second processor, the steps of the method described in the first aspect of the embodiment of the present disclosure are implemented.

According to a fifth aspect of an embodiment of the present disclosure, a computer program product is provided, comprising a computer program, which implements the steps of the method described in the first aspect of an embodiment of the present disclosure when executed by a third processor.

By adopting the above technical solution, the lane change decision of the first vehicle is determined according to the driving information of the vehicles within the sensing range of the first vehicle and the driving information of the vehicles beyond the sensing range of the first vehicle, and the lane change is performed according to the lane change decision. In this way, the global optimal lane change planning can be realized, the reliability of the determined lane change decision can be improved, and the autonomous driving experience can be enhanced.

It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure.

BRIEF DESCRIPTION OF THE DRAWINGS

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

FIG. 1 is a flow chart showing a vehicle lane change control method according to an exemplary embodiment.

Fig. 2 is a block diagram of a vehicle lane change control system according to an exemplary embodiment.

Fig. 3 is a schematic diagram showing a vehicle position relationship topology according to an exemplary embodiment.

Fig. 4 is a block diagram of a vehicle lane change control device according to an exemplary embodiment.

Fig. 5 is a block diagram of a vehicle according to an exemplary embodiment.

Detailed ways

Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

The embodiments described in some embodiments of the present disclosure below do not represent all embodiments consistent with the present disclosure. Instead, they are only examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

It should be noted that all actions of acquiring signals, information or data in the present disclosure are carried out in compliance with the relevant data protection laws and policies of the country where the device is located and with the authorization given by the owner of the corresponding device.

In the prior art, since the ego vehicle can only identify vehicles within the ego vehicle's perception range and cannot detect vehicles beyond the perception range, it is impossible to know the driving conditions of other vehicles blocked by the front vehicle, and it is impossible to obtain a global perspective, and thus it is impossible to make a global optimal lane change plan. The following situation may occur: when the ego vehicle changes lanes to an adjacent lane, there are slow vehicles or congestion in front of the adjacent lane, resulting in a slow overall driving speed in the lane, making the lane after the lane change not a better lane, and the ego vehicle may still need to change back to the original lane. After the ego vehicle cuts out of the original lane, the rear vehicle may fill the position, resulting in the parking space of the ego vehicle in the original lane being occupied, making it impossible for the ego vehicle to switch back to the original lane. That is, in the prior art, the ego vehicle determines the lane change decision only based on the driving information of the vehicles within the ego vehicle's perception range, resulting in low reliability of the determined lane change decision, affecting the autonomous driving experience.

In view of this, the present disclosure provides a vehicle lane change control method, device, vehicle, storage medium and program product, so as to determine the lane change decision of the first vehicle according to the driving information of vehicles within the perception range of the first vehicle and the driving information of vehicles beyond the perception range of the first vehicle, and change lanes according to the lane change decision. In this way, the global optimal lane change planning can be realized, the reliability of the determined lane change decision can be improved, and the autonomous driving experience can be enhanced.

FIG1 is a flow chart of a vehicle lane change control method according to an exemplary embodiment. The method can be applied to a server or to a first vehicle, and the present disclosure is described by taking the application to the first vehicle as an example. As shown in FIG1 , the method can include the following steps.

In step S11, the driving information of the second vehicle which is on the target lane and is located ahead of the first vehicle is obtained.

The target lane includes a first lane where the first vehicle is located and a second lane adjacent to the first lane, and the second vehicle includes a vehicle within a perception range of the first vehicle and a vehicle beyond the perception range of the first vehicle.

It should be understood that the driving front includes the front on the first lane where the first vehicle is located and the front on the second lane adjacent to the first lane. In other words, part of the determined second vehicles are located on the first lane, and the other part of the vehicles are located on the second lane.

In step S12, a lane change decision of the first vehicle is determined according to the driving information of the second vehicle.

The lane change decision may include a decision on whether to change from the first lane to the second lane, and a decision on how to change from the second lane to the first lane after changing to the second lane.

In step S13, the first vehicle is controlled to travel according to the lane change decision.

By adopting the above technical solution, the lane change decision of the first vehicle is determined according to the driving information of the vehicles within the sensing range of the first vehicle and the driving information of the vehicles beyond the sensing range of the first vehicle, and the lane change is performed according to the lane change decision. In this way, the global optimal lane change planning can be realized, the reliability of the determined lane change decision can be improved, and the autonomous driving experience can be enhanced.

In order to facilitate those skilled in the art to better understand the vehicle lane change control method provided by the present disclosure, the method is described below with a complete embodiment.

In one embodiment, step S11 in Figure 1 to obtain the driving information of the second vehicle on the target lane and in front of the first vehicle may include: obtaining the driving information of the second vehicle on the target lane and in front of the first vehicle by receiving messages sent by a roadside unit and/or other vehicles that communicate with the first vehicle and by obtaining perception information of a perception device of the first vehicle.

For example, FIG2 is a block diagram of a vehicle lane change control system according to an exemplary embodiment. As shown in FIG2 , the vehicle lane change control system includes: a first vehicle, other vehicles and a road side unit (RSU). Among them, the first vehicle may include an on-board unit (OBU, On board Unit) with V2X (vehicle to X, vehicle wireless communication technology) function, a visual perception unit, a fusion perception unit, a lane change decision unit and a control unit. The other vehicles are multiple vehicles and the multiple vehicles may all have an on-board unit with the ability to broadcast driving information. Some of the multiple vehicles may not have an on-board unit. In this way, other vehicles with on-board units can identify the driving information of vehicles without on-board units through the perception function, and broadcast the driving information of the vehicle itself and the identified vehicle without on-board units through its own on-board unit.

The roadside unit has the ability to sense and broadcast data. The roadside unit can sense the driving information of vehicles traveling in the area where the roadside unit is located and broadcast the driving information.

For example, other vehicles with onboard units capable of broadcasting driving information encapsulate their own driving information into a Basic Safety Message (BSM), and/or encapsulate the perceived driving information of other vehicles into a Sensor Sharing Message (SSM), and then broadcast it externally. Similarly, the roadside unit encapsulates the perceived driving information of the vehicle into a Sensor Sharing Message (SSM) and broadcasts it externally.

The first vehicle can receive messages broadcasted by other vehicles through a vehicle-mounted unit with V2X functions such as V2V (Vehicle to Vehicle, vehicle-to-vehicle communication technology) to obtain the driving information of the vehicle broadcasted by other vehicles, and/or the first vehicle can receive messages broadcasted by a roadside unit through a vehicle-mounted unit with V2X functions such as V2I (Vehicle to Infrastructure, vehicle-to-infrastructure communication technology) to obtain the driving information of the vehicle broadcasted by the roadside unit. In addition, the first vehicle is also provided with a visual perception unit, and can also detect the driving information of vehicles within the perception range through the visual perception unit of the vehicle itself.

Afterwards, the fusion perception unit fuses the driving information of the vehicle obtained from the message sent by the roadside unit and/or other vehicles and the driving information of the vehicle perceived by the vehicle itself, and obtains the driving information of the second vehicle on the target lane and located in front of the first vehicle. For example, the fusion perception unit can draw the vehicle position relationship topology in the road map based on the driving information of the vehicle received from the roadside unit and/or other vehicles and the driving information of the vehicle perceived by the vehicle itself.

Finally, the lane change decision unit determines the lane change decision of the first vehicle according to the obtained driving information of the second vehicle. The control unit controls the first vehicle to drive according to the lane change decision. For example, as shown in FIG2 , the lane change decision unit obtains the lane change decision based on a preset lane change algorithm, and converts the lane change decision into a control instruction. The control unit is used to execute the control instruction to achieve the purpose of controlling the first vehicle to drive according to the lane change decision.

By adopting the above technical solution, the driving information of the second vehicle is obtained by receiving messages sent by the roadside unit and/or other vehicles communicating with the first vehicle and by obtaining the perception information of the perception device of the first vehicle. In this way, the driving information of vehicles within the perception range of the first vehicle and the driving information of vehicles beyond the perception range of the first vehicle can be obtained. When the lane change decision of the first vehicle is determined based on the driving information of the second vehicle, the global optimal lane change planning can be realized, and the reliability of the determined lane change decision can be improved.

The following is a description of a specific implementation of step S12 in FIG. 1 for determining the lane change decision of the first vehicle according to the driving information of the second vehicle.

In one embodiment, the driving information includes a driving speed. Step S12 determines the lane change decision of the first vehicle according to the driving information of the second vehicle, which may include: determining a first traffic speed of the first lane and a second traffic speed of the second lane according to the driving speed of the second vehicle; and determining the lane change decision of the first vehicle according to the first traffic speed and the second traffic speed.

In the present disclosure, the lane changing decision of the first vehicle is determined based on the first traffic speed in the first lane and the second traffic speed in the second lane. Compared with determining the lane changing decision of the first vehicle only based on the driving speeds of vehicles in the first lane and the second lane that are located in front of the first vehicle and closest to the first vehicle, the reliability of the determined lane changing decision is improved.

In one embodiment, the average value of the driving speed of each vehicle in a lane may be determined as the traffic speed of the lane. For example, the average value of the driving speed of the second vehicle in the first lane may be determined as the first traffic speed of the first lane, and the average value of the driving speed of the second vehicle in the second lane may be determined as the second traffic speed of the second lane.

Taking into account that the traffic speed of a lane usually depends on the minimum driving speed of vehicles in the lane, therefore, in one possible way of this embodiment, the implementation method of respectively determining the first traffic speed of the first lane and the second traffic speed of the second lane according to the driving speed of the second vehicle is as follows: the minimum driving speed of the second vehicle located within a preset range on the first lane is determined as the first traffic speed of the first lane; the minimum driving speed of the second vehicle located within a preset range on the second lane is determined as the second traffic speed of the second lane.

The preset range refers to a range in front of the first vehicle and at a preset distance from the first vehicle. For example, the preset distance can be calibrated according to the vehicle speed, and the greater the vehicle speed, the greater the preset distance. For example, the preset distance S=7.2 v, where v is the speed of the first vehicle in m/s. Assuming the speed is 27.78 m/s, the preset distance S=200 m.

After the preset distance is determined, a second vehicle within the preset distance is selected in the first lane in the driving direction of the first vehicle, and the minimum driving speed is determined as the first traffic speed of the first lane among the selected driving speeds of the second vehicles. Similarly, a second vehicle within the preset distance is selected in the second lane in the driving direction of the first vehicle, and the minimum driving speed is determined as the second traffic speed of the second lane among the selected driving speeds of the second vehicles.

FIG3 is a schematic diagram of a vehicle position relationship topology according to an exemplary embodiment. As shown in FIG3 , the first vehicle is a vehicle HV, and the second vehicle includes vehicles RV1, RV2, RV3, and RV4 located on the first lane, and vehicles RVa and RVb located on the second lane. The driving direction of the vehicle is shown by the arrow in the figure. Assuming that the slowest vehicle within a preset range on the first lane is vehicle RV2, the driving speed v2 of vehicle RV2 is determined as the first traffic speed, and the slowest vehicle within a preset range on the second lane is vehicle RVb, then the driving speed vb of vehicle RVb is determined as the second traffic speed.

In one possible manner of this embodiment, determining the lane change decision of the first vehicle based on the first traffic speed and the second traffic speed may include: if the first traffic speed and the second traffic speed meet preset conditions, determining that the first vehicle changes lanes from the first lane to the second lane; the preset conditions include that the second traffic speed is greater than the first traffic speed, or that the second traffic speed is greater than the first traffic speed and the difference between the second traffic speed and the first traffic speed is greater than a preset threshold.

For example, when the second traffic speed is greater than the first traffic speed, it indicates that the overall driving speed of the second lane is greater than the overall driving speed of the second lane. It is predicted that the probability that the first vehicle needs to change back to the first lane due to the presence of a slow vehicle or congestion in the second lane after changing lanes to the second lane is small. Therefore, in this case, the lane change decision of the first vehicle is determined to be changing from the first lane to the second lane.

In another example, when the second traffic speed is greater than the first traffic speed, it is further determined whether the difference between the second traffic speed and the first traffic speed is greater than a preset threshold. If the difference between the second traffic speed and the first traffic speed is greater than the preset threshold, it is predicted that the probability that the first vehicle needs to change back to the first lane due to the presence of slow vehicles or congestion in the second lane after changing lanes to the second lane is further reduced. Therefore, in this case, the lane change decision of the first vehicle is determined to be changing from the first lane to the second lane. The preset threshold is a pre-calibrated lane change economy threshold.

In another possible manner of this embodiment, determining the lane change decision of the first vehicle based on the first traffic speed and the second traffic speed may also include: if the first traffic speed and the second traffic speed do not meet preset conditions, determining that the first vehicle does not change lanes.

Referring to FIG3 , using the above example, assuming that the driving speed vb of vehicle RVb is less than or equal to the driving speed v2 of vehicle RV2, if the vehicle RVa changes lanes to the second lane, the vehicle RVa will quickly catch up with the vehicle RVb, but since the driving speed vb of vehicle RVb is less than or equal to the minimum driving speed of the first lane, such lane change is not economical. Therefore, if the first traffic speed and the second traffic speed do not meet the preset conditions, it is determined that the first vehicle does not change lanes.

However, in this manner, when it is determined that the first vehicle speed and the second vehicle speed do not meet the preset conditions, the first vehicle does not change lanes, which may limit the driving speed of the first vehicle, thereby extending the driving time of the first vehicle and affecting the driving experience.

Therefore, in another possible manner in this embodiment, the driving information may also include position information, and determining the lane changing decision of the first vehicle according to the first traffic speed and the second traffic speed may also include: when the first traffic speed is greater than or equal to the second traffic speed, determining the third vehicle and the fourth vehicle closest to the first vehicle on the first lane and the second lane respectively according to the position information of the second vehicle; determining the lane changing decision of the first vehicle according to the driving speed of the third vehicle and the driving speed of the fourth vehicle.

3 , the third vehicle closest to the first vehicle in the first lane is vehicle RV1, and the fourth vehicle closest to the first vehicle in the second lane is vehicle RVa. The lane change decision of the first vehicle is determined based on the magnitude relationship between the driving speed v1 of vehicle RV1 and the driving speed va of vehicle RVa.

It should be understood that if the first traffic speed is the minimum driving speed of the second vehicle within the preset range on the first lane, and the second traffic speed is the minimum driving speed of the second vehicle within the preset range on the second lane, and the vehicle with the minimum driving speed on the first lane is the third vehicle closest to the first vehicle, and the vehicle with the minimum driving speed on the second lane is the fourth vehicle closest to the first vehicle, then when it is determined that the first traffic speed is greater than or equal to the second traffic speed, there is no need to determine the third vehicle and the fourth vehicle closest to the first vehicle on the first lane and the second lane, and the first vehicle can be directly controlled not to change lanes.

That is to say, when the first traffic speed is not the driving speed of the third vehicle closest to the first vehicle, and the second traffic speed is not the driving speed of the fourth vehicle closest to the first vehicle, if it is determined that the first traffic speed is greater than or equal to the second traffic speed, the third vehicle and the fourth vehicle closest to the first vehicle are determined on the first lane and the second lane respectively, and the lane change decision of the first vehicle is determined based on the driving speeds of the third vehicle and the fourth vehicle.

In the present disclosure, determining the lane change decision of the first vehicle according to the driving speed of the third vehicle and the driving speed of the fourth vehicle may include: if the driving speed of the third vehicle is less than the driving speed of the fourth vehicle, determining the target vehicle among the second vehicles located in the first lane; determining the driving distance of each group of adjacent vehicles between the third vehicle and the target vehicle; and determining the lane change decision of the first vehicle according to the driving distance of each group of adjacent vehicles.

The target vehicle refers to the vehicle at the farthest return position of the first vehicle if it changes to the second lane and then changes back to the first lane from the second lane. In other words, if the first vehicle can change back to the first lane from the second lane at any position behind the target vehicle, the first vehicle can be controlled to change to the second lane first, and then change back to the first lane from the second lane.

First, the target vehicle is determined among the second vehicles located on the first lane. In one embodiment, if the driving speed of the third vehicle is less than the driving speed of the fourth vehicle, the target vehicle is determined among the second vehicles located on the first lane, which may include: if the driving speed of the third vehicle is less than the driving speed of the fourth vehicle, the driving speeds of the second vehicles located on the first lane are sequentially traversed according to the driving direction of the first vehicle; if a fifth vehicle whose driving speed is greater than the driving speed of the fourth vehicle is traversed, the fifth vehicle is determined as the target vehicle; if a fifth vehicle whose driving speed is greater than the driving speed of the fourth vehicle is not traversed, the second vehicle located within a preset range on the first lane and farthest from the first vehicle is determined as the target vehicle.

Referring to Figure 3, on the first lane, according to the driving direction of the first vehicle, the driving speeds of vehicles RV1, RV2, RV3 and RV4 are traversed in sequence. If the driving speed v3 of vehicle RV3 is determined to be greater than the driving speed va of vehicle RVa when traversing to the driving speed of vehicle RV3, vehicle RV3 can be determined as the target vehicle. If the driving speeds of vehicles RV1, RV2, RV3 and RV4 are all less than or equal to the driving speed of vehicle RVa, the second vehicle on the first lane that is within the preset range and farthest from the first vehicle can be determined as the target vehicle. If the second vehicle on the first lane that is within the preset range and farthest from the first vehicle is vehicle RV4, vehicle RV4 is determined as the target vehicle. Among them, the preset range refers to the range in front of the first vehicle and at a preset distance from the first vehicle. For example, the method for determining the preset distance is as described above and will not be repeated here.

Next, after the target vehicle is determined, the driving distance of each group of adjacent vehicles is determined between the third vehicle and the target vehicle. For example, referring to FIG3 , if the target vehicle is vehicle RV3, then vehicles RV1 and RV2 are a group of adjacent vehicles, and vehicles RV2 and RV3 are a group of adjacent vehicles. In each group of adjacent vehicles, the distance between the two is the driving distance of the group of adjacent vehicles.

It should be understood that the driving information includes position information. When the first vehicle receives the position information of the second vehicle, it can calculate the driving distance between each group of adjacent vehicles. Alternatively, the driving information may also include the size information of each vehicle. The first vehicle accurately calculates the distance between the rear end of the front vehicle and the front end of the rear vehicle in each group of adjacent vehicles based on the position information and the size information, and determines the distance as the driving distance between the group of adjacent vehicles. Alternatively, the driving information may include the driving distance between each group of adjacent vehicles, and so on. The present disclosure does not specifically limit the specific implementation method for determining the driving distance between each group of adjacent vehicles.

Finally, the lane change decision of the first vehicle is determined according to the driving distance between each group of adjacent vehicles.

In one embodiment, determining the lane change decision of the first vehicle based on the driving distance between each group of adjacent vehicles may include: if it is determined that there is at least one group of target adjacent vehicles whose driving distance is greater than a preset allowable cut-in distance, determining that the first vehicle changes lanes from the first lane to the second lane, and changes lanes from the second lane to the first lane between the target adjacent vehicles; if it is determined that there is no target adjacent vehicle, determining that the first vehicle does not change lanes.

The allowable cut-in spacing is user-defined, for example, the allowable cut-in spacing is the product of 3 and the longitudinal body length of the first vehicle. If it is determined that there is at least one group of target adjacent vehicles whose driving spacing is greater than the allowable cut-in spacing, it indicates that the first vehicle can change lanes back to the first lane after changing lanes to the second lane. In this case, the lane change decision of the first vehicle is determined to be changing lanes from the first lane to the second lane, and changing lanes from the second lane to the first lane between the target adjacent vehicles. If it is determined that there are no target adjacent vehicles, it indicates that the first vehicle cannot change lanes back to the first lane when following the fourth vehicle after changing lanes to the second lane, and because the second traffic speed in the second lane is slower, the first vehicle can only travel in the slower lane, affecting the user's driving experience. Therefore, in this case, the lane change decision of the first vehicle is determined to be not changing lanes.

For example, a driving distance greater than a preset allowable cut-in distance may be marked with an allow-cut-in mark, for example, the allow-cut-in mark is represented by the number 1, that is, each group of target adjacent vehicles is marked with an allow-cut-in mark. When determining the lane change strategy, the first vehicle may identify an adjacent vehicle whose driving distance is marked with an allow-cut-in mark between the third vehicle and the target vehicle. If the allow-cut-in mark is identified, the lane change decision of the first vehicle is determined to be a lane change from the first lane to the second lane, and a lane change from the second lane to the first lane between the target adjacent vehicles whose driving distance is marked with the allow-cut-in mark. If the allow-cut-in mark is not identified, the lane change decision of the first vehicle is determined to be no lane change.

In this embodiment, if the target adjacent vehicles are a group, the lane change decision is to change from the first lane to the second lane, and change from the second lane to the first lane between the target adjacent vehicles in the group. If the target adjacent vehicles are multiple groups, in one possible manner, the lane change decision is to change from the first lane to the second lane, and change from the second lane to the first lane between any group of target adjacent vehicles. However, since the fourth vehicle is traveling at a faster speed, in order to improve the user's driving experience, the time that the first vehicle follows the fourth vehicle can be extended as much as possible. Therefore, in another possible manner, if the target adjacent vehicles are multiple groups, the lane change is made from the second lane to the first lane between the target adjacent vehicles that are farthest from the first vehicle in the multiple groups of target adjacent vehicles.

For example, continuing with the above example, assuming that the driving distance between vehicle RV1 and vehicle RV2 is greater than the allowed cutting-in distance, and the driving distance between vehicle RV2 and vehicle RV3 is greater than the allowed cutting-in distance, the lane change decision of the first vehicle is to change from the first lane to the second lane, and to change from the second lane to the first lane between vehicle RV2 and vehicle RV3.

In this way, the first vehicle can be effectively prevented from slowing down, the user's driving experience can be improved, and a better and more economical lane change can be achieved.

Based on the same inventive concept, the present disclosure also provides a vehicle lane change control device. FIG4 is a block diagram of a vehicle lane change control device according to an exemplary embodiment. As shown in FIG4 , the vehicle lane change control device 400 may include:

The acquisition module 401 is configured to acquire driving information of a second vehicle on a target lane and located in front of the first vehicle, the target lane includes a first lane where the first vehicle is located and a second lane adjacent to the first lane, and the second vehicle includes a vehicle within a sensing range of the first vehicle and a vehicle beyond the sensing range of the first vehicle;

A determination module 402 is configured to determine a lane change decision of the first vehicle according to the driving information of the second vehicle;

The control module 403 is configured to control the first vehicle to travel according to the lane change decision.

Optionally, the driving information includes driving speed, and the determining module 402 may include:

A first determination submodule is configured to determine a first traffic speed of the first lane and a second traffic speed of the second lane according to a driving speed of the second vehicle;

The second determination submodule is configured to determine the lane change decision of the first vehicle according to the first traffic speed and the second traffic speed.

Optionally, the second determination submodule is configured to: determine that the first vehicle changes lanes from the first lane to the second lane if the first vehicle flow speed and the second vehicle flow speed meet a preset condition;

The preset condition includes that the second traffic speed is greater than the first traffic speed, or that the second traffic speed is greater than the first traffic speed and the difference between the second traffic speed and the first traffic speed is greater than a preset threshold.

Optionally, the driving information further includes location information, and the second determining submodule may further include:

A third determination submodule is configured to determine, when the first traffic speed is greater than or equal to the second traffic speed, a third vehicle and a fourth vehicle closest to the first vehicle on the first lane and the second lane, respectively, according to the position information of the second vehicle;

The fourth determination submodule is configured to determine the lane change decision of the first vehicle according to the driving speed of the third vehicle and the driving speed of the fourth vehicle.

Optionally, the fourth determination submodule is configured to: if the driving speed of the third vehicle is less than the driving speed of the fourth vehicle, determine the target vehicle among the second vehicles located on the first lane;

Determining a travel distance between each group of adjacent vehicles between the third vehicle and the target vehicle;

A lane change decision of the first vehicle is determined according to the driving distance between each group of adjacent vehicles.

Optionally, the fourth determination submodule is configured to: if it is determined that there is at least one group of target adjacent vehicles whose driving distance is greater than a preset allowable cut-in distance, determine that the first vehicle changes lanes from the first lane to the second lane, and changes lanes from the second lane to the first lane between the target adjacent vehicles;

If it is determined that the target adjacent vehicle does not exist, it is determined that the first vehicle does not change lanes.

Optionally, the fourth determining submodule is configured to: if there are multiple groups of target adjacent vehicles, change lanes from the second lane to the first lane between target adjacent vehicles farthest from the first vehicle among the multiple groups of target adjacent vehicles.

Optionally, the fourth determination submodule is configured to: if the driving speed of the third vehicle is less than the driving speed of the fourth vehicle, sequentially traverse the driving speeds of the second vehicles located on the first lane according to the driving direction of the first vehicle;

If a fifth vehicle whose driving speed is greater than that of the fourth vehicle is traversed, the fifth vehicle is determined as the target vehicle;

If a fifth vehicle having a travel speed greater than that of the fourth vehicle is not traversed, a second vehicle located within a preset range on the first lane and farthest from the first vehicle is determined as the target vehicle.

Optionally, the first determination submodule is configured to: determine the minimum driving speed of a second vehicle located within a preset range on the first lane as the first traffic speed of the first lane;

The minimum travel speed of a second vehicle located within a preset range on the second lane is determined as a second traffic speed of the second lane.

Optionally, the acquisition module 401 is configured to obtain driving information of a second vehicle on the target lane and in front of the first vehicle by receiving messages sent by a roadside unit and/or other vehicles communicating with the first vehicle and by acquiring perception information of a perception device of the first vehicle.

Regarding the vehicle lane change control device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

The present disclosure also provides a computer-readable storage medium having computer program instructions stored thereon, which, when executed by a second processor, implement the steps of the vehicle lane change control method provided by the present disclosure.

FIG5 is a block diagram of a vehicle according to an exemplary embodiment. For example, vehicle 500 may be a hybrid vehicle, a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other types of vehicles. Vehicle 500 may be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.

5 , the vehicle 500 may include various subsystems, for example, an infotainment system 510, a perception system 520, a decision control system 530, a drive system 540, and a computing platform 550. The vehicle 500 may also include more or fewer subsystems, and each subsystem may include multiple components. In addition, each subsystem and each component of the vehicle 500 may be interconnected by wire or wireless means.

In some embodiments, the infotainment system 510 may include a communication system, an entertainment system, and a navigation system, among others.

The perception system 520 may include several sensors for sensing information about the environment around the vehicle 500. For example, the perception system 520 may include a global positioning system (the global positioning system may be a GPS system, or a Beidou system or other positioning systems), an inertial measurement unit (IMU), a laser radar, a millimeter wave radar, an ultrasonic radar, and a camera.

The decision control system 530 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.

The drive system 540 may include components that provide powered motion for the vehicle 500. In one embodiment, the drive system 540 may include an engine, an energy source, a transmission system, and wheels. The engine may be one or a combination of an internal combustion engine, an electric motor, and an air compression engine. The engine is capable of converting energy provided by the energy source into mechanical energy.

Some or all functions of the vehicle 500 are controlled by a computing platform 550. The computing platform 550 may include at least one first processor 551 and a memory 552, and the first processor 551 may execute instructions 553 stored in the memory 552.

The first processor 551 may be any conventional processor, such as a commercially available CPU. The processor may also include a graphics processor (Graphic Process Unit, GPU), a field programmable gate array (Field Programmable Gate Array, FPGA), a system on chip (System on Chip, SOC), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC) or a combination thereof.

The memory 552 may be implemented by any type of volatile or nonvolatile memory device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

In addition to instructions 553 , memory 552 may also store data, such as road maps, route information, vehicle location, direction, speed, etc. The data stored in memory 552 may be used by computing platform 550 .

In the embodiment of the present disclosure, the first processor 551 may execute instruction 553 to complete all or part of the steps of the above-mentioned vehicle lane change control method.

In another exemplary embodiment, a computer program product is also provided. The computer program product includes a computer program that can be executed by a programmable device. The computer program has a code portion for executing the above-mentioned vehicle lane change control method when executed by the programmable device.

In addition, the word "exemplary" is used herein to indicate serving as an example, instance, or diagram. Any aspect or design described as "exemplary" in this article is not necessarily understood to be advantageous compared to other aspects or designs. On the contrary, the use of the word exemplary is intended to present concepts in a concrete way. As used herein, the term "or" is intended to represent an inclusive "or" rather than an exclusive "or". That is, unless otherwise specified or clear from the context, "X applies A or B" is intended to represent any one of the natural inclusive arrangements. That is, if X applies A; X applies B; or X applies both A and B, "X applies A or B" is satisfied under any of the aforementioned examples. In addition, unless otherwise specified or clearly pointed to a singular form from the context, the articles "one" and "an" as used in this application and the appended claims are generally understood to mean "one or more".

Likewise, although the present disclosure has been shown and described with respect to one or more implementations, equivalent variations and modifications will occur to those skilled in the art after reading and understanding the specification and drawings. The present disclosure includes all such modifications and variations and is limited only by the scope of the claims. In particular, with respect to the various functions performed by the components (e.g., elements, resources, etc.) described above, unless otherwise indicated, the terms used to describe such components are intended to correspond to any component (functionally equivalent) that performs the specific functions of the described components, even if the structure is not equivalent to the disclosed structure. In addition, although specific features of the present disclosure may have been disclosed with respect to only one of several implementations, such features may be combined with one or more other features of other implementations as may be desired and beneficial to any given or specific application. In addition, with respect to "including", "having", "having", "having", or variations thereof used in a specific embodiment or claim, such terms are intended to be inclusive in a manner similar to the term "comprising".

Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. This application is intended to cover any modification, use or adaptation of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present disclosure are indicated by the appended claims.

It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims (14)

1. A vehicle lane change control method, characterized by comprising:

acquiring driving information of a second vehicle which is positioned in front of a first vehicle and on a target lane, wherein the target lane comprises a first lane where the first vehicle is positioned and a second lane adjacent to the first lane, and the second vehicle comprises a vehicle positioned in a first vehicle sensing range and a vehicle beyond the first vehicle sensing range;

determining a lane change decision of the first vehicle according to the running information of the second vehicle;

And controlling the first vehicle to run according to the lane change decision.

2. The vehicle lane-change control method according to claim 1, wherein the travel information includes a travel speed, and the determining the lane-change decision of the first vehicle based on the travel information of the second vehicle includes:

determining a first traffic speed of the first lane and a second traffic speed of the second lane according to the running speed of the second vehicle;

and determining a lane change decision of the first vehicle according to the first traffic flow speed and the second traffic flow speed.

3. The vehicle lane-change control method according to claim 2, wherein the determining the lane-change decision of the first vehicle based on the first traffic flow speed and the second traffic flow speed includes:

If the first vehicle flow speed and the second vehicle flow speed meet preset conditions, determining that the first vehicle changes lanes from the first lane to the second lane;

the preset condition includes that the second traffic speed is greater than the first traffic speed, or that the second traffic speed is greater than the first traffic speed and that a difference between the second traffic speed and the first traffic speed is greater than a preset threshold.

4. The vehicle lane-change control method according to claim 2, wherein the running information further includes position information, and the determining the lane-change decision of the first vehicle based on the first traffic flow speed and the second traffic flow speed includes:

When the first traffic speed is greater than or equal to the second traffic speed, determining a third vehicle and a fourth vehicle closest to the first vehicle on the first lane and the second lane according to the position information of the second vehicle;

And determining the lane change decision of the first vehicle according to the running speed of the third vehicle and the running speed of the fourth vehicle.

5. The vehicle lane-change control method according to claim 4, wherein the determining the lane-change decision of the first vehicle based on the traveling speed of the third vehicle and the traveling speed of the fourth vehicle includes:

If the running speed of the third vehicle is smaller than the running speed of the fourth vehicle, determining a target vehicle in the second vehicle positioned on the first lane;

determining a travel distance of each set of neighboring vehicles between the third vehicle and the target vehicle;

And determining the lane change decision of the first vehicle according to the driving distance of each group of adjacent vehicles.

6. The vehicle lane-change control method according to claim 5, wherein the determining the lane-change decision of the first vehicle according to the travel distance of each set of adjacent vehicles includes:

If at least one group of target adjacent vehicles with the running distance larger than the preset allowable cut-in distance exists, determining that the first vehicle changes from the first lane to the second lane, and changing from the second lane to the first lane between the target adjacent vehicles;

and if the target adjacent vehicle is determined not to exist, determining that the first vehicle does not change lanes.

7. The vehicle lane-change control method according to claim 6, characterized in that lane-change from the second lane to the first lane between the target adjacent vehicles includes:

and if the target adjacent vehicles are multiple groups, changing the lane from the second lane to the first lane among the multiple groups of target adjacent vehicles, which are farthest from the first vehicle.

8. The vehicle lane-change control method according to claim 5, wherein the determining a target vehicle in the second vehicle located on the first lane if the traveling speed of the third vehicle is smaller than the traveling speed of the fourth vehicle includes:

If the running speed of the third vehicle is smaller than the running speed of the fourth vehicle, traversing the running speeds of the second vehicles on the first lane in sequence according to the running direction of the first vehicle;

If the vehicle traverses to a fifth vehicle with the running speed being greater than that of the fourth vehicle, determining the fifth vehicle as the target vehicle;

And if the vehicle does not traverse to a fifth vehicle with the running speed being greater than that of the fourth vehicle, determining a second vehicle which is positioned in the preset range on the first lane and farthest from the first vehicle as the target vehicle.

9. The vehicle lane-change control method according to any one of claims 2 to 8, characterized in that the determining of the first traffic speed of the first lane and the second traffic speed of the second lane, respectively, based on the traveling speed of the second vehicle, includes:

determining a minimum running speed of a second vehicle located in a preset range on the first lane as a first traffic flow speed of the first lane;

And determining the minimum running speed of the second vehicle in the preset range on the second lane as the second traffic flow speed of the second lane.

10. The vehicle lane change control method according to claim 1, wherein the acquiring of the traveling information of the second vehicle that is on the target lane and is located in front of the traveling of the first vehicle:

And acquiring the running information of a second vehicle which is positioned in front of the first vehicle and on the target lane by receiving a message sent by a road side unit and/or other vehicles which are communicated with the first vehicle and acquiring the sensing information of a sensing device of the first vehicle.

11. A lane change control apparatus for a vehicle, comprising:

An acquisition module configured to acquire travel information of a second vehicle located in front of a first vehicle traveling on a target lane including a first lane in which the first vehicle is located and a second lane adjacent to the first lane, the second vehicle including a vehicle located within the first vehicle perception range and a vehicle exceeding the first vehicle perception range;

a determining module configured to determine a lane change decision of the first vehicle according to the traveling information of the second vehicle;

and the control module is configured to control the first vehicle to run according to the lane change decision.

12. A vehicle, characterized by comprising:

A first processor;

a memory for storing processor-executable instructions;

Wherein the first processor is configured to execute the instructions to implement the steps of the method of any one of claims 1-10.

13. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a second processor, implements the steps of the method according to any one of claims 1-10.

14. A computer program product comprising a computer program which, when executed by a third processor, implements the steps of the method of any of claims 1-10.