Congestion road condition lane change decision-making method, storage medium and electronic equipment
阅读说明：本技术 拥堵路况变道决策方法、存储介质及电子设备 (Congestion road condition lane change decision-making method, storage medium and electronic equipment ) 是由 朱越 占子奇 曾欢 于 2021-07-30 设计创作，主要内容包括：本申请公开了一种拥堵路况变道决策方法、存储介质及电子设备,响应于拥堵路况变道决策功能开启,以当前位置为初始位置,采集所述初始位置前方决策参考距离内的车辆变道信息,所述车辆变道信息包括变道车辆数量和变道车辆类型；根据所述变道车辆数量和所述变道车辆类型,确定变道置信度；若所述变道置信度大于或等于置信度阈值,则发出变道执行指令。在拥堵路况下,根据前方决策参考距离内的车辆变道信息,确定变道置信度以判断前方是否存在风险需要执行变道指令,基于前方车辆的行驶状态判断,不依赖于定位系统,可靠性较高,能够有效规避拥堵路段的临时事故或施工路段。(The application discloses a congested road condition lane change decision method, a storage medium and electronic equipment, wherein a congested road condition lane change decision function is started in response to the start of the congested road condition lane change decision function, a current position is taken as an initial position, and vehicle lane change information in a decision reference distance in front of the initial position is collected, wherein the vehicle lane change information comprises the number of lane change vehicles and the types of the lane change vehicles; determining lane change confidence according to the number of lane change vehicles and the types of the lane change vehicles; and if the lane change confidence coefficient is greater than or equal to the confidence coefficient threshold value, a lane change execution instruction is sent out. Under congested road conditions, according to vehicle lane change information in a front decision reference distance, determining lane change confidence to judge whether risks exist in the front and a lane change instruction needs to be executed, judging based on the driving state of a front vehicle, not depending on a positioning system, having high reliability, and being capable of effectively avoiding temporary accidents or construction road sections of congested road sections.)
1. A congested road condition lane change decision-making method is characterized by comprising the following steps:
responding to the starting of a congested road condition lane changing decision function, taking the current position as an initial position, and collecting vehicle lane changing information in a decision reference distance in front of the initial position, wherein the vehicle lane changing information comprises the number of lane changing vehicles and the types of the lane changing vehicles;
determining lane change confidence according to the number of lane change vehicles and the types of the lane change vehicles;
and if the lane change confidence coefficient is greater than or equal to the confidence coefficient threshold value, a lane change execution instruction is sent out.
2. The method for making a decision on a congested road condition change lane according to claim 1, wherein the determining a lane change confidence level according to the number of lane change vehicles and the types of lane change vehicles, and if the lane change confidence level is greater than or equal to a confidence threshold, issuing a lane change execution instruction specifically includes:
if the number of lane-changing vehicles changing from the lane of the vehicle to other lanes is less than the preset number, the lane-changing vehicles are driven to change lanes
Determining lane change confidence according to the lane change vehicle type;
if the lane change confidence is larger than or equal to the confidence threshold, sending a lane change execution instruction, otherwise, continuously acquiring the lane change information of the vehicle in the decision reference distance in front of the initial position;
if the number of lane-changing vehicles changing from the lane of the vehicle to other lanes is greater than or equal to the preset number, the lane-changing vehicles are driven to change lanes
And considering that the lane change confidence is greater than or equal to the confidence threshold value, and sending a lane change execution instruction.
3. The method of claim 1, wherein the lane change vehicle types comprise a high confidence type and a low confidence type.
4. The method for making a decision on a congested road condition change according to claim 3, wherein the collecting of the vehicle change information within the decision reference distance in front of the initial position specifically includes:
executing a first vehicle information acquisition step, and acquiring first vehicle lane change information of a first vehicle changing from a vehicle lane to other lanes;
executing a two-vehicle information acquisition step, acquiring second vehicle lane change information of a second vehicle changing from the lane of the vehicle to other lanes;
determining lane change confidence according to the first vehicle lane change information and the second vehicle lane change information, and if the lane change confidence is smaller than a confidence threshold value, determining that the lane change confidence is smaller than the confidence threshold value
And executing a three-vehicle information acquisition step, and acquiring third vehicle lane change information of a third vehicle changing from the vehicle lane to other lanes.
5. The congested road condition lane change decision method according to claim 4, wherein the first vehicle information collecting step specifically includes:
determining the type of the first vehicle when detecting that the vehicle body part of the first vehicle in front of the vehicle lane exceeds the lane line;
if the distance between the first vehicle lane change point and the initial position is greater than the decision reference distance, all data are eliminated; otherwise
And if the tail of the first vehicle crosses the lane line, storing the lane change information of the first vehicle, otherwise, clearing all data.
6. The congested road condition lane change decision method according to claim 4, wherein the two-car information acquisition step specifically includes:
if two vehicles are detected to cross the lane line of the vehicle lane and the adjacent lane when the current position of the vehicle does not cross the first vehicle lane changing point, determining the types of the two vehicles;
if two vehicles change lanes from the vehicle lane to the adjacent lane and the tail of the two vehicles cross the lane line; then
If the two-vehicle lane change point is behind the first-vehicle lane change point, storing second-vehicle lane change information;
if the two-car lane change point is in front of the first-car lane change point, and
if the distance between the two-car lane change point and the current position of the vehicle is greater than the decision reference distance
Clearing all data;
if the two-car lane change point is in front of the first-car lane change point, and
the distance between the two-car lane change point and the current position of the host vehicle is less than or equal to the decision reference distance, and
the distance between the two-car lane change point and the initial position is greater than the decision reference distance, then
After second vehicle lane change information is stored, taking the current position of the vehicle as the initial position, and interchanging the first vehicle lane change information and the second vehicle lane change information;
if the two-car lane change point is in front of the first-car lane change point, and
the distance between the two-car lane change point and the initial position is less than or equal to the decision reference distance
And after storing the second vehicle lane change information, interchanging the first vehicle lane change information and the second vehicle lane change information.
7. The congested road condition lane change decision method according to claim 4, wherein the two-car information acquisition step specifically includes:
if two vehicles are detected to cross the lane line of the vehicle lane and the adjacent lane when the current position of the vehicle does not cross the first vehicle lane changing point, determining the types of the two vehicles;
if two vehicles change lanes from adjacent lanes to the lane of the vehicle, and the tail of the two vehicles crosses the lane line; then
If the distance between the two-car lane change point and the initial position is less than or equal to the decision reference distance
If the first vehicle type is the high confidence coefficient type and the second vehicle type is the low confidence coefficient type, the first vehicle type is modified into the low confidence coefficient type, and then the second vehicle information acquisition step is returned; otherwise, clearing all data;
if the distance between the two-car lane change point and the initial position is greater than the decision reference distance, and
and returning to the two-vehicle information acquisition step if the distance between the two-vehicle lane change point and the initial position is greater than the risk reference distance which is greater than the decision reference distance, and otherwise, clearing all data.
8. The congested road condition lane change decision method according to claim 4, wherein the three-vehicle information acquisition step specifically includes:
if three vehicles are detected to cross the lane lines of the lane of the vehicle and the adjacent lane when the current position of the vehicle does not cross the lane changing point of the first vehicle, determining the types of the three vehicles;
if the three vehicles change lanes from the lane of the vehicle to the adjacent lane and the tails of the three vehicles cross lane lines; then
If the lane change point of the third vehicle is behind the lane change point of the first vehicle, storing lane change information of the third vehicle;
if the lane change point of the three cars is in front of the lane change point of the first car, and
if the distance between the lane change point of the third vehicle and the current position of the vehicle is greater than the decision reference distance, all data are eliminated;
if the lane change point of the three cars is in front of the lane change point of the first car, and
if the distance between the lane changing point of the third vehicle and the initial position is less than or equal to the decision reference distance, storing lane changing information of the third vehicle;
if the lane change point of the three cars is in front of the lane change point of the first car, and
the distance between the lane change point of the three vehicles and the current position of the vehicle is less than or equal to the decision reference distance, and
the distance between the lane change point of the three vehicles and the initial position is greater than the decision reference distance, and
the current position of the vehicle is behind the two-car lane change point
Storing the third vehicle lane change information;
if the lane change point of the three cars is in front of the lane change point of the first car, and
the distance between the lane change point of the three vehicles and the current position of the vehicle is less than or equal to the decision reference distance, and
the distance between the lane change point of the three vehicles and the initial position is greater than the decision reference distance, and
the current position of the vehicle is in front of the two-car lane change point
And after the third vehicle lane change information is stored, taking the current position of the vehicle as an initial position, deleting the second vehicle lane change information, taking the first vehicle lane change information as the second vehicle lane change information, and taking the third vehicle lane change information as the first vehicle lane change information.
9. The congested road condition lane change decision method according to claim 4, wherein the three-vehicle information acquisition step specifically includes:
if three vehicles are detected to cross the lane lines of the lane of the vehicle and the adjacent lane when the current position of the vehicle does not cross the lane changing point of the first vehicle, determining the types of the three vehicles;
if the three vehicles change lanes from the adjacent lanes to the lane of the vehicle, and the tails of the three vehicles cross lane lines; then
If the distance between the lane change point of the three vehicles and the initial position is less than or equal to the decision reference distance
If the first vehicle type and the second vehicle type are both low confidence coefficient types, and the third vehicle type is a high confidence coefficient type, clearing all data;
if the first vehicle type and the second vehicle type are both low confidence coefficient types, and the third vehicle type is a low confidence coefficient type, clearing the second vehicle lane change information, and returning to the second vehicle information acquisition step;
if the first vehicle type and the second vehicle type comprise a low confidence coefficient type and a high confidence coefficient type, and the third vehicle type is the high confidence coefficient type, modifying the first vehicle type into the low confidence coefficient type, clearing second vehicle lane change information, and returning to the second vehicle information acquisition step;
if the first vehicle type and the second vehicle type comprise a low confidence coefficient type and a high confidence coefficient type, and the third vehicle type is the low confidence coefficient type, modifying the first vehicle type into the high confidence coefficient type, clearing second vehicle lane change information, and returning to the second vehicle information acquisition step;
if the distance between the lane change point of the three vehicles and the initial position is greater than the decision reference distance, and
and returning to the three-vehicle information acquisition step if the distance between the lane changing point of the three vehicles and the initial position is greater than the risk reference distance which is greater than the decision reference distance, and otherwise, clearing all data.
10. The method as claimed in claim 1, wherein before the function of making the decision to change the congested road condition is turned on, the method further comprises:
acquiring a current position and a current road condition;
if the current position is at a non-traffic intersection, an
The current road condition is a congested road condition, an
The congestion distance is less than or equal to the set congestion distance, then
And opening a congested road condition lane change decision function.
11. A storage medium storing computer instructions for executing the method according to any one of claims 1 to 10 when executed by a computer.
12. An electronic device comprising at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the congested road condition diversion decision method of any of claims 1-10.
Technical Field
The application relates to the technical field of automatic driving, in particular to a congested road condition lane change decision-making method, a storage medium and electronic equipment.
Background
With the development of the automatic driving technology, the demand for automatic driving is increasing day by day. For automatic driving of congested road conditions, the current technical scheme is realized by automatic vehicle following, and although the automatic driving can be realized under the congested road conditions, the automatic driving can only blindly follow a front vehicle to walk, and the front road conditions cannot be pre-judged, so that the front risks are avoided autonomously.
In order to realize the prejudgment of the front road condition, in part of automatic driving technologies, the front road condition is acquired through a vehicle positioning system so as to avoid risks, however, the acquisition of the road condition in such a way depends on the precision of the positioning system, and the temporary construction road section or the accident road section cannot be acquired from the vehicle positioning system in time, and is difficult to change the road in time so as to avoid the risk.
Therefore, it is desirable to provide a congested road condition lane change decision method, a storage medium, and an electronic device, which can pre-determine a road condition ahead under congested road conditions and change lanes for avoiding.
Disclosure of Invention
The application aims to overcome the defects of the prior art and provide a congested road condition lane change decision-making method, a storage medium and electronic equipment, wherein the congested road condition lane change decision-making method can be used for prejudging the road condition in front and changing lanes to avoid under the congested road condition.
The technical scheme of the application provides a congested road condition lane change decision-making method, which comprises the following steps:
responding to the starting of a congested road condition lane changing decision function, taking the current position as an initial position, and collecting vehicle lane changing information in a decision reference distance in front of the initial position, wherein the vehicle lane changing information comprises the number of lane changing vehicles and the types of the lane changing vehicles;
determining lane change confidence according to the number of lane change vehicles and the types of the lane change vehicles;
and if the lane change confidence coefficient is greater than or equal to the confidence coefficient threshold value, a lane change execution instruction is sent out.
Further, the determining a lane change confidence level according to the number of lane change vehicles and the type of lane change vehicles, and if the lane change confidence level is greater than or equal to a confidence level threshold, issuing a lane change execution instruction specifically includes:
if the number of lane-changing vehicles changing from the lane of the vehicle to other lanes is less than the preset number, the lane-changing vehicles are driven to change lanes
Determining lane change confidence according to the lane change vehicle type;
if the lane change confidence is larger than or equal to the confidence threshold, sending a lane change execution instruction, otherwise, continuously acquiring the lane change information of the vehicle in the decision reference distance in front of the initial position;
if the number of lane-changing vehicles changing from the lane of the vehicle to other lanes is greater than or equal to the preset number, the lane-changing vehicles are driven to change lanes
And considering that the lane change confidence is greater than or equal to the confidence threshold value, and sending a lane change execution instruction.
Further, the lane-change vehicle types include a high confidence type and a low confidence type.
Further, the acquiring the lane change information of the vehicle in the decision reference distance in front of the initial position specifically includes:
executing a first vehicle information acquisition step, and acquiring first vehicle lane change information of a first vehicle changing from a vehicle lane to other lanes;
executing a two-vehicle information acquisition step, acquiring second vehicle lane change information of a second vehicle changing from the lane of the vehicle to other lanes;
determining lane change confidence according to the first vehicle lane change information and the second vehicle lane change information, and if the lane change confidence is smaller than a confidence threshold value, determining that the lane change confidence is smaller than the confidence threshold value
And executing a three-vehicle information acquisition step, and acquiring third vehicle lane change information of a third vehicle changing from the vehicle lane to other lanes.
Further, the first vehicle information acquisition step specifically includes:
determining the type of the first vehicle when detecting that the vehicle body part of the first vehicle in front of the vehicle lane exceeds the lane line;
if the distance between the first vehicle lane change point and the initial position is greater than the decision reference distance, all data are eliminated; otherwise
And if the tail of the first vehicle crosses the lane line, storing the lane change information of the first vehicle, otherwise, clearing all data.
Further, the two-vehicle information acquisition step specifically includes:
if two vehicles are detected to cross the lane line of the vehicle lane and the adjacent lane when the current position of the vehicle does not cross the first vehicle lane changing point, determining the types of the two vehicles;
if two vehicles change lanes from the vehicle lane to the adjacent lane and the tail of the two vehicles cross the lane line; then
If the two-vehicle lane change point is behind the first-vehicle lane change point, storing second-vehicle lane change information;
if the two-car lane change point is in front of the first-car lane change point, and
if the distance between the two-car lane change point and the current position of the vehicle is greater than the decision reference distance
Clearing all data;
if the two-car lane change point is in front of the first-car lane change point, and
the distance between the two-car lane change point and the current position of the host vehicle is less than or equal to the decision reference distance, and
if the distance between the two-vehicle lane change point and the initial position is greater than the decision reference distance, storing second vehicle lane change information, taking the current position of the vehicle as the initial position, and exchanging the first vehicle lane change information and the second vehicle lane change information;
if the two-car lane change point is in front of the first-car lane change point, and
the distance between the two-car lane change point and the initial position is less than or equal to the decision reference distance
And after storing the second vehicle lane change information, interchanging the first vehicle lane change information and the second vehicle lane change information.
Further, the two-vehicle information acquisition step specifically includes:
if two vehicles are detected to cross the lane line of the vehicle lane and the adjacent lane when the current position of the vehicle does not cross the first vehicle lane changing point, determining the types of the two vehicles;
if two vehicles change lanes from adjacent lanes to the lane of the vehicle, and the tail of the two vehicles crosses the lane line; then
If the distance between the two-car lane change point and the initial position is less than or equal to the decision reference distance
If the first vehicle type is the high confidence coefficient type and the second vehicle type is the low confidence coefficient type, the first vehicle type is modified into the low confidence coefficient type, and then the second vehicle information acquisition step is returned; otherwise, clearing all data;
if the distance between the two-car lane change point and the initial position is greater than the decision reference distance, and
and returning to the two-vehicle information acquisition step if the distance between the two-vehicle lane change point and the initial position is greater than the risk reference distance which is greater than the decision reference distance, and otherwise, clearing all data.
Further, the three-vehicle information acquisition step specifically includes:
if three vehicles are detected to cross the lane lines of the lane of the vehicle and the adjacent lane when the current position of the vehicle does not cross the lane changing point of the first vehicle, determining the types of the three vehicles;
if the three vehicles change lanes from the lane of the vehicle to the adjacent lane and the tails of the three vehicles cross lane lines; then
If the lane change point of the third vehicle is behind the lane change point of the first vehicle, storing lane change information of the third vehicle;
if the lane change point of the three cars is in front of the lane change point of the first car, and
if the distance between the lane change point of the third vehicle and the current position of the vehicle is greater than the decision reference distance, all data are eliminated;
if the lane change point of the three cars is in front of the lane change point of the first car, and
if the distance between the lane changing point of the third vehicle and the initial position is less than or equal to the decision reference distance, storing lane changing information of the third vehicle;
if the lane change point of the three cars is in front of the lane change point of the first car, and
the distance between the lane change point of the three vehicles and the current position of the vehicle is less than or equal to the decision reference distance, and
the distance between the lane change point of the three vehicles and the initial position is greater than the decision reference distance, and
the current position of the vehicle is behind the two-car lane change point
Storing the third vehicle lane change information;
if the lane change point of the three cars is in front of the lane change point of the first car, and
the distance between the lane change point of the three vehicles and the current position of the vehicle is less than or equal to the decision reference distance, and
the distance between the lane change point of the three vehicles and the initial position is greater than the decision reference distance, and
the current position of the vehicle is in front of the two-car lane change point
And after the third vehicle lane change information is stored, taking the current position of the vehicle as an initial position, deleting the second vehicle lane change information, taking the first vehicle lane change information as the second vehicle lane change information, and taking the third vehicle lane change information as the first vehicle lane change information.
Further, the three-vehicle information acquisition step specifically includes:
if three vehicles are detected to cross the lane lines of the lane of the vehicle and the adjacent lane when the current position of the vehicle does not cross the lane changing point of the first vehicle, determining the types of the three vehicles;
changing lanes of the three vehicles from adjacent lanes to the lane of the vehicle, and enabling the tails of the three vehicles to cross lane lines; then
If the distance between the lane change point of the three vehicles and the initial position is less than or equal to the decision reference distance
If the first vehicle type and the second vehicle type are both low confidence coefficient types, and the third vehicle type is a high confidence coefficient type, clearing all data;
if the first vehicle type and the second vehicle type are both low confidence coefficient types, and the third vehicle type is a low confidence coefficient type, clearing the second vehicle lane change information, and returning to the second vehicle information acquisition step;
if the first vehicle type and the second vehicle type comprise a low confidence coefficient type and a high confidence coefficient type, and the third vehicle type is the high confidence coefficient type, modifying the first vehicle type into the low confidence coefficient type, clearing second vehicle lane change information, and returning to the second vehicle information acquisition step;
if the first vehicle type and the second vehicle type comprise a low confidence coefficient type and a high confidence coefficient type, and the third vehicle type is the low confidence coefficient type, modifying the first vehicle type into the high confidence coefficient type, clearing second vehicle lane change information, and returning to the second vehicle information acquisition step;
if the distance between the lane change point of the three vehicles and the initial position is less than or equal to the decision reference distance, and
and returning to the three-vehicle information acquisition step if the distance between the lane changing point of the three vehicles and the initial position is greater than the risk reference distance which is greater than the decision reference distance, and otherwise, clearing all data.
Further, before the function of making a decision to change lanes in response to the congested road condition is started, the method further includes:
acquiring a current position and a current road condition;
if the current position is at a non-traffic intersection, an
The current road condition is a congested road condition, an
The congestion distance is less than or equal to the set congestion distance, then
And opening a congested road condition lane change decision function.
The technical scheme of the present application further provides a storage medium, where the storage medium stores computer instructions, and when the computer executes the computer instructions, the storage medium is used to execute the congested road condition lane change decision method.
The technical scheme of the application also provides electronic equipment which comprises at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the congested road condition lane change decision method as described above.
After adopting above-mentioned technical scheme, have following beneficial effect:
under congested road conditions, according to vehicle lane change information in a front decision reference distance, determining lane change confidence to judge whether risks exist in the front and a lane change instruction needs to be executed, judging based on the driving state of a front vehicle, not depending on a positioning system, having high reliability, and being capable of effectively avoiding temporary accidents or construction road sections of congested road sections.
Drawings
The disclosure of the present application will become more readily understood by reference to the drawings. It should be understood that: these drawings are for illustrative purposes only and are not intended to limit the scope of the present application. In the figure:
fig. 1 is a flowchart of a congested road condition lane change decision method in an embodiment of the present application;
FIG. 2 is a schematic view of the mounting positions of the left and right cameras;
FIG. 3 is a schematic view of an image capture range of a vehicle on a road;
FIG. 4 is an example of a confidence lookup table;
FIG. 5 is a first scenario of a first lane change;
FIG. 6 is a second case of lane change of the first vehicle;
FIG. 7 is a first scenario in which two vehicles change lanes from the host vehicle lane to an adjacent lane;
fig. 8 is a second case where two vehicles change lanes from the own vehicle lane to the adjacent lane;
fig. 9 is a third case where two vehicles change lanes from the own vehicle lane to the adjacent lane;
fig. 10 is a fourth case where two vehicles change lanes from the own vehicle lane to the adjacent lane;
FIG. 11 is a first scenario in which two vehicles change lanes from adjacent lanes to the lane of the vehicle;
FIG. 12 is a second scenario in which two vehicles change lanes from adjacent lanes to the lane of the vehicle;
fig. 13 is a third case where two cars change lanes from adjacent lanes to the own-vehicle lane;
FIG. 14 is a case one where three vehicles change lanes from the lane of the vehicle to the adjacent lane;
FIG. 15 is a second scenario in which three vehicles change lanes from the host vehicle lane to an adjacent lane;
FIG. 16 is a third scenario in which three vehicles change lanes from the host vehicle lane to an adjacent lane;
FIG. 17 is a fourth scenario in which three vehicles change lanes from the vehicle's lane to an adjacent lane;
fig. 18 is a case five where three vehicles change lanes from the own vehicle lane to the adjacent lane;
FIG. 19 is a case one where three vehicles change lanes from adjacent lanes to the lane of the vehicle;
FIG. 20 is a second scenario in which three vehicles change lanes from adjacent lanes to the lane of the vehicle;
FIG. 21 is a third scenario in which three vehicles change lanes from adjacent lanes to the lane of the vehicle;
fig. 22 is a main flow chart of a congested road condition lane change decision method in the embodiment of the present application;
fig. 23 is a flowchart of the initial vehicle information collection step in the main flowchart shown in fig. 22;
FIG. 24 is a flowchart of the two vehicle information collection step of the main flowchart of FIG. 22;
FIG. 25 is a flowchart of the three vehicle information gathering step of the main flowchart of FIG. 22;
fig. 26 is a schematic diagram of a hardware structure of an electronic device in an embodiment of the present application.
Detailed Description
Embodiments of the present application are further described below with reference to the accompanying drawings.
It is easily understood that according to the technical solutions of the present application, those skilled in the art can substitute various structures and implementations without changing the spirit of the present application. Therefore, the following detailed description and the accompanying drawings are merely illustrative of the technical solutions of the present application, and should not be construed as limiting or restricting the technical solutions of the present application in their entirety.
The terms of orientation of up, down, left, right, front, back, top, bottom, and the like referred to or may be referred to in this specification are defined relative to the configuration shown in the drawings, and are relative terms, and thus may be changed correspondingly according to the position and the use state of the device. Therefore, these and other directional terms should not be construed as limiting terms. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Throughout the description of the present application, it is to be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "coupled" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; the two components can be directly connected or indirectly connected through an intermediate medium, and the two components can be communicated with each other. The foregoing is to be understood as belonging to the specific meanings in the present application as appropriate to the person of ordinary skill in the art.
As shown in fig. 1, the method for making a decision to change a congested road condition in the embodiment of the present application includes the following steps:
step S001: responding to the starting of a congested road condition lane changing decision function, taking the current position as an initial position, and collecting vehicle lane changing information in a decision reference distance in front of the initial position, wherein the vehicle lane changing information comprises the number of lane changing vehicles and the types of the lane changing vehicles;
step S002: determining lane change confidence according to the number of lane change vehicles and the types of the lane change vehicles;
step S003: and if the lane change confidence coefficient is greater than or equal to the confidence coefficient threshold value, a lane change execution instruction is sent out.
The real-time road condition is judged through a positioning system, a congested road condition lane change decision function is started when the congested road condition exists, step S001 is executed, the position of a vehicle when the congested road condition lane change decision function is started is recorded as an initial position, monitoring in front of the initial position is started, and vehicle lane change information in a decision reference distance in front of the initial position is collected, and as an example, the decision reference distance is set to be 20 m.
Specifically, for the collection of the lane change information of the front vehicle, the front camera and the left and right cameras installed in front of the vehicle are mainly relied on, and it should be noted that, as shown in fig. 2, the left camera 21 and the right camera 22 in the present embodiment are respectively installed on the left rear view mirror and the right rear view mirror of the vehicle and face forward for collecting the images of the left front and the right front of the vehicle. As shown in fig. 3, in combination with a front camera mounted directly in front of the vehicle, the vehicle is able to acquire real-time images of the own lane and adjacent lanes in front. By processing the image, data such as the vehicle type and position of the target vehicle is recognized.
After vehicle lane change information in the initial position front decision reference distance is collected, step S002 is executed to determine lane change confidence, which is used for measuring the possibility that the front road has obstacles reflected by the behavior of the front lane change vehicle, and the higher the lane change confidence is, the higher the possibility that the front road has obstacles is, and the higher the lane change requirement is.
Specifically, the lane change confidence is higher when the number of lane change vehicles is larger, and the lane change confidence corresponding to different types of lane change vehicles is different, for example, the lane change confidence of a small car is smaller than the lane change confidence of a large truck, because the lane change difficulty of the large truck is higher under congested road conditions, if the large truck performs lane change, the possibility that an obstacle exists on a road ahead is higher, and the lane change confidence corresponding to the obstacle is also higher.
And after the lane change confidence coefficient is determined, executing step S003, presetting a confidence coefficient threshold according to the actual situation, and if the lane change confidence coefficient is higher than the confidence coefficient threshold, determining that the possibility of obstacles existing on the road ahead is high, sending a lane change execution instruction, and controlling the vehicle to change the lane by the automatic driving control system.
According to the method and the device, the lane change confidence coefficient is determined according to the vehicle lane change information in the front decision reference distance to judge whether obstacles exist on the front road and to execute the lane change instruction, the driving state judgment based on the front vehicle is not dependent on a positioning system, the reliability is high, and temporary accidents or construction road sections of congested road sections can be effectively avoided.
In one embodiment, before the function of making a lane change decision in response to the congested road condition is turned on, the method further includes:
acquiring a current position and a current road condition;
if the current position is at a non-traffic intersection, an
The current road condition is a congested road condition, an
The congestion distance is less than or equal to the set congestion distance, then
And opening a congested road condition lane change decision function.
Specifically, the congested road condition lane change decision function is automatically started through judging the road conditions, the current position and the current road conditions are obtained from a vehicle positioning system, if the congested road conditions, the current position at a non-traffic intersection and the congestion distance less than or equal to the set congestion distance are met at the same time, a temporary fault is considered to possibly exist in the road ahead, and the congested road condition lane change decision function is started; otherwise, after the set waiting time, continuously acquiring the current road condition for judgment. After the congested road condition lane change decision function is started, the acquisition camera is started and all parameters related to the function are initialized.
Firstly, if the current position is at a traffic intersection, it indicates that the current congested road condition is caused by the indication of a traffic light, and the possibility of temporary fault is low, and in addition, if the congested distance is less than or equal to the set congested distance, generally speaking, the set congested distance is set to be 3-5km, the setting of the congested distance is set, it indicates that the road in front is not far ahead and is recovered to be smooth, if the temporary fault point exists in front, it indicates that the vehicle is about to reach the temporary fault point, and at this time, the congested road condition lane change decision function is started.
According to the embodiment of the application, whether the congested road condition lane changing decision function is started or not is judged according to the current road condition, congestion at a traffic intersection is eliminated, the congested road condition lane changing decision function is started when a temporary fault point is approached, and invalid judgment caused by premature starting is avoided.
In one embodiment, the determining a lane change confidence level according to the number of lane change vehicles and the type of lane change vehicles, and if the lane change confidence level is greater than or equal to a confidence level threshold, issuing a lane change execution instruction specifically includes:
if the number of lane-changing vehicles changing from the lane of the vehicle to other lanes is less than the preset number, the lane-changing vehicles are driven to change lanes
Determining lane change confidence according to the lane change vehicle type;
if the lane change confidence is larger than or equal to the confidence threshold, sending a lane change execution instruction, otherwise, continuously acquiring the lane change information of the vehicle in the decision reference distance in front of the initial position;
if the number of lane-changing vehicles changing from the lane of the vehicle to other lanes is greater than or equal to the preset number, the lane-changing vehicles are driven to change lanes
And considering that the lane change confidence is greater than or equal to the confidence threshold value, and sending a lane change execution instruction.
Specifically, the lane change vehicles according to the embodiments of the present application are all vehicles that change lanes from the current lane of the vehicle to the adjacent lane. The lane change confidence coefficient is determined by the lane change vehicle type and the number of the lane change vehicles, and when the number of the lane change vehicles reaches the preset number, the lane change confidence coefficient is considered to be necessarily larger than or equal to the confidence coefficient threshold value, and lane change needs to be executed.
As an example, the preset number is set to three, and when the number of lane-change vehicles reaches three, it is considered that the lane-change confidence is necessarily greater than or equal to the confidence threshold. Preferably, when the number of lane change vehicles is one, the lane change confidence level is considered to be necessarily smaller than the confidence level threshold according to the lane change confidence level setting rule.
Therefore, when the number of lane changing vehicles reaches two, the lane changing confidence level is determined and compared with the confidence level threshold, and if the lane changing confidence level is higher than the confidence level threshold, a lane changing execution instruction is sent. And when the number of lane changing vehicles reaches three, directly sending a lane changing execution instruction.
According to the lane changing confidence judgment method and device, the lane changing confidence judgment is not carried out when the number of lane changing vehicles is one, the lane changing execution instruction is directly sent out when the number of lane changing vehicles is three, and the lane changing confidence judgment is carried out only when the number of lane changing vehicles is two, so that the judgment process of the lane changing execution instruction is simplified, data calculation is reduced, and the judgment efficiency is improved.
In one embodiment, the lane-change vehicle types include a high confidence type and a low confidence type.
Specifically, the vehicle types are divided into a high confidence type and a low confidence type according to the difficulty degree of changing lanes of different types of vehicles under the congested road condition. And making a confidence coefficient query table according to the relationship between the lane change confidence coefficient and the number and type of the lane change vehicles, outputting the confidence coefficient query table according to the number and type of the lane change vehicles, and outputting the lane change confidence coefficient.
Fig. 4 shows an example of a confidence lookup table, where "1" represents a low confidence type, "2" represents a high confidence type, "11" represents that two lane-change vehicles are detected and both lane-change vehicles are of a low confidence type, "112" represents that three lane-change vehicles are detected, and where two lane-change vehicles are of a low confidence type, one is of a high confidence type, and so on.
According to the lane change confidence coefficient determining method and device, vehicle types are divided into high confidence coefficient types and low confidence coefficient types, a preset confidence coefficient query table is used, when lane change confidence coefficients are determined, the lane change vehicle number and the lane change vehicle types are output to the confidence coefficient query table, corresponding lane change confidence coefficients can be determined through table lookup, and lane change confidence coefficients can be determined rapidly.
In one embodiment, the collecting the vehicle lane change information in the decision reference distance in front of the initial position specifically includes:
executing a first vehicle information acquisition step, and acquiring first vehicle lane change information of a first vehicle changing from a vehicle lane to other lanes;
executing a two-vehicle information acquisition step, acquiring second vehicle lane change information of a second vehicle changing from the lane of the vehicle to other lanes;
determining lane change confidence according to the first vehicle lane change information and the second vehicle lane change information, and if the lane change confidence is smaller than a confidence threshold value, determining that the lane change confidence is smaller than the confidence threshold value
And executing a three-vehicle information acquisition step, and acquiring third vehicle lane change information of a third vehicle changing from the vehicle lane to other lanes.
Specifically, the collection of the vehicle lane change information in the decision reference distance in front of the initial position comprises a first vehicle information collection step, a second vehicle information collection step and a third vehicle information collection step which are respectively used for collecting first vehicle lane change information, second vehicle lane change information and third vehicle lane change information. The first vehicle is positioned in front of the second vehicle, and the third vehicle is behind the first vehicle and the second vehicle to perform lane change.
According to the embodiment of the application, the collection of the lane change information of the vehicle is divided into the first vehicle information collection step, the second vehicle information collection step and the third vehicle information collection step to be collected respectively, and the operation efficiency is improved by adopting a sub-flow calling mode. And after the two-vehicle information acquisition step, determining the lane change confidence at the moment according to the first vehicle lane change information and the second vehicle lane change information, if the lane change confidence is greater than or equal to a confidence threshold, sending a lane change execution instruction, and not executing the three-vehicle information acquisition step, otherwise executing the three-vehicle information acquisition step to acquire the third vehicle lane change information, simplifying the judgment process of the lane change execution instruction, reducing data calculation, and improving the judgment efficiency.
In one embodiment, the first vehicle information collecting step specifically includes:
determining the type of the first vehicle when detecting that the vehicle body part of the first vehicle in front of the vehicle lane exceeds the lane line;
if the distance between the first vehicle lane change point and the initial position is greater than the decision reference distance, all data are eliminated; otherwise
And if the tail of the first vehicle crosses the lane line, storing the lane change information of the first vehicle, otherwise, clearing all data.
Specifically, the road condition in front of the vehicle is monitored through a camera in a circulating mode, for example, images in front of the vehicle are collected according to a set period and analyzed and recognized, when it is detected that the vehicle body part of the vehicle in front of the lane of the vehicle exceeds a lane line, the vehicle is determined as a first vehicle, the height of the vehicle head is determined through image recognition, the type of the lane changing vehicle of the first vehicle is judged according to the height of the vehicle head, when the height of the vehicle head is larger than a preset height, the type of the lane changing vehicle is determined to be a high confidence type, and otherwise, the type of the lane changing vehicle is determined to be a low confidence type.
Then, the position of the first lane change point is judged, and the position of the first lane change point is determined according to the position of a set point (such as a rearview mirror, a B column and the like) on the vehicle when the vehicle crosses the lane line:
as shown in fig. 5, the decision reference distance is 20m (in fig. 6 to 21, the decision reference distance is set to 20m), and if the distance D10 between the initial position and the initial position of the initial vehicle lane change point is greater than the decision reference distance, the initial vehicle data is considered invalid, and all data including the initial vehicle lane change point position, the type of the initial vehicle lane change vehicle, and the distance D10 between the initial position and the initial position of the initial vehicle lane change point are cleared.
As shown in fig. 6, if the distance D10 between the first vehicle lane change point and the initial position is less than or equal to the decision reference distance, the first vehicle data is considered to be valid, the first vehicle is continuously monitored, if it is monitored that the tail of the first vehicle crosses the lane line, the first vehicle lane change is considered to be completed, and at this time, first vehicle lane change information is stored, which includes the first vehicle lane change point position, the lane change vehicle type of the first vehicle, and the distance D10 between the first vehicle lane change point and the initial position. And if the vehicle tail of the first vehicle does not cross the lane line, the first vehicle returns to the lane of the vehicle, and all data are cleared.
In the first vehicle information acquisition step in the embodiment of the application, the first vehicle information from the lane change of the vehicle to the adjacent lane is acquired and stored by acquiring and identifying the image of the vehicle in front of the vehicle, and the data is cleared and the road condition is returned to the step of judging the road condition under the condition that the first vehicle exceeds the decision reference distance and the first vehicle does not complete the lane change, so that the first vehicle information from the lane change of the vehicle to the adjacent lane, namely the first vehicle lane change information, can be acquired.
In one embodiment, the two-vehicle information collecting step specifically includes:
if two vehicles are detected to cross the lane line of the vehicle lane and the adjacent lane when the current position of the vehicle does not cross the first vehicle lane changing point, determining the types of the two vehicles;
if two vehicles change lanes from the vehicle lane to the adjacent lane and the tail of the two vehicles cross the lane line; then
If the two-vehicle lane change point is behind the first-vehicle lane change point, storing second-vehicle lane change information;
if the two-car lane change point is in front of the first-car lane change point, and
if the distance between the two-car lane change point and the current position of the vehicle is greater than the decision reference distance
Clearing all data;
if the two-car lane change point is in front of the first-car lane change point, and
the distance between the two-car lane change point and the current position of the host vehicle is less than or equal to the decision reference distance, and
if the distance between the two-vehicle lane change point and the initial position is greater than the decision reference distance, storing second vehicle lane change information, taking the current position of the vehicle as the initial position, and exchanging the first vehicle lane change information and the second vehicle lane change information;
if the two-car lane change point is in front of the first-car lane change point, and
the distance between the two-car lane change point and the initial position is less than or equal to the decision reference distance
And after storing the second vehicle lane change information, interchanging the first vehicle lane change information and the second vehicle lane change information.
Specifically, after the first vehicle information collection step, if the current position of the vehicle has passed the first vehicle lane change point when the second vehicle whose lane is changed ahead is collected, the data of the first vehicle at this time is considered to be invalid, and all the data is cleared.
And judging whether the current position of the vehicle crosses the first vehicle lane changing point or not through judging whether the distance D1 (see figures 7-10) between the current position of the vehicle and the first vehicle lane changing point is larger than 0 or not, and if the distance D1 between the current position of the vehicle and the first vehicle lane changing point is smaller than or equal to 0, detecting that two vehicles cross the lane line of the vehicle lane and the adjacent lane, and determining the type of the two-vehicle according to the height of the two-vehicle head. Then judging whether two vehicles change lanes from the vehicle lane to the adjacent lane or from the adjacent lane to the vehicle lane through image recognition, monitoring that the tail of the two vehicles crosses the lane line to complete lane change, and returning to the two vehicle information acquisition step if the tail of the two vehicles does not cross the lane line; if two cars change lanes from the vehicle lane to the adjacent lane and the two car tail crosses the lane line, the lane change information of the two cars is judged:
as shown in fig. 7, if the two-car lane change point is behind the first-car lane change point, the two-car lane change point is inevitably within the decision reference distance of the initial position, and the second-car lane change information is stored therein, including data such as the position of the two-car lane change point and the type of the two-car lane change vehicle. Specifically, the determination that the two-vehicle lane change point is behind the first-vehicle lane change point may be determined by determining whether a distance D20 between the two-vehicle lane change point and the initial position is smaller than a distance D10 between the first-vehicle lane change point and the initial position, or by determining whether a distance D2 between the two-vehicle lane change point and the current position of the host vehicle is smaller than a distance D1 between the first-vehicle lane change point and the current position of the host vehicle.
As shown in fig. 8, if the two-vehicle lane change point is in front of the first-vehicle lane change point, and the distance D2 between the two-vehicle lane change point and the current position of the host vehicle is greater than the decision reference distance, it is determined that two vehicles are necessarily outside the decision reference distance of the initial position, and it is determined that no temporary obstacle exists in the decision reference distance in front of the current position of the host vehicle, and the host vehicle can safely travel, at this time, all data including the data related to the two-vehicle lane change point and the first vehicle lane change information may be cleared.
As shown in fig. 9, the two-vehicle lane change point is located in front of the first vehicle lane change point, the distance D2 between the two-vehicle lane change point and the current position of the host vehicle is less than or equal to the decision reference distance, and the distance D20 between the two-vehicle lane change point and the initial position is greater than the decision reference distance, so that it can be confirmed that both the two-vehicle lane change point and the first vehicle lane change point are within the decision reference distance in front of the current position of the host vehicle, and then the current position of the host vehicle is used as the initial reference position after the second vehicle lane change information is stored, and since the two vehicles are located in front of the first vehicle, in order to facilitate the determination of the following three vehicles, the first vehicle lane change information and the second vehicle lane change information are exchanged, that is, the first vehicle and the two vehicles are exchanged, so that the first vehicle is kept in front of the two vehicles.
As shown in fig. 10, the two-vehicle lane change point is located in front of the first vehicle lane change point, the distance D2 between the two-vehicle lane change point and the current position of the host vehicle is less than or equal to the decision reference distance, and the distance D20 between the two-vehicle lane change point and the initial position is less than or equal to the decision reference distance, then it is considered that both the two-vehicle lane change point and the first vehicle lane change point are within the decision reference distance in front of the initial position, and after the second vehicle lane change information is stored, since the two vehicles are located in front of the first vehicle, in order to facilitate the determination of the following three vehicles, the first vehicle lane change information and the second vehicle lane change information are exchanged, that is, the first vehicle and the two vehicles are exchanged, so that the first vehicle is kept in front of the two vehicles.
The embodiment of the application classifies the situation that two vehicles change lanes from the lane of the vehicle to the adjacent lane, and respectively stores corresponding data, so that the first vehicle lane change information and the second vehicle lane change information are determined.
In one embodiment, the two-vehicle information collecting step specifically includes:
if two vehicles are detected to cross the lane line of the vehicle lane and the adjacent lane when the current position of the vehicle does not cross the first vehicle lane changing point, determining the types of the two vehicles;
if two vehicles change lanes from adjacent lanes to the lane of the vehicle, and the tail of the two vehicles crosses the lane line; then
If the distance between the two-car lane change point and the initial position is less than or equal to the decision reference distance
If the first vehicle type is the high confidence coefficient type and the second vehicle type is the low confidence coefficient type, the first vehicle type is modified into the low confidence coefficient type, and then the second vehicle information acquisition step is returned; otherwise, clearing all data;
if the distance between the two-car lane change point and the initial position is greater than the decision reference distance, and
and returning to the two-vehicle information acquisition step if the distance between the two-vehicle lane change point and the initial position is greater than the risk reference distance which is greater than the decision reference distance, and otherwise, clearing all data.
Specifically, after the type of the two-vehicle is determined, if two vehicles change lanes from adjacent lanes to the lane of the vehicle and the tail of the two-vehicle crosses the lane line, the lane change information of the two vehicles is determined:
as shown in fig. 11, if the distance D20 between the two-vehicle lane change point and the initial position is less than or equal to the decision reference distance, the type of the leading vehicle and the type of the two-vehicle are determined, and the vehicle changes the lane from the adjacent lane to the lane of the vehicle, which indicates that the probability of the temporary failure in front of the lane of the vehicle is reduced to some extent. If the first vehicle type is the high confidence coefficient type and the second vehicle type is the low confidence coefficient type, and the lane change confidence coefficients of the high confidence coefficient type are higher than the low confidence coefficient type and cannot be mutually offset, modifying the first vehicle type into the low confidence coefficient type to reduce the lane change confidence coefficient of the first vehicle, and then returning to the second vehicle information acquisition step; for the case that the first vehicle type is the same as the second vehicle type, the lane change confidence coefficients of the first vehicle and the second vehicle can be mutually offset, and for the case that the first vehicle type is the low confidence coefficient type and the second vehicle type is the high confidence coefficient type, the lane change confidence coefficient of the first vehicle can be completely offset by the lane change confidence coefficient of the second vehicle, so all data are eliminated.
As shown in fig. 12, if the distance D20 between the two-vehicle lane change point and the initial position is greater than the risk reference distance (for example, the risk reference distance is set to 25 m), it is considered that two vehicles may change lanes in front of the temporary obstacle in the own vehicle lane, and therefore the two-vehicle lane change data does not have a reference value, the two-vehicle lane change data is deleted and the two-vehicle information collection step is returned.
As shown in fig. 13, if the distance D20 between the two-car lane change point and the initial position is greater than the decision reference distance and less than the risk reference distance, it is determined that no temporary obstacle exists between the initial position and the two-car lane change point, and thus all data is cleared.
According to the lane changing method and device, the condition that two vehicles change lanes from adjacent lanes to the lane of the vehicle is classified, the type of the first vehicle is corrected according to the lane changing confidence coefficient corresponding to the type of the first vehicle and the type of the second vehicle, and the accuracy of judgment of the follow-up lane changing confidence coefficient is guaranteed.
In one embodiment, the three-vehicle information acquisition step specifically includes:
if three vehicles are detected to cross the lane lines of the lane of the vehicle and the adjacent lane when the current position of the vehicle does not cross the lane changing point of the first vehicle, determining the types of the three vehicles;
if the three vehicles change lanes from the lane of the vehicle to the adjacent lane and the tails of the three vehicles cross lane lines; then
If the lane change point of the third vehicle is behind the lane change point of the first vehicle, storing lane change information of the third vehicle;
if the lane change point of the three cars is in front of the lane change point of the first car, and
if the distance between the lane change point of the third vehicle and the current position of the vehicle is greater than the decision reference distance, all data are eliminated;
if the lane change point of the three cars is in front of the lane change point of the first car, and
if the distance between the lane changing point of the third vehicle and the initial position is less than or equal to the decision reference distance, storing lane changing information of the third vehicle;
if the lane change point of the three cars is in front of the lane change point of the first car, and
the distance between the lane change point of the three vehicles and the current position of the vehicle is less than or equal to the decision reference distance, and
the distance between the lane change point of the three vehicles and the initial position is greater than the decision reference distance, and
the current position of the vehicle is behind the two-car lane change point
Storing the third vehicle lane change information;
if the lane change point of the three cars is in front of the lane change point of the first car, and
the distance between the lane change point of the three vehicles and the current position of the vehicle is less than or equal to the decision reference distance, and
the distance between the lane change point of the three vehicles and the initial position is greater than the decision reference distance, and
the current position of the vehicle is in front of the two-car lane change point
And after the third vehicle lane change information is stored, taking the current position of the vehicle as an initial position, deleting the second vehicle lane change information, taking the first vehicle lane change information as the second vehicle lane change information, and taking the third vehicle lane change information as the first vehicle lane change information.
Specifically, after the two-vehicle information collection step, if the three vehicles changing lanes in front are collected, the current position of the vehicle already passes through the lane changing point of the first vehicle, and since the two vehicles are behind the first vehicle, the data of the first vehicle and the two vehicles are considered to be invalid, and all the data are cleared.
And judging whether the current position of the vehicle crosses the first vehicle lane change point or not through judging whether the distance D1 (shown in figures 14-18) between the current position of the vehicle and the first vehicle lane change point is larger than 0 or not, and if the distance D1 between the current position of the vehicle and the first vehicle lane change point is smaller than or equal to 0, detecting that three vehicles cross the lane lines of the vehicle lane and the adjacent lane, and determining the types of the three vehicles according to the heights of the heads of the three vehicles. Then judging whether the three vehicles change lanes from the lane to the adjacent lane or from the adjacent lane to the lane by image recognition, monitoring whether the tails of the three vehicles cross lane lines to finish lane change, and returning to the information acquisition step of the three vehicles if the tails of the three vehicles do not cross the lane lines; if the tail of the three vehicles changes the lane from the lane of the vehicle to the adjacent lane and the tail of the three vehicles crosses the lane line, judging the lane change information of the three vehicles:
as shown in fig. 14, if the lane change point of the third vehicle is behind the lane change point of the first vehicle, the lane change point of the third vehicle is necessarily within the decision reference distance of the initial position, and the lane change information of the third vehicle is stored here, including the position of the lane change point of the third vehicle, the lane change vehicle type of the third vehicle, and other data. Specifically, the determination that the lane change point of the three vehicles is behind the lane change point of the first vehicle may be determined by determining whether the distance D30 between the lane change point of the three vehicles and the initial position is less than the distance D10 between the lane change point of the first vehicle and the initial position, or by determining whether the distance D3 between the lane change point of the three vehicles and the current position of the vehicle is less than the distance D1 between the lane change point of the first vehicle and the current position of the vehicle.
As shown in fig. 15, if the lane change point of the three vehicles is in front of the lane change point of the first vehicle, and the distance D3 between the lane change point of the three vehicles and the current position of the host vehicle is greater than the decision reference distance, it is determined that the three vehicles are necessarily outside the decision reference distance of the initial position, and it can be determined that no temporary obstacle exists in the decision reference distance in front of the current position of the host vehicle, and the host vehicle can safely travel, at this time, all data including the related data of the lane change point of the three vehicles, the first vehicle lane change information, and the second vehicle lane change information can be cleared, and the step of determining the road condition is returned.
As shown in fig. 16, the lane change point of the third vehicle is located in front of the lane change point of the first vehicle, the distance D3 between the lane change point of the third vehicle and the current position of the vehicle is less than or equal to the decision reference distance, and the distance D30 between the lane change point of the third vehicle and the initial position is less than or equal to the decision reference distance, so that the lane change point of the first vehicle, the lane change point of the second vehicle and the lane change point of the third vehicle are all located within the decision reference distance in front of the initial position, and the lane change information of the third vehicle is stored, including the location of the lane change point of the third vehicle, the lane change vehicle type of the third vehicle, and other data.
As shown in fig. 17, the lane change point of the third vehicle is located in front of the lane change point of the first vehicle, the distance D3 between the lane change point of the third vehicle and the current position of the host vehicle is less than or equal to the decision reference distance, meanwhile, the distance D30 between the lane change point of the third vehicle and the initial position is greater than the decision reference distance, and the current position of the host vehicle is located behind the lane change point of the second vehicle, it can be determined that the lane change point of the first vehicle, the lane change point of the second vehicle and the lane change point of the third vehicle are all located in the decision reference distance in front of the current position of the host vehicle, and since it is necessary to perform lane change when three vehicles from the lane change point of the host vehicle to the adjacent lane are collected, the second vehicle lane change information is directly stored, and the subsequent steps are performed. The determination of whether the current position of the vehicle is behind the two-vehicle lane change point may be determined by determining whether a distance D2 between the current position of the vehicle and the two-vehicle lane change point is greater than 0, and if the distance D2 between the current position of the vehicle and the two-vehicle lane change point is greater than 0, the current position of the vehicle is considered to be behind the two-vehicle lane change point.
As shown in fig. 18, if the three-vehicle lane change point is in front of the first vehicle lane change point, the distance D3 between the three-vehicle lane change point and the current position of the host vehicle is less than or equal to the decision reference distance, and the distance D30 between the three-vehicle lane change point and the initial position is greater than the decision reference distance, and the current position of the host vehicle is in front of the two-vehicle lane change point, it is considered that the host vehicle has already passed over the two-vehicle lane change point at this time, and since the three-vehicle lane change point is within the decision reference distance of the current position of the host vehicle, the current position of the host vehicle is taken as the initial position, after the third vehicle lane change information is stored, the second vehicle lane change information is deleted, and since the three-vehicle lane change point is in front of the first vehicle lane change point, it is necessary to adjust the first vehicle to the first vehicle, that is, the first vehicle lane change information is taken as the second vehicle lane change information, and the third vehicle change information is taken as the first vehicle change information.
The embodiment of the application classifies the lane change of the three vehicles from the vehicle lane to the adjacent lane, and respectively stores corresponding data, thereby determining the first vehicle lane change information, the second vehicle lane change information and the third vehicle lane change information.
In one embodiment, the three-vehicle information acquisition step specifically includes:
if three vehicles are detected to cross the lane lines of the lane of the vehicle and the adjacent lane when the current position of the vehicle does not cross the lane changing point of the first vehicle, determining the types of the three vehicles;
if the three vehicles change lanes from the adjacent lanes to the lane of the vehicle, and the tails of the three vehicles cross lane lines; then
If the distance between the lane change point of the three vehicles and the initial position is less than or equal to the decision reference distance
If the first vehicle type and the second vehicle type are both low confidence coefficient types, and the third vehicle type is a high confidence coefficient type, clearing all data;
if the first vehicle type and the second vehicle type are both low confidence coefficient types, and the third vehicle type is a low confidence coefficient type, clearing the second vehicle lane change information, and returning to the second vehicle information acquisition step;
if the first vehicle type and the second vehicle type comprise a low confidence coefficient type and a high confidence coefficient type, and the third vehicle type is the high confidence coefficient type, modifying the first vehicle type into the low confidence coefficient type, clearing second vehicle lane change information, and returning to the second vehicle information acquisition step;
if the first vehicle type and the second vehicle type comprise a low confidence coefficient type and a high confidence coefficient type, and the third vehicle type is the low confidence coefficient type, modifying the first vehicle type into the high confidence coefficient type, clearing second vehicle lane change information, and returning to the second vehicle information acquisition step;
if the distance between the lane change point of the three vehicles and the initial position is greater than the decision reference distance, and
and returning to the three-vehicle information acquisition step if the distance between the lane changing point of the three vehicles and the initial position is greater than the risk reference distance which is greater than the decision reference distance, and otherwise, clearing all data.
Specifically, after the three-vehicle type is determined, if the three vehicles change lanes from adjacent lanes to the lane of the vehicle and the three vehicle tails cross lane lines, lane change information of the three vehicles is judged:
as shown in fig. 19, if the distance D30 between the lane change point of the three vehicles and the initial position is less than or equal to the decision reference distance, the first vehicle type, the second vehicle type and the three vehicle type are adjusted, so as to modify the lane change confidence, which includes the following four cases:
the first vehicle type and the second vehicle type are both low confidence coefficient types, the third vehicle type is a high confidence coefficient type, and the lane change confidence coefficient of the high confidence coefficient type vehicle changing from the adjacent lane to the own lane at the moment can be mutually offset with the lane change confidence coefficient of the two low confidence coefficient type vehicles changing from the own lane to the adjacent lane, so all data are eliminated.
And secondly, the first vehicle type and the second vehicle type are both low confidence coefficient types, the third vehicle type is a low confidence coefficient type, the lane change confidence coefficient of the low confidence coefficient type vehicle changing from the adjacent lane to the lane can be mutually offset with the lane change confidence coefficient of one low confidence coefficient type vehicle changing from the lane to the adjacent lane, and at the moment, only the first vehicle lane change information of the first vehicle is effective, the second vehicle lane change information is cleared, and the second vehicle information acquisition step is returned.
Thirdly, the first vehicle type and the second vehicle type comprise a low confidence coefficient type and a high confidence coefficient type, the third vehicle type is the high confidence coefficient type, at the moment, the lane change confidence coefficient of the high confidence coefficient type vehicle changing from the adjacent lane to the lane of the vehicle can be mutually offset with the lane change confidence coefficient of the high confidence coefficient type vehicle changing from the lane of the vehicle to the adjacent lane, after the first vehicle type is modified into the low confidence coefficient type, the second vehicle lane change information is removed, and the second vehicle information acquisition step is returned;
and fourthly, the first vehicle type and the second vehicle type comprise a low confidence coefficient type and a high confidence coefficient type, the third vehicle type is the low confidence coefficient type, at the moment, the lane change confidence coefficient of the low confidence coefficient type vehicle changing from the adjacent lane to the lane can be mutually offset with the lane change confidence coefficient of the low confidence coefficient type vehicle changing from the lane to the adjacent lane, after the first vehicle type is modified into the high confidence coefficient type, the second vehicle lane change information is eliminated, and the second vehicle information acquisition step is returned.
As shown in fig. 20, if the distance D30 between the lane change point of the three vehicles and the initial position is greater than the decision reference distance, and the distance D30 between the lane change point of the three vehicles and the initial position is greater than the risk reference distance (for example, the risk reference distance is set to 25 m), it is considered that the three vehicles may change lanes in front of the temporary obstacle of the lane of the vehicle, and therefore the lane change data of the three vehicles does not have a reference value, the lane change data of the three vehicles is deleted, and the three-vehicle information acquisition step is returned.
As shown in fig. 21, if the distance D30 between the lane change point of the three cars and the initial position is greater than the decision reference distance, and the distance D30 between the lane change point of the three cars and the initial position is less than or equal to the risk reference distance, it is considered that no temporary obstacle exists between the initial position and the lane change point of the three cars, and thus all data is cleared.
According to the lane changing method and device, the situation that three vehicles change lanes from adjacent lanes to the lane of the vehicle is classified, the type of the first vehicle is corrected according to the lane changing confidence corresponding to the type of the first vehicle, the type of the second vehicle and the type of the three vehicles, and the accuracy of subsequent lane changing confidence judgment is guaranteed.
Fig. 22 shows a main flow chart of a congested road condition lane change decision method in a preferred embodiment of the present application, which specifically includes:
step S01: acquiring a current position and a current road condition;
step S02: if the current position is at the non-traffic intersection, the current road condition is a congestion road condition, and the congestion distance is less than or equal to the set congestion distance, executing the step S03, otherwise, returning to the step S01 after waiting for the set time;
step S03: opening a congested road condition lane change decision function;
step S04: responding to the starting of a congested road condition lane changing decision function, executing a first vehicle information acquisition step by taking the current position as an initial position, and acquiring first vehicle lane changing information of a first vehicle from a vehicle lane to other lanes;
step S05: executing a two-vehicle information acquisition step, acquiring second vehicle lane change information of a second vehicle changing from the lane of the vehicle to other lanes;
step S06: according to the first vehicle lane change information and the second vehicle lane change information, determining lane change confidence by looking up a table;
step S07: if the lane change confidence is smaller than the confidence threshold, executing a step S08, otherwise executing a step S09;
step S08: executing a third vehicle information acquisition step, and acquiring third vehicle lane change information of a third vehicle changing from the vehicle lane to other lanes; then step S09 is executed;
step S09: a lane change execution instruction is issued, and after the lane change is completed, step S010 is executed,
step S010: and clearing all data, judging whether the congested road section exits, if so, ending the congested road condition lane change decision method, and otherwise, returning to the step S04.
Fig. 23 is a flowchart illustrating a first vehicle information acquisition step in the congested road condition lane change decision method, which specifically includes:
step S101: determining the type of the first vehicle when detecting that the vehicle body part of the first vehicle in front of the vehicle lane exceeds the lane line;
step S102: if the distance between the initial position and the initial position of the first vehicle lane change point is greater than the decision reference distance, executing a step S310 in the main flow, otherwise executing a step S103;
step S103: if the tail of the first vehicle crosses the lane line, executing the step S104, otherwise executing the step S310 in the main flow;
step S104: first vehicle lane change information is stored.
Fig. 24 is a flowchart illustrating a two-car information collecting step in the congested road condition lane change decision method, which specifically includes:
step S201: detecting that two vehicles cross the lane line of the vehicle lane and the adjacent lane, if the current position of the vehicle does not cross the lane changing point of the first vehicle, executing a step S202, otherwise executing a step S010 in the main flow;
step S202: determining a two-vehicle type;
step S203: judging the type of the two-vehicle lane change, if the two-vehicle lane change from the vehicle lane to the adjacent lane, executing the step S204, and if the two-vehicle lane change from the adjacent lane to the vehicle lane, executing the step S211;
step S204: if the tail of the two-wheeled vehicle crosses the lane line, executing the step S205, otherwise, returning to the step S201;
step S205: if the two-car lane change point is behind the first car lane change point, executing step S206, otherwise executing step S207;
step S206: after the second vehicle lane change information is stored, step S06 in the main flow is executed;
step S207: if the distance between the two-vehicle lane change point and the current position of the vehicle is greater than the decision reference distance, executing a step S010 in the main flow, otherwise executing a step S208;
step S208: if the distance between the two-car lane change point and the initial position is greater than the decision reference distance, executing step S209, otherwise executing step S210;
step S209: after second vehicle lane change information is stored, taking the current position of the vehicle as the initial position, and interchanging the first vehicle lane change information and the second vehicle lane change information;
step S210: and after storing the second vehicle lane change information, interchanging the first vehicle lane change information and the second vehicle lane change information.
Step S211: if the tail of the two-wheeled vehicle crosses the lane line, executing the step S212, otherwise returning to the step S201;
step S212: if the distance between the two-car lane change point and the initial position is less than or equal to the decision reference distance, performing step S213, otherwise performing step S215;
step S213: if the first vehicle type is the high confidence coefficient type and the second vehicle type is the low confidence coefficient type, executing a step S214, otherwise executing a step S010 in the main process;
step S214: after the type of the first vehicle is modified to be the type with low confidence coefficient, returning to the step S201;
step S215: and if the distance between the two-car lane change point and the initial position is greater than the risk reference distance, returning to the step S201, otherwise, executing the step S010 in the main flow.
Fig. 25 is a flowchart illustrating three vehicle information acquisition steps in the congested road condition lane change decision method, which specifically includes:
step S301: detecting that three vehicles cross the lane line of the vehicle lane and the adjacent lane, if the current position of the vehicle does not cross the first vehicle lane changing point, executing a step S302, otherwise executing a step S010 in the main flow;
step S302: determining three vehicle types;
step S303: judging the lane change type of the three vehicles, if the three vehicles change lanes from the vehicle lane to the adjacent lane, executing step S304, and if the three vehicles change lanes from the adjacent lane to the vehicle lane, executing step S311;
step S304: if the three vehicle tails cross the lane line, executing the step S305, otherwise, returning to the step S301;
step S305: if the lane change point of the third vehicle is behind the lane change point of the first vehicle, executing a step S306, otherwise executing a step S307;
step S306: after the third vehicle lane change information is stored, step S09 in the main flow is executed;
step S307: if the distance between the lane change point of the three vehicles and the current position of the vehicle is greater than the decision reference distance, executing a step S010 in the main flow, otherwise executing a step S308;
step S308: if the distance between the lane change point of the three vehicles and the initial position is greater than the decision reference distance, executing a step S306, otherwise executing a step S309;
step S309: if the current position of the vehicle is behind the two-vehicle lane change point, executing step S306, otherwise executing step S310;
step S310: and after the third vehicle lane change information is stored, taking the current position of the vehicle as an initial position, deleting the second vehicle lane change information, taking the first vehicle lane change information as the second vehicle lane change information, and taking the third vehicle lane change information as the first vehicle lane change information.
Step S311: if the three vehicle tails cross the lane line, executing the step S312, otherwise, returning to the step S301;
step S312: if the distance between the lane change point of the three vehicles and the initial position is less than or equal to the decision reference distance, executing the step S313, otherwise executing the step S319;
step S313: if the first vehicle type and the second vehicle type are both low confidence coefficient types and the third vehicle type is a high confidence coefficient type, executing a step S010 in the main process, otherwise executing a step S314;
step S314: if the first vehicle type and the second vehicle type are both low confidence coefficient types, and the third vehicle type is a low confidence coefficient type, executing a step S315, otherwise executing a step S316;
step S315: clearing the second vehicle lane change information, and executing the step S05 in the main flow;
step S316: if the first vehicle type and the second vehicle type comprise a low confidence coefficient type and a high confidence coefficient type, and the third vehicle type is the high confidence coefficient type, executing the step S317, otherwise executing the step S318;
step S317: after the type of the first vehicle is modified into the type with low confidence coefficient, second vehicle lane change information is cleared, and step S05 in the main flow is executed;
step S318: after the type of the first vehicle is modified into the high-confidence-degree type, second vehicle lane change information is cleared, and step S05 in the main process is executed;
step S319: and if the distance between the lane changing point of the three vehicles and the initial position is greater than the risk reference distance, returning to the step S301, otherwise, executing the step S010 in the main flow.
The technical scheme of the present application further provides a storage medium, where the storage medium stores computer instructions, and when the computer executes the computer instructions, the storage medium is used to execute the congested road condition lane change decision method in any of the foregoing embodiments.
Fig. 26 shows an electronic device of the present application, including:
at least one processor 261; and the number of the first and second groups,
a memory 262 communicatively coupled to the at least one processor 261; wherein the content of the first and second substances,
the memory 262 stores instructions executable by the at least one processor 261, and the instructions are executed by the at least one processor 261, so that the at least one processor 261 can execute all the steps of the congested road condition lane change decision method in any of the above method embodiments.
The Electronic device is preferably an on-vehicle Electronic Control Unit (ECU), and further, a Microcontroller Unit (MCU) in the on-vehicle Electronic Control Unit.
In fig. 26, one processor 262 is taken as an example:
the electronic device may further include: an input device 263 and an output device 264.
The processor 261, the memory 262, the input device 263 and the display device 264 may be connected by a bus or other means, and the bus connection is taken as an example in the figure.
The memory 262, which is a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules corresponding to the congested road condition lane change decision method in the embodiment of the present application, for example, the method flows shown in fig. 1 and 22-25. The processor 261 executes various functional applications and data processing by running nonvolatile software programs, instructions and modules stored in the memory 262, so as to implement the congested road condition lane change decision method in the above embodiment.
The memory 262 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the congested road condition lane change decision method, and the like. Further, the memory 262 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory 262 may optionally include a memory remotely located from the processor 261, and these remote memories may be connected via a network to a device that performs the congestion traffic lane change decision method. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 263 can receive input of user clicks and generate signal inputs related to user settings and function control of the congestion traffic lane change decision method. The display device 264 may include a display screen or the like.
When the one or more modules are stored in the memory 262, and executed by the one or more processors 261, the congested road condition lane change decision method in any of the above-described method embodiments is performed.
What has been described above is merely the principles and preferred embodiments of the present application. It should be noted that, for those skilled in the art, the embodiments obtained by appropriately combining the technical solutions respectively disclosed in the different embodiments are also included in the technical scope of the present invention, and several other modifications may be made on the basis of the principle of the present application and should be regarded as the protective scope of the present application.
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