阅读说明：本技术 车辆换道方法、装置和电子设备 (Vehicle lane changing method and device and electronic equipment ) 是由 王慧文 韩志华 徐修信 张浩宇 张艺浩 杜茂 叶剑 于 2021-10-14 设计创作，主要内容包括：本发明提供了一种车辆换道方法、装置和电子设备,如果获取到的当前车辆参数信息和当前车辆所处环境信息满足第一预设条件,计算当前车辆与目标车辆之间的距离值和碰撞时间；如果距离值和碰撞时间满足第二预设条件,控制当前车辆向目标车道换道。该方式在判断当前车辆参数信息和当前车辆所处环境信息是否满足第一预设条件后,会继续判断当前车辆与目标车辆之间的距离值和碰撞时间是否满足第二预设条件,如果满足,就可以控制当前车辆向目标车道换道,该方式稳定性较好,可以适用于各种工况,采用该方式对车辆进行换道决策,可以满足自动驾驶的可靠性和安全性要求。(The invention provides a vehicle lane changing method, a vehicle lane changing device and electronic equipment, wherein if the acquired current vehicle parameter information and the acquired current vehicle environment information meet a first preset condition, a distance value and collision time between a current vehicle and a target vehicle are calculated; and if the distance value and the collision time meet a second preset condition, controlling the current vehicle to change the lane to the target lane. According to the method, after whether the parameter information of the current vehicle and the environmental information of the current vehicle meet the first preset condition or not is judged, whether the distance value between the current vehicle and the target vehicle and the collision time meet the second preset condition or not can be continuously judged, if yes, the current vehicle can be controlled to change the lane to the target lane, the method is good in stability and applicable to various working conditions, the method is adopted to make a lane change decision on the vehicle, and the reliability and safety requirements of automatic driving can be met.)

1. A method of changing lanes of a vehicle, the method comprising:

acquiring current vehicle parameter information and environment information of a current vehicle;

judging whether the current vehicle parameter information and the current vehicle environment information meet a first preset condition or not;

if the first preset condition is met, calculating a distance value and collision time between the current vehicle and a target vehicle; wherein the target vehicle comprises at least one of: the vehicle control system comprises a front vehicle positioned in a self lane, a vehicle which is converged or remitted in front of the current vehicle, a front vehicle or a rear vehicle positioned in a target lane, and a vehicle which is converged or remitted between the current vehicle and the front vehicle or the rear vehicle of the target lane;

and if the distance value and the collision time meet a second preset condition, controlling the current vehicle to change the lane to the target lane.

2. The method of claim 1, further comprising:

in the process of controlling the current vehicle to change the lane to the target lane, if a first signal is received, whether at least one part of the current vehicle enters the target lane is judged; wherein the first signal comprises: canceling a lane change signal and/or a target lane driving reference line planning failure signal;

if at least one part of the current vehicle enters a target lane, controlling the current vehicle to change the lane to the target lane;

and controlling the current vehicle to run in the own lane if at least one part of the current vehicle does not enter the target lane.

3. The method of claim 1, further comprising:

in the process of controlling the current vehicle to change the lane to the target lane, calculating the lateral distance between the current vehicle and the center line of the target lane, the course angle of the current vehicle and the course angle of the lane line of the target lane;

and if the lateral distance is smaller than a first threshold value, the current vehicle course angle is smaller than a second threshold value, and the lane line course angle is smaller than a third threshold value, determining that the current vehicle changes the lane to the target lane.

4. The method of claim 1, further comprising:

and in the process of controlling the current vehicle to change the lane to the target lane, controlling the current vehicle to run according to a pre-planned target lane running reference line.

5. The method of claim 1, further comprising:

and if the first preset condition is not met, controlling the current vehicle to run in the lane.

6. A vehicle lane-change device, characterized in that the device comprises:

the acquisition module is used for acquiring the parameter information of the current vehicle and the environmental information of the current vehicle;

the first judgment module is used for judging whether the current vehicle parameter information and the current vehicle environment information meet a first preset condition or not;

the first calculation module is used for calculating a distance value and collision time between the current vehicle and a target vehicle if the first preset condition is met; wherein the target vehicle comprises at least one of: the vehicle control system comprises a front vehicle positioned in a self lane, a vehicle which is converged or remitted in front of the current vehicle, a front vehicle or a rear vehicle positioned in a target lane, and a vehicle which is converged or remitted between the current vehicle and the front vehicle or the rear vehicle of the target lane;

and the first control module is used for controlling the current vehicle to change the lane to the target lane if the distance value and the collision time meet a second preset condition.

7. The apparatus of claim 6, further comprising:

the second judgment module is used for judging whether at least one part of the current vehicle enters a target lane or not if a first signal is received in the process of controlling the current vehicle to change lanes to the target lane; wherein the first signal comprises: canceling a lane change signal and/or a target lane driving reference line planning failure signal;

the second control module is used for controlling the current vehicle to change the lane to a target lane if at least one part of the current vehicle enters the target lane;

and the third control module is used for controlling the current vehicle to run in the lane if at least one part of the current vehicle does not enter the target lane.

8. The apparatus of claim 6, further comprising:

the second calculation module is used for calculating the lateral distance between the current vehicle and the center line of the target lane, the current vehicle course angle and the lane line course angle of the target lane in the process of controlling the current vehicle to change lanes to the target lane;

and the determining module is used for determining that the current vehicle has changed the lane to the target lane if the lateral distance is smaller than a first threshold, the current vehicle course angle is smaller than a second threshold, and the lane line course angle is smaller than a third threshold.

9. An electronic device comprising a processor and a memory, the memory storing machine executable instructions executable by the processor, the processor executing the machine executable instructions to implement the vehicle lane-change method of any one of claims 1-5.

10. A machine-readable storage medium having stored thereon machine-executable instructions which, when invoked and executed by a processor, cause the processor to implement the vehicle lane-change method of any one of claims 1-5.

Technical Field

The invention relates to the technical field of automatic driving, in particular to a vehicle lane changing method, a vehicle lane changing device and electronic equipment.

Background

For commercial vehicles, cost and safety are always core elements of the logistics transportation industry. For cost, labor cost and oil consumption occupy dominant positions; for safety, accidents caused by human factors account for 70%, and the two factors are also the fundamental power for driving the automatic driving of the commercial vehicle. Distinguishing whether a system is autonomous or not is primarily to see whether the system has a decision-making component. In the related art, a decision part is usually designed by adopting an end-to-end AI method, the method only depends on probabilistic reasoning, transparency is lost, and the requirements on reliability and safety of automatic driving are difficult to meet.

Disclosure of Invention

The invention aims to provide a vehicle lane changing method, a vehicle lane changing device and electronic equipment so as to meet the requirements on reliability and safety of automatic driving.

The invention provides a vehicle lane changing method, which comprises the following steps: acquiring current vehicle parameter information and environment information of a current vehicle; judging whether the current vehicle parameter information and the current vehicle environment information meet a first preset condition or not; if the first preset condition is met, calculating a distance value and collision time between the current vehicle and the target vehicle; wherein the target vehicle comprises at least one of: the front vehicle in the self lane, the vehicle which is converged or converged in front of the current vehicle, the front vehicle or the rear vehicle in the target lane, and the vehicle which is converged or converged between the current vehicle and the front vehicle or the rear vehicle in the target lane; and if the distance value and the collision time meet a second preset condition, controlling the current vehicle to change the lane to the target lane.

Further, the method further comprises: in the process of controlling the current vehicle to change the lane to the target lane, if a first signal is received, whether at least one part of the current vehicle enters the target lane is judged; wherein the first signal comprises: canceling a lane change signal and/or a target lane driving reference line planning failure signal; if at least one part of the current vehicle enters the target lane, controlling the current vehicle to change the lane to the target lane; and controlling the current vehicle to run in the own lane if at least one part of the current vehicle does not enter the target lane.

Further, the method further comprises: in the process of controlling the current vehicle to change the lane to the target lane, calculating the lateral distance between the current vehicle and the center line of the target lane, the current vehicle course angle and the lane line course angle of the target lane; and if the lateral distance is smaller than the first threshold, the current vehicle course angle is smaller than the second threshold, and the lane line course angle is smaller than the third threshold, determining that the current vehicle changes the lane to the target lane.

Further, the method further comprises: and in the process of controlling the current vehicle to change the lane to the target lane, controlling the current vehicle to run according to a pre-planned target lane running reference line.

Further, the method further comprises: and if the first preset condition is not met, controlling the current vehicle to run in the lane.

The invention provides a vehicle lane changing device, which comprises: the acquisition module is used for acquiring the parameter information of the current vehicle and the environmental information of the current vehicle; the first judgment module is used for judging whether the current vehicle parameter information and the current vehicle environment information meet a first preset condition or not; the first calculation module is used for calculating a distance value and collision time between the current vehicle and the target vehicle if a first preset condition is met; wherein the target vehicle comprises at least one of: the front vehicle in the self lane, the vehicle which is converged or converged in front of the current vehicle, the front vehicle or the rear vehicle in the target lane, and the vehicle which is converged or converged between the current vehicle and the front vehicle or the rear vehicle in the target lane; and the first control module is used for controlling the current vehicle to change the lane to the target lane if the distance value and the collision time meet a second preset condition.

Further, the apparatus further comprises: the second judgment module is used for judging whether at least one part of the current vehicle enters the target lane or not if the first signal is received in the process of controlling the current vehicle to change lanes to the target lane; wherein the first signal comprises: canceling a lane change signal and/or a target lane driving reference line planning failure signal; the second control module is used for controlling the current vehicle to change the lane to the target lane if at least one part of the current vehicle enters the target lane; and the third control module is used for controlling the current vehicle to run in the lane if at least one part of the current vehicle does not enter the target lane.

Further, the apparatus further comprises: the second calculation module is used for calculating the lateral distance between the current vehicle and the central line of the target lane, the current vehicle course angle and the lane line course angle of the target lane in the process of controlling the current vehicle to change lanes to the target lane; and the determining module is used for determining that the current vehicle changes the lane to the target lane if the lateral distance is smaller than the first threshold, the current vehicle course angle is smaller than the second threshold, and the lane line course angle is smaller than the third threshold.

The invention provides an electronic device which comprises a processor and a memory, wherein the memory stores machine executable instructions capable of being executed by the processor, and the processor executes the machine executable instructions to realize the vehicle lane changing method.

The invention provides a machine-readable storage medium storing machine-executable instructions which, when invoked and executed by a processor, cause the processor to implement a vehicle lane-changing method of any one of the above.

The invention provides a vehicle lane changing method, a vehicle lane changing device and electronic equipment, which are used for acquiring current vehicle parameter information and current vehicle environment information. And judging whether the current vehicle parameter information and the current vehicle environment information meet a first preset condition. If the first preset condition is met, calculating a distance value and collision time between the current vehicle and the target vehicle; wherein the target vehicle comprises at least one of: the vehicle is a vehicle which is located in front of the self lane, a vehicle which is converged or converged in front of the current vehicle, a vehicle which is located in front of the target lane or a vehicle which is located behind the target lane, and a vehicle which is converged or converged between the current vehicle and the vehicle which is located in front of the target lane or the vehicle which is converged or converged behind the target lane. And if the distance value and the collision time meet a second preset condition, controlling the current vehicle to change the lane to the target lane. According to the method, after whether the parameter information of the current vehicle and the environmental information of the current vehicle meet the first preset condition or not is judged, whether the distance value between the current vehicle and the target vehicle and the collision time meet the second preset condition or not can be continuously judged, if yes, the current vehicle can be controlled to change the lane to the target lane, the method is good in stability and applicable to various working conditions, the method is adopted to make a lane change decision on the vehicle, and the reliability and safety requirements of automatic driving can be met.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a flow chart of a method for changing lanes of a vehicle according to an embodiment of the present invention;

FIG. 2 is a flow chart of another method for changing lanes of a vehicle according to an embodiment of the present invention;

FIG. 3 is a flow chart of another method for changing lanes of a vehicle according to an embodiment of the present invention;

fig. 4 is a schematic diagram of a lane change decision state according to an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a lane-changing device for a vehicle according to an embodiment of the present invention;

fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

For commercial vehicles, cost and safety are always core elements of the logistics transportation industry. For cost, labor cost and oil consumption occupy dominant positions; for safety, accidents caused by human factors account for 70%, and the two factors are also the fundamental power for driving the automatic driving of the commercial vehicle. However, the existing automatic driving decision technology is not intelligent enough, and in addition, whether a system is automatically driven or not is distinguished to see whether the system has a decision part or not. Therefore, how to make the automatic driving decision more intelligent becomes a key point in the automatic driving field at present. Currently, there are two main approaches to decision making: the rule-based method and the end-to-end method. Although the end-to-end AI (Artificial Intelligence) method is more intelligent, it only depends on probabilistic reasoning and loses transparency, and the greatest challenge for decision making is how to achieve the safety and reliability required by automatic driving, so the method still needs to be improved, and the reliability and safety required by automatic driving are difficult to meet by adopting the method.

Based on the above, the embodiment of the invention provides a vehicle lane changing method, a vehicle lane changing device and electronic equipment, and the technology can be applied to lane changing decision of automatic driving, especially to active and passive lane changing decision of commercial vehicles.

In order to facilitate understanding of the embodiment, a vehicle lane changing method disclosed by the embodiment of the invention is first described in detail; as shown in fig. 1, the method comprises the steps of:

and step S102, acquiring the parameter information of the current vehicle and the environment information of the current vehicle.

The current vehicle parameter information may be current vehicle state information, such as whether a shift lever signal is received; the environment information of the current vehicle may include obstacle information, map information, and the like, such as a distance between the current vehicle and a terminal, a distance between the current vehicle and a ramp, a line type of a lane line, and the like. In actual implementation, the current vehicle is in a cruising state by default, and when the current vehicle needs to be changed, the state of the vehicle, obstacle information, map information and other relevant vehicle parameter information and the current vehicle environment information need to be acquired first.

And step S104, judging whether the parameter information of the current vehicle and the environmental information of the current vehicle meet a first preset condition.

The first preset condition may be set according to actual requirements, and after the parameter information of the current vehicle and the environmental information of the current vehicle are obtained, it is necessary to determine whether the obtained information meets the first preset condition, for example, it is determined whether a shift lever signal is not received, whether a distance between the current vehicle and a terminal exceeds a preset distance, whether a distance between the current vehicle and a ramp exceeds a preset distance, whether a line type of a lane line is a line type allowing lane change, and the like.

Step S106, if a first preset condition is met, calculating a distance value and collision time between the current vehicle and the target vehicle; wherein the target vehicle comprises at least one of: the vehicle is a vehicle which is located in front of the self lane, a vehicle which is converged or converged in front of the current vehicle, a vehicle which is located in front of the target lane or a vehicle which is located behind the target lane, and a vehicle which is converged or converged between the current vehicle and the vehicle which is located in front of the target lane or the vehicle which is converged or converged behind the target lane.

If the first preset condition is met, for example, the current vehicle does not receive the deflector rod signal, the distance between the current vehicle and the terminal point exceeds a preset distance, the distance between the current vehicle and the ramp exceeds a preset distance, and the line type of the lane line is a line type allowing lane changing, the current vehicle can enter a lane changing preparation state; specifically, the lane change ODD generally needs To consider a distance and a TTC (Time To Collision Time) between the current vehicle and a vehicle merging/merging in front of the current vehicle in the own lane, a distance and a TTC between the current vehicle and a vehicle ahead of the target lane, and a distance and a TTC between the current vehicle and a vehicle ahead of the target lane, a distance and a TTC between a vehicle merging/merging in/out between the current vehicle and a vehicle ahead of the target lane, and the like.

And S108, if the distance value and the collision time meet a second preset condition, controlling the current vehicle to change the lane to the target lane.

The second preset conditions generally include a distance threshold and a collision time threshold, and the second preset conditions corresponding to the target vehicle under different working conditions are also generally different and can be specifically set according to actual requirements; specifically, if the distance between the current vehicle and the vehicle ahead of the current vehicle in the own lane and the TTC satisfy the corresponding preset conditions, the distance between the current vehicle and the vehicle ahead of the target lane and the TTC satisfy the corresponding preset conditions, and the distance between the current vehicle and the vehicle ahead of the target lane and the distance between the vehicle ahead of the current vehicle and the vehicle ahead of the target lane and the TTC satisfy the corresponding preset conditions, the current vehicle can be controlled to enter the lane change state.

The vehicle lane changing method obtains the current vehicle parameter information and the current vehicle environment information. And judging whether the current vehicle parameter information and the current vehicle environment information meet a first preset condition. If the first preset condition is met, calculating a distance value and collision time between the current vehicle and the target vehicle; wherein the target vehicle comprises at least one of: the vehicle is a vehicle which is located in front of the self lane, a vehicle which is converged or converged in front of the current vehicle, a vehicle which is located in front of the target lane or a vehicle which is located behind the target lane, and a vehicle which is converged or converged between the current vehicle and the vehicle which is located in front of the target lane or the vehicle which is converged or converged behind the target lane. And if the distance value and the collision time meet a second preset condition, controlling the current vehicle to change the lane to the target lane. According to the method, after whether the parameter information of the current vehicle and the environmental information of the current vehicle meet the first preset condition or not is judged, whether the distance value between the current vehicle and the target vehicle and the collision time meet the second preset condition or not can be continuously judged, if yes, the current vehicle can be controlled to change the lane to the target lane, the method is good in stability and applicable to various working conditions, the method is adopted to make a lane change decision on the vehicle, and the reliability and safety requirements of automatic driving can be met.

The embodiment of the invention also provides another vehicle lane changing method, which is realized on the basis of the method of the embodiment; as shown in fig. 2, the method comprises the steps of:

step S202, obtaining the parameter information of the current vehicle and the environment information of the current vehicle.

Step S204 is whether the current vehicle parameter information and the current vehicle environment information meet a first preset condition.

Step S206, when a first preset condition is met, calculating a distance value and collision time between the current vehicle and the target vehicle; wherein the target vehicle comprises at least one of: the vehicle is a vehicle which is located in front of the self lane, a vehicle which is converged or converged in front of the current vehicle, a vehicle which is located in front of the target lane or a vehicle which is located behind the target lane, and a vehicle which is converged or converged between the current vehicle and the vehicle which is located in front of the target lane or the vehicle which is converged or converged behind the target lane.

And step S208, if the distance value and the collision time meet a second preset condition, controlling the current vehicle to change the lane to the target lane.

Step S210, in the process of controlling the current vehicle to change the lane to the target lane, if a first signal is received, whether at least one part of the current vehicle enters the target lane is judged; wherein the first signal comprises: and canceling the lane change signal and/or the target lane driving reference line planning failure signal.

The lane change canceling signal can be understood as a signal generated when a driver performs a lane change canceling operation; the target lane driving reference line may also be referred to as a recommended reference line, and when planning on the recommended reference line fails, a planning failure signal of the target lane driving reference line may be generated; the method comprises the steps that a current vehicle is controlled to change a lane to a target lane, whether planning failure operation or lane change cancellation operation exists is usually monitored in real time after the current vehicle enters a lane change state, if yes, after a lane change cancellation signal or a target lane driving reference line planning failure signal is received, the current vehicle can be controlled to enter the lane change failure or lane change cancellation state, after the current vehicle enters the lane change state, whether at least one part of the current vehicle enters the target lane or not is usually judged, and the judgment that whether the current vehicle crosses the target lane or not can also be realized.

And step S212, if at least one part of the current vehicle enters the target lane, controlling the current vehicle to change the lane to the target lane.

And step S214, if at least one part of the current vehicle does not enter the target lane, controlling the current vehicle to run in the lane.

If at least one part of the current vehicle enters the target lane, the current lane crosses the target lane, and then the current vehicle is controlled to continue changing to the target lane so as to drive in the target lane; if at least one part of the current vehicle does not enter the target lane, it can also be understood that the current vehicle does not cross the target lane, and then the current vehicle is generally controlled to continue driving in the own lane.

It should be noted that when it is determined that the current vehicle parameter information and the environmental information where the current vehicle is located satisfy the first preset condition, after the current vehicle enters the lane change preparation state, the shift lever signal is usually captured in real time, it is determined whether the driver cancels the lane change operation, and if the driver cancels the lane change operation, the driver directly enters the lane change cancellation state, and usually, according to the manner in this embodiment, it is also determined whether to control the current vehicle to continue changing lanes to the target lane or keep driving in the own lane.

According to the lane changing method for the vehicle, in the process of controlling the current vehicle to change the lane to the target lane, if the first signal is received, whether the current vehicle is controlled to continue to change the lane to the target lane or keep running in the lane can be determined by judging whether at least one part of the current vehicle enters the target lane, the method is good in stability and applicable to various working conditions, and the lane changing decision can be made on the vehicle by adopting the method, so that the requirements on reliability and safety of automatic driving can be met.

The embodiment of the invention also provides another vehicle lane changing method, which is realized on the basis of the method of the embodiment; as shown in fig. 3, the method comprises the steps of:

step S302, obtaining the parameter information of the current vehicle and the environment information of the current vehicle.

Step S304, judging whether the parameter information of the current vehicle and the environmental information of the current vehicle meet a first preset condition.

Step S306, if a first preset condition is met, calculating a distance value and collision time between the current vehicle and the target vehicle; wherein the target vehicle comprises at least one of: the vehicle is a vehicle which is located in front of the self lane, a vehicle which is converged or converged in front of the current vehicle, a vehicle which is located in front of the target lane or a vehicle which is located behind the target lane, and a vehicle which is converged or converged between the current vehicle and the vehicle which is located in front of the target lane or the vehicle which is converged or converged behind the target lane.

And step S308, if the distance value and the collision time meet a second preset condition, controlling the current vehicle to change the lane to the target lane.

Step S310, in the process of controlling the current vehicle to change the lane to the target lane, the lateral distance between the current vehicle and the center line of the target lane, the current vehicle course angle and the lane line course angle of the target lane are calculated.

The lateral distance can be a point which is closest to the center line of the target lane on the current vehicle is selected, and the vertical distance between the projection of the point on the ground and the center line of the target lane is calculated; the current vehicle course angle generally refers to an included angle between the vehicle mass center speed and a transverse axis under a ground coordinate system; in practical implementation, when the current vehicle is controlled to change lanes to the target lane, after the current vehicle enters a lane change state, whether the vehicle reaches the target lane is usually judged in real time, and at this time, the lateral distance between the current vehicle and the center line of the target lane, the current vehicle course angle and the lane line course angle of the target lane are usually calculated firstly.

In step S312, if the lateral distance is smaller than the first threshold, the current vehicle heading angle is smaller than the second threshold, and the lane line heading angle is smaller than the third threshold, it is determined that the current vehicle has changed lane to the target lane.

The first threshold, the second threshold and the third threshold can be set according to actual requirements, when the calculated lateral distance is smaller than the first threshold and the current vehicle course angle and the lane line course angle are smaller than a certain range in actual implementation, the current vehicle can be considered to have changed lanes to a target lane, and the cruise state can be usually entered again after the current vehicle changes lanes to the target lane; and if the current vehicle has not changed the lane to the target lane, maintaining the lane changing state.

It should be noted that, after the current vehicle enters the lane change state, when the lane change canceling signal or the target lane driving reference line planning failure signal is received and the current vehicle is controlled to enter the lane change failure or the lane change canceling state, it is usually determined whether the current vehicle has changed the lane to the target lane in real time by the method in the embodiment, and if so, the current vehicle is also controlled to enter the cruise state again.

And step S314, in the process of controlling the current vehicle to change the lane to the target lane, controlling the current vehicle to run according to a pre-planned target lane running reference line.

In the course of making a lane change decision for the current vehicle, in addition to updating the current state of the vehicle in the course of changing lanes, decision information is usually updated, and the decision information includes a reference line, a vehicle ahead of the lane and a vehicle ahead of the target lane, and recommended actions in the transverse and longitudinal directions and the latest time for completing the actions, wherein the transverse actions include lane keeping, left lane changing and right lane changing, and the longitudinal actions include keeping distance, waiting distance and catching up distance.

When the current vehicle is in a lane change state, the recommended reference line is generally the reference line of the target lane, the default reference is the reference line closest to the own vehicle position, and the default reference line is generally the reference line of the own lane. When the vehicle is in a state other than the lane change state, the recommended reference line and the default reference line are generally the reference lines closest to the own vehicle position.

And step S316, if the first preset condition is not met, controlling the current vehicle to run in the lane.

In practical implementation, if a first preset condition is not met, for example, the current vehicle receives a lever signal, or the distance between the current vehicle and a terminal is less than a preset distance, or the distance between the current vehicle and a ramp is less than a preset distance, or the line type of a lane line is a line type which does not allow lane changing, such as a yellow line or a solid line, the lane changing is usually considered to be failed, and the current vehicle usually keeps a lane changing preparation state and continues to run on a self lane.

According to the vehicle lane changing method, in the process of controlling the current vehicle to change the lane to the target lane, if the calculated lateral distance between the current vehicle and the center line of the target lane is smaller than a first threshold value, the course angle of the current vehicle is smaller than a second threshold value, and the course angle of the lane line is smaller than a third threshold value, it is determined that the current vehicle has changed the lane to the target lane, and in the process of controlling the current vehicle to change the lane to the target lane, the current vehicle is controlled to run according to a preset target lane running reference line. The method has good stability, can be suitable for various working conditions, and can meet the requirements of reliability and safety of automatic driving by adopting the method to make a lane change decision for the vehicle.

To further understand the above embodiments, a schematic diagram of a lane change decision state shown in fig. 4 is provided below, which mainly includes an updated lane change state and updated decision information, where a solid line represents the updated lane change state, and a dotted line represents the updated decision information; specifically, updating the lane change state mainly comprises the following steps:

s1: the method comprises the following steps that a vehicle is in a cruising state by default, and whether a lane changing preparation stage is started or not is judged in real time according to the self state of the vehicle, barrier information, map information and the like; for example, the current vehicle does not receive the lever signal, the distance between the current vehicle and the terminal point exceeds the preset distance, the distance between the current vehicle and the ramp exceeds the preset distance, and the boundary line type is valid.

S2: when the vehicle is in the lane change preparation stage, an ODD check is first performed to determine whether the lane change ODD is satisfied, specifically, the lane change ODD considers the distance and TTC between the vehicle ahead of the lane, the vehicle entering/exiting from the front of the lane, the vehicle ahead of the target lane, and the obstacle entering/exiting therebetween, such as time count > 3 s. If yes, entering into lane changing; if not, the lane change is considered to be failed. Simultaneously capturing a deflector rod signal in real time, judging whether the driver cancels lane changing operation, and if so, directly entering lane changing cancellation;

s3: when the vehicle is in lane changing, whether the vehicle reaches a target lane is judged in real time, and if the vehicle reaches the target lane, the vehicle enters a cruising state; if not, the state in the lane change is maintained. Detecting whether a planning failure (planning failure on a recommended reference line) or a lane change canceling operation exists in real time, and if so, entering a lane change failure or lane change canceling state;

s4: when the vehicle is in a state where lane change fails or is cancelled, after the vehicle enters the state, it is generally determined whether at least a part of the current vehicle enters the target lane, which may also be understood as determining whether the current vehicle crosses the target lane. And if at least one part of the current vehicle enters the target lane, controlling the current vehicle to change the lane to the target lane. And judging whether the vehicle reaches the target lane in real time, and if so, returning to the cruising state. And controlling the current vehicle to run in the own lane if at least one part of the current vehicle does not enter the target lane.

And updating decision information, wherein the decision information comprises a reference line, front and rear vehicles from the lane and the target lane, transverse and longitudinal recommended actions and latest action completion time, the transverse actions comprise lane keeping, left lane changing and right lane changing, and the longitudinal actions comprise keeping distance, waiting distance and catching up distance. The method mainly comprises the following steps:

s5: when the vehicle is in a lane changing state, recommending the reference line as a target lane, and defaulting to refer to the reference line closest to the position of the vehicle;

s6: when the vehicle is in other states, the recommended reference line and the default reference line are both the reference line closest to the own vehicle position.

The active and passive lane change decision method has good stability, can be well suitable for various working conditions, and can be used for lane change decision of commercial vehicles.

Corresponding to the above method embodiment, there is provided a vehicle lane-changing device as shown in fig. 5, the device comprising: the acquiring module 50 is used for acquiring the parameter information of the current vehicle and the environmental information of the current vehicle; the first judging module 51 is configured to judge whether the current vehicle parameter information and the current vehicle environment information satisfy a first preset condition; the first calculation module 52 is used for calculating a distance value and a collision time between the current vehicle and the target vehicle if a first preset condition is met; wherein the target vehicle comprises at least one of: the front vehicle in the self lane, the vehicle which is converged or converged in front of the current vehicle, the front vehicle or the rear vehicle in the target lane, and the vehicle which is converged or converged between the current vehicle and the front vehicle or the rear vehicle in the target lane; and the first control module 53 is used for controlling the current vehicle to change the lane to the target lane if the distance value and the collision time meet the second preset condition.

The vehicle lane changing device acquires the current vehicle parameter information and the current vehicle environment information. And judging whether the current vehicle parameter information and the current vehicle environment information meet a first preset condition. If the first preset condition is met, calculating a distance value and collision time between the current vehicle and the target vehicle; wherein the target vehicle comprises at least one of: the vehicle is a vehicle which is located in front of the self lane, a vehicle which is converged or converged in front of the current vehicle, a vehicle which is located in front of the target lane or a vehicle which is located behind the target lane, and a vehicle which is converged or converged between the current vehicle and the vehicle which is located in front of the target lane or the vehicle which is converged or converged behind the target lane. And if the distance value and the collision time meet a second preset condition, controlling the current vehicle to change the lane to the target lane. According to the method, after whether the parameter information of the current vehicle and the environmental information of the current vehicle meet the first preset condition or not is judged, whether the distance value between the current vehicle and the target vehicle and the collision time meet the second preset condition or not can be continuously judged, if yes, the current vehicle can be controlled to change the lane to the target lane, the method is good in stability and applicable to various working conditions, the method is adopted to make a lane change decision on the vehicle, and the reliability and safety requirements of automatic driving can be met.

Further, the apparatus is further configured to: in the process of controlling the current vehicle to change the lane to the target lane, if a first signal is received, whether at least one part of the current vehicle enters the target lane is judged; wherein the first signal comprises: canceling a lane change signal and/or a target lane driving reference line planning failure signal; if at least one part of the current vehicle enters the target lane, controlling the current vehicle to change the lane to the target lane; and controlling the current vehicle to run in the own lane if at least one part of the current vehicle does not enter the target lane.

Further, the apparatus is further configured to: in the process of controlling the current vehicle to change the lane to the target lane, calculating the lateral distance between the current vehicle and the center line of the target lane, the current vehicle course angle and the lane line course angle of the target lane; and if the lateral distance is smaller than the first threshold, the current vehicle course angle is smaller than the second threshold, and the lane line course angle is smaller than the third threshold, determining that the current vehicle changes the lane to the target lane.

Further, the apparatus is further configured to: and in the process of controlling the current vehicle to change the lane to the target lane, controlling the current vehicle to run according to a pre-planned target lane running reference line.

Further, the apparatus is further configured to: and if the first preset condition is not met, controlling the current vehicle to run in the lane.

The implementation principle and the generated technical effects of the vehicle lane changing device provided by the embodiment of the invention are the same as those of the vehicle lane changing method embodiment, and for brief description, corresponding contents in the vehicle lane changing method embodiment can be referred to where the embodiment of the vehicle lane changing device is not mentioned.

An embodiment of the present invention further provides an electronic device, which is shown in fig. 6, and the electronic device includes a processor 130 and a memory 131, where the memory 131 stores machine executable instructions that can be executed by the processor 130, and the processor 130 executes the machine executable instructions to implement the vehicle lane changing method.

Further, the electronic device shown in fig. 6 further includes a bus 132 and a communication interface 133, and the processor 130, the communication interface 133, and the memory 131 are connected through the bus 132.

The Memory 131 may include a high-speed Random Access Memory (RAM) and may also include a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. The communication connection between the network element of the system and at least one other network element is realized through at least one communication interface 133 (which may be wired or wireless), and the internet, a wide area network, a local network, a metropolitan area network, and the like can be used. The bus 132 may be an ISA bus, PCI bus, EISA bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 6, but that does not indicate only one bus or one type of bus.

The processor 130 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 130. The Processor 130 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the device can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component. The various methods, steps and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in the memory 131, and the processor 130 reads the information in the memory 131 and completes the steps of the method of the foregoing embodiment in combination with the hardware thereof.

The embodiment of the present invention further provides a machine-readable storage medium, where the machine-readable storage medium stores machine-executable instructions, and when the machine-executable instructions are called and executed by a processor, the machine-executable instructions cause the processor to implement the vehicle lane changing method, and specific implementation may refer to method embodiments, and is not described herein again.

The vehicle lane changing method, the vehicle lane changing device and the computer program product of the electronic device provided by the embodiment of the invention comprise a computer readable storage medium storing program codes, wherein instructions included in the program codes can be used for executing the method described in the previous method embodiment, and specific implementation can refer to the method embodiment, and is not described herein again.

The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.