CN115601996B - Lane change control method, device, electronic device, storage medium and vehicle - Google Patents
Lane change control method, device, electronic device, storage medium and vehicle Download PDFInfo
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- CN115601996B CN115601996B CN202211289402.9A CN202211289402A CN115601996B CN 115601996 B CN115601996 B CN 115601996B CN 202211289402 A CN202211289402 A CN 202211289402A CN 115601996 B CN115601996 B CN 115601996B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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Abstract
The application provides a lane change traffic control method, a lane change traffic control device, electronic equipment, a storage medium and a vehicle, when at least one adjacent vehicle exists in a preset range of the vehicle, the driving information of the vehicle at the current moment and the driving information of the at least one adjacent vehicle at the current moment are acquired, when the situation that lane change is about to occur in the vehicle exists, a target lane to be changed is determined according to the driving information of the vehicle, whether the target adjacent vehicle exists in the adjacent vehicle is determined according to the driving information of the adjacent vehicle, all the target adjacent vehicles can be accurately determined, and the problem that the target adjacent vehicle cannot be detected due to detection dead zones is avoided. And if the target adjacent vehicle exists, detecting the target adjacent vehicle, determining a lane change execution strategy of the vehicle according to a detection result, and controlling the vehicle to pass according to the lane change execution strategy, thereby avoiding the situation that potential safety hazards exist when the vehicle changes lanes.
Description
Technical Field
The application relates to the technical field of intelligent driving, in particular to a lane change traffic control method and device, electronic equipment, a storage medium and a vehicle.
Background
In the environment monitoring of lane changes of vehicles, for example, detection dead zones often exist, for example, adjacent vehicles around the vehicle are detected by means of radars installed in four corners of the vehicle, however, other adjacent vehicles in the middle of the near end of the vehicle body or at a distance from the vehicle outside the detection range cannot be detected in this way, so that safety hazards exist when the vehicle changes lanes.
Disclosure of Invention
Accordingly, the present application is directed to a lane change traffic control method, apparatus, electronic device, storage medium and vehicle, so as to solve the problem in the prior art that when a vehicle changes lanes, the vehicle has a potential safety hazard due to the existence of a detection blind area.
Based on the above object, a first aspect of the present application provides a lane change traffic control method, including:
When at least one adjacent vehicle exists in a preset range of the vehicle, acquiring the driving information of the vehicle at the current moment and the driving information of the at least one adjacent vehicle at the current moment;
When the vehicle is about to change lanes, determining a target lane of the vehicle lane change according to the driving information of the vehicle at the current moment, and determining whether a target adjacent vehicle exists in at least one adjacent vehicle according to the driving information of the at least one adjacent vehicle at the current moment, wherein the target adjacent vehicle is a vehicle positioned in the target lane and a vehicle about to enter the target lane;
Detecting the target adjacent vehicle when the target adjacent vehicle exists, so as to obtain a detection result;
And determining a lane change execution strategy of the vehicle according to the detection result, and controlling the vehicle to pass according to the lane change execution strategy.
Optionally, the driving information of the vehicle at the current moment comprises the coordinates and the speed of the vehicle, and the driving information of the adjacent vehicle at the current moment comprises the coordinates and the speed of the adjacent vehicle;
The determining the lane change execution strategy of the vehicle according to the detection result comprises the following steps:
when the detection result is that the target adjacent vehicle is detected, calculating a relative distance by utilizing the coordinates of the vehicle and the coordinates of the target adjacent vehicle to obtain a relative distance;
Calculating the relative speed by utilizing the speed of the vehicle and the speed of the adjacent vehicle to obtain the relative speed;
Calculating the relative time of the relative distance and the relative speed to obtain the relative time;
When the relative time is smaller than a preset first time threshold, determining that the lane change execution strategy of the vehicle is that the vehicle cannot change lanes;
and when the relative time is greater than or equal to a preset first time threshold, determining that the lane change execution strategy of the vehicle is that the vehicle can change lanes.
Optionally, the determining the lane change execution strategy of the vehicle according to the detection result includes:
When the detection result is that the target adjacent vehicle is not detected, comparing the relative distance with a preset distance threshold value to obtain a comparison result;
and determining a lane change executing strategy of the vehicle according to the comparison result.
Optionally, the determining the lane change execution strategy of the vehicle according to the comparison result includes:
and when the comparison result shows that the relative distance is smaller than a preset distance threshold value, determining that the lane change execution strategy of the vehicle is that the vehicle cannot change lanes, and controlling the vehicle to return to the lane where the lane change does not occur.
Optionally, the determining the lane change execution strategy of the vehicle according to the comparison result includes:
when the comparison result shows that the relative distance is greater than or equal to a preset distance threshold, comparing the relative time with a preset second time threshold;
when the relative time is greater than or equal to the preset second time threshold, determining that the lane change execution strategy of the vehicle is that the vehicle can change lanes;
And when the relative time is smaller than the preset second time threshold, determining that the lane change execution strategy of the vehicle is that the vehicle cannot change lanes.
Optionally, the determining whether the target neighboring vehicle exists in the at least one neighboring vehicle according to the driving information of the at least one neighboring vehicle at the current moment includes:
acquiring a coordinate range of the target lane;
screening out coordinates belonging to the coordinate range from the coordinates of all the adjacent vehicles;
and taking the adjacent vehicle with coordinates belonging to the coordinate range as the target adjacent vehicle.
Based on the same inventive concept, a second aspect of the present application provides a lane change traffic control apparatus, comprising:
the acquisition module is used for acquiring the driving information of the vehicle at the current moment and the driving information of at least one adjacent vehicle at the current moment when at least one adjacent vehicle exists in a preset range of the vehicle;
The system comprises a determining module, a control module and a control module, wherein the determining module is used for determining a target lane of the vehicle lane change according to the driving information of the vehicle at the current moment when the vehicle is about to change lanes, determining whether a target adjacent vehicle exists in at least one adjacent vehicle according to the driving information of the at least one adjacent vehicle at the current moment, and the target adjacent vehicle is a vehicle positioned in the target lane and a vehicle about to enter the target lane;
the detection module is used for detecting the target adjacent vehicle when the target adjacent vehicle exists, so as to obtain a detection result;
and the control module is used for determining a lane change execution strategy of the vehicle according to the detection result and controlling the vehicle to pass according to the lane change execution strategy.
Based on the same inventive concept, a third aspect of the present application provides an electronic device, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method of the first aspect when executing the program.
Based on the same inventive concept, a fourth aspect of the present application provides a computer-readable storage medium storing computer instructions for causing a computer to perform the method of the first aspect.
Based on the same inventive concept, a fifth aspect of the present application provides a vehicle including the lane change passage control apparatus of the second aspect or the electronic device of the third aspect or the storage medium of the fourth aspect.
As can be seen from the above, the lane change control method, the lane change control device, the electronic equipment, the storage medium and the vehicle provided by the application acquire the driving information of the vehicle at the current moment and the driving information of at least one adjacent vehicle at the current moment when at least one adjacent vehicle exists in the preset range of the vehicle, determine the target lane to be changed according to the driving information of the vehicle at the current moment when the vehicle is about to change lanes, and determine whether the target adjacent vehicle exists in the at least one adjacent vehicle according to the driving information of the at least one adjacent vehicle at the current moment, wherein the target adjacent vehicle is the vehicle positioned in the target lane and the vehicle about to enter the target lane, so that all the target adjacent vehicles can be accurately determined, and the problem that the target adjacent vehicle cannot be detected due to the existence of a detection blind area is avoided. And if the target adjacent vehicle exists, detecting the target adjacent vehicle, determining a lane change execution strategy of the vehicle according to a detection result, and controlling the vehicle to pass according to the lane change execution strategy, thereby avoiding the situation that potential safety hazards exist when the vehicle changes lanes.
Drawings
In order to more clearly illustrate the technical solutions of the present application or related art, the drawings that are required to be used in the description of the embodiments or related art will be briefly described below, and it is apparent that the drawings in the following description are only embodiments of the present application, and other drawings may be obtained according to the drawings without inventive effort to those of ordinary skill in the art.
FIG. 1 is a flow chart of a lane change traffic control method according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a lane change traffic control method according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a lane change traffic control device according to an embodiment of the present application;
fig. 4 is a schematic diagram of an electronic device according to an embodiment of the application.
Detailed Description
The present application will be further described in detail below with reference to specific embodiments and with reference to the accompanying drawings, in order to make the objects, technical solutions and advantages of the present application more apparent.
It should be noted that unless otherwise defined, technical or scientific terms used in the embodiments of the present application should be given the ordinary meaning as understood by one of ordinary skill in the art to which the present application belongs. The terms "first," "second," and the like, as used in embodiments of the present application, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that elements or items preceding the word are included in the element or item listed after the word and equivalents thereof, but does not exclude other elements or items. The terms "connected" or "connected," and the like, are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", etc. are used merely to indicate relative positional relationships, which may also be changed when the absolute position of the object to be described is changed.
In the related art, lane change environment monitoring is often realized by using a radar configured by a vehicle, wherein the configured radar positions are four angular directions of front and rear bumpers of the vehicle. However, in this way, there may be a detection blind area, for example, other adjacent vehicles in the middle of the near end of the vehicle body or at a distance from the vehicle outside the detection range may not be detected, so that there may be a safety hazard in the vehicle when changing lanes.
The lane change traffic control method provided in this embodiment may be applied to a sensor, where the sensor may collect environmental data inside and outside a vehicle, perform technical processes such as identification, detection and tracking of static and dynamic objects, and perform an intelligent driving planning control function, so that a driver may perceive a possible danger in the fastest time to draw attention and improve safety, as shown in fig. 1, and includes:
Step 101, when at least one adjacent vehicle exists in a preset range of the vehicle, acquiring the driving information of the vehicle at the current moment and the driving information of the at least one adjacent vehicle at the current moment.
In this step, the adjacent vehicle represents other vehicles around the vehicle, and the preset range represents an area where the distance from the vehicle falls within a certain numerical range, and the preset range is not particularly limited here.
When the adjacent vehicles exist in the preset range of the Vehicle, the Vehicle with the function of comprehensively processing the information of the Vehicle, the person and the traffic equipment and realizing the information exchange acquires and transmits the driving information of at least one adjacent Vehicle at the current moment through road equipment or the Vehicle with the function of V2X (Vehicle-to-evaluation), wherein the road equipment can be LED (light-emitting diode) equipment with the function of information transmission or a cloud server, and can acquire and store the driving information of each adjacent Vehicle.
Wherein, all adjacent vehicles in the preset range can be one or more, and the driving information represents a series of parameters of the vehicle in the running process, including but not limited to one or more of real-time position of the vehicle, driving track, engine starting and closing time, engine temperature, engine rotating speed, throttle opening, idle time length, continuous working hours of the engine, battery voltage, gear information of the gear box, gear box gear shifting mode, driving speed of the vehicle and acceleration.
Step 102, when the vehicle is about to change lanes, determining a target lane of the vehicle lane change according to the driving information of the vehicle at the current moment, and determining whether a target adjacent vehicle exists in at least one adjacent vehicle according to the driving information of the at least one adjacent vehicle at the current moment, wherein the target adjacent vehicle is a vehicle positioned in the target lane and a vehicle about to enter the target lane.
In this step, the target lane indicates a lane to which the vehicle is to be changed, and the target adjacent vehicle indicates other adjacent vehicles traveling in the lane to which the vehicle is to be changed and other adjacent vehicles that are to enter the lane of the lane to which the vehicle is to be changed.
The direction in which the vehicle is about to travel can be determined by using the steering information of the vehicle and the lane information of the lane in which the vehicle is located, and the direction in which the vehicle is about to travel is compared with the travel direction of the vehicle at the current moment, so that lane change of the vehicle can be determined.
The process of lane information acquisition is as follows:
The method comprises the steps of acquiring a low-precision rough position of a vehicle at the current moment, acquiring global navigation satellite system data through a GNSS (GlobalNavigation SATELLITE SYSTEM ) antenna, and carrying out positioning calculation according to the low-precision position of the vehicle and the global navigation satellite system data by using a positioning algorithm of the RTK technology to obtain the high-precision position of the vehicle at the current moment. And inquiring the lane information of the lane at the position from a high-precision electronic map according to the position of the vehicle.
The process of determining the target lane of the lane change of the vehicle according to the driving information of the vehicle at the current moment is as follows:
And determining lane changing information of the vehicle by using steering information of the vehicle and lane information of a lane where the vehicle is located, inquiring a lane corresponding to the lane changing information from a high-precision electronic map according to the lane changing information, and taking the lane corresponding to the lane changing information as a target lane. For example, the road on which the vehicle is traveling is four lanes, the vehicle is currently traveling in the second left lane, the lane change information is lane change to the right, the lane after the lane change information of the second left lane in which the vehicle is currently located is searched from the electronic map, namely, the third left lane, and the third left lane is taken as the target lane.
Or the front of the road where the vehicle runs is a highway bifurcation, the position close to the bifurcation is a three-lane road, the vehicle runs in a middle lane currently, the lane changing information is an outgoing ramp, the lane after the lane changing information is executed in the middle lane where the vehicle is currently located is inquired from the electronic map, namely, the first right lane, and the first right lane is taken as a target lane.
According to the driving information of at least one adjacent vehicle at the current moment, whether the at least one adjacent vehicle has the target adjacent vehicle belonging to the target lane or not is determined, and the adjacent vehicles outside the target lane can be removed in the mode, so that the target adjacent vehicle belonging to the target lane is accurately determined, and the potential safety hazard of the vehicle when the vehicle changes lanes caused by taking other adjacent vehicles as the target adjacent vehicle by mistake is avoided.
In some embodiments, in step 102, the determining whether the target neighboring vehicle exists in the at least one neighboring vehicle according to the driving information of the at least one neighboring vehicle at the current moment includes:
and 1021, acquiring the coordinate range of the target lane.
And step 1022, screening out coordinates belonging to the coordinate range from the coordinates of all the adjacent vehicles.
Step 1023, using the adjacent vehicle with coordinates belonging to the coordinate range as the target adjacent vehicle.
In the above-described aspect, the coordinate range indicates a range of a region to which the lane belongs, coordinates of all neighboring vehicles are screened, neighboring vehicles whose coordinates belong to the coordinate range of the target lane are divided into target neighboring vehicles, all neighboring vehicles herein are all neighboring vehicles in different scenes, when only one neighboring vehicle exists, all neighboring vehicles refer to the one neighboring vehicle, and when a plurality of neighboring vehicles exist, all vehicles refer to the plurality of neighboring vehicles.
And step 103, detecting the target adjacent vehicle when the target adjacent vehicle exists, and obtaining a detection result.
In the step, an intelligent driving sensor is arranged, and the intelligent driving sensor is used for detecting the target adjacent vehicle to obtain a detection result, wherein the detection result can be that the target adjacent vehicle is not detected or the target adjacent vehicle is detected.
And 104, determining a lane change execution strategy of the vehicle according to the detection result, and controlling the vehicle to pass according to the lane change execution strategy.
In the step, lane change execution strategies of different vehicles are determined according to different detection results, and the vehicles are controlled to pass according to the lane change execution strategies, so that the vehicles can safely run.
In some embodiments, the driving information of the vehicle at the current moment comprises coordinates and speed of the vehicle, and the driving information of the adjacent vehicle at the current moment comprises coordinates and speed of the adjacent vehicle;
in step 104, the determining the lane change execution strategy of the vehicle according to the detection result includes:
and A1, when the detection result is that the target adjacent vehicle is detected, calculating the relative distance by using the coordinates of the vehicle and the coordinates of the target adjacent vehicle to obtain the relative distance.
And A2, calculating the relative speed by using the speed of the vehicle and the speed of the adjacent vehicle to obtain the relative speed.
And A3, calculating the relative time of the relative distance and the relative speed to obtain the relative time.
And A4, determining that the lane change execution strategy of the vehicle is that the vehicle cannot change lanes when the relative time is smaller than a preset first time threshold value.
And step A5, when the relative time is greater than or equal to a preset first time threshold value, determining that the lane change execution strategy of the vehicle is that the vehicle can change lanes.
In the above scheme, when the detection result is that the target adjacent vehicle is detected, the relative speed and the relative distance are used for calculation to obtain the relative time, if the relative time is smaller than the preset first time threshold value, the vehicle can reach the position of the target adjacent vehicle in a short time, the risk of collision exists after lane change is described, at the moment, the lane change execution strategy of the vehicle is determined to be that the vehicle can not change lanes, and lane change behavior is restrained.
When the relative time is greater than or equal to a preset first time threshold, the vehicle can reach the position of the target adjacent vehicle in a long time, the risk of collision does not exist after lane change is indicated, and the lane change execution strategy of the vehicle is determined to be that the vehicle can change lanes. The preset first time threshold value represents the time required for the vehicle and the target adjacent vehicle to keep the current relative speed and generate rear-end collision.
The preset first Time threshold is TTC (Time-To-Collision), for example, 7 seconds, and is not specifically limited here. The lane change execution policy indicates a running rule that can be executed when the vehicle is running.
In some embodiments, in step 104, the determining a lane-change execution policy of the vehicle according to the detection result includes:
and B1, when the detection result is that the target adjacent vehicle is not detected, comparing the relative distance with a preset distance threshold value to obtain a comparison result.
And B2, determining a lane change execution strategy of the vehicle according to the comparison result.
In the above scheme, when the detection result is that the target adjacent vehicle is not detected, the comparison result is determined by comparing the relative distance with the preset distance threshold, the comparison result is used for measuring the distance between the vehicle and the target vehicle, the preset distance threshold represents a reference index for measuring the distance, and the corresponding lane change executing strategy is determined according to different comparison results.
In some embodiments, step B2 comprises:
and when the comparison result shows that the relative distance is smaller than a preset distance threshold value, determining that the lane change execution strategy of the vehicle is that the vehicle cannot change lanes, and controlling the vehicle to return to the lane where the lane change does not occur.
In the above scheme, when the comparison result shows that the relative distance is smaller than the preset distance threshold value, the distance between the vehicle and the target adjacent vehicle is short, and collision risk exists after lane change, so that the lane change execution strategy of the vehicle is determined to be that the vehicle cannot change lanes, lane change behavior of the vehicle is stopped, and when the intelligent driving sensor system detects that the vehicle deviates from a lane where lane change does not occur, the electric power-assisted vehicle steering system assists the vehicle to return to the lane where lane change does not occur.
In some embodiments, step B2 comprises:
And C1, comparing the relative time with a preset second time threshold when the comparison result shows that the relative distance is larger than or equal to a preset distance threshold.
And C2, when the relative time is greater than or equal to the preset second time threshold, determining that the lane change execution strategy of the vehicle is that the vehicle can change lanes.
And C3, when the relative time is smaller than the preset second time threshold, determining that the lane change execution strategy of the vehicle is that the vehicle cannot change lanes.
In the above scheme, when the comparison result is that the relative distance is greater than or equal to the preset distance threshold, the distance between the vehicle and the target adjacent vehicle is longer, at this time, the relative time is compared with the preset second time threshold, and when the relative time is greater than or equal to the preset second time threshold, it is indicated that the position of the vehicle reaching the target adjacent vehicle after the lane change is completed exceeds the collision time, no collision risk exists, and the lane change execution strategy of the vehicle is determined to be that the vehicle can change lanes.
When the comparison result shows that the relative time is smaller than the preset second time threshold, the position of the vehicle reaching the target adjacent vehicle after the lane change is completed is smaller than the collision time, the collision risk exists, and the lane change execution strategy of the determined vehicle is that the vehicle can not change lanes and lane change behaviors need to be restrained.
The preset second Time threshold is TTC (Time To Collision), for example, 5 seconds, and is not specifically limited herein.
According to the scheme, when at least one adjacent vehicle exists in the preset range of the vehicle, the driving information of the vehicle at the current moment and the driving information of the at least one adjacent vehicle at the current moment are obtained, when the lane change occurs in the vehicle, the target lane to be changed is determined according to the driving information of the vehicle at the current moment, whether the target adjacent vehicle belonging to the target lane exists in the at least one adjacent vehicle or not is determined according to the driving information of the at least one adjacent vehicle at the current moment, all the target adjacent vehicles can be accurately determined, and the problem that the target adjacent vehicle cannot be detected due to the existence of the detection blind area is avoided. And if the target adjacent vehicles belong to the target lane exist, detecting the target adjacent vehicles, determining a lane change execution strategy of the vehicles according to the detection result, and controlling the vehicles to pass according to the lane change execution strategy, thereby avoiding the situation that potential safety hazards exist when the vehicles change lanes.
Based on the same inventive concept, an application scenario corresponding to the lane change traffic control method of the above embodiment is specifically described, as shown in fig. 2, specifically as follows:
The intelligent driving system utilizes the V2X communication technology and the T-BOX to realize communication with external vehicles, so that the position information of vehicles around the lane can be obtained, blind area compensation or early pre-tracking of the sensor is carried out according to the position information of the vehicles around the lane, and the integrality and reliability of the lane changing function are ensured.
External communication facilities send information including, but not limited to, time of day, location, head direction angle, body size, speed, yaw rate, tri-axial acceleration.
The method comprises the steps of sending external environment information to an intelligent driving regulation system through an intelligent sensing system, sending information sent by a remote vehicle external communication facility to the intelligent driving regulation system through V2X communication from a vehicle external communication facility-T-BOX, determining target adjacent vehicles belonging to a target lane through the intelligent driving sensing system, detecting the target adjacent vehicles to obtain detection results, determining lane change execution strategies of the vehicles according to the detection results, and controlling vehicle traffic according to the lane change execution strategies, wherein for transverse control, a corner request is adopted to control through a vehicle steering system, for longitudinal control, a braking request is adopted to control through a vehicle braking system, and a torque request is adopted to control through a vehicle power system.
The judgment logic is as follows:
the own vehicle runs in the lane and receives information of other vehicles V2X (i.e., driving information of adjacent vehicles at the current moment) in real time.
The method combines the current driving lane information (high-precision positioning and navigation acquisition) of the self-vehicle and the driver selection (steering wheel angle and steering lamp information) or the steering direction selected by the system (namely, the driving information of the vehicle at the current moment) to obtain the moving target object (namely, the target adjacent vehicle) involved in the steering path (namely, the target lane) in a targeted way.
Receiving a steering path (i.e., a target lane) has a moving target (i.e., a target adjacent vehicle) and the intelligent driving sensor does not detect (at this time, the distance is far) (i.e., the detection result):
and judging the information of the speed and the relative distance of the line pair at the far end of the vehicle body, if the scene with the collision time longer than 5s exists after the lane change is completed, executing the lane change behavior, otherwise, inhibiting the lane change behavior (namely, a lane change executing strategy).
At the near end of the vehicle body, lane change behavior is terminated and an emergency vehicle hold function (assisting the vehicle to return to its own lane by the electric power steering system when the system detects that the vehicle is off the current lane) is activated (i.e., lane change enforcement strategy).
When a moving object exists in the steering path and the current intelligent driving sensor detects that the distance is relatively short (namely, a detection result), the function triggering logic triggers the function logic according To the information identified by the intelligent driving sensor, the lane change behavior judgment is carried out according To the relative vehicle speed and the relative distance, and the main TTC (Time-To-Collision Time) =relative distance/relative speed is more than or equal To 7s (namely, lane change execution strategy).
The intelligent driving system can detect the scene of limited target objects (namely target adjacent vehicles) under the automatic lane change scene, and the V2X technology is utilized to carry out blind compensation on the detection blind areas of the intelligent driving sensor in the special scene so as to ensure the reliability and the integrity of the system for assisting driving and ensure the lane change behavior of the vehicles to be safer and more reliable.
It should be noted that, the method of the embodiment of the present application may be performed by a single device, for example, a computer or a server. The method of the embodiment can also be applied to a distributed scene, and is completed by mutually matching a plurality of devices. In the case of such a distributed scenario, one of the devices may perform only one or more steps of the method of an embodiment of the present application, the devices interacting with each other to accomplish the method.
It should be noted that the foregoing describes some embodiments of the present application. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments described above and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.
Based on the same inventive concept, the application also provides a lane change traffic control device corresponding to the method in any embodiment.
Referring to fig. 3, the lane change traffic control apparatus includes:
the acquiring module 301 is configured to acquire driving information of the vehicle at a current time and driving information of at least one neighboring vehicle at the current time when at least one neighboring vehicle exists in a preset range of the vehicle;
A determining module 302, configured to determine, when the vehicle is about to change lanes, a target lane for the vehicle to change lanes according to driving information of the vehicle at a current time, and determine whether a target neighboring vehicle exists in at least one neighboring vehicle according to driving information of the at least one neighboring vehicle at the current time, where the target neighboring vehicle is a vehicle located in the target lane and a vehicle about to enter the target lane;
the detection module 303 is configured to detect the target neighboring vehicle when the target neighboring vehicle exists, so as to obtain a detection result;
and the control module 304 is configured to determine a lane change execution policy of the vehicle according to the detection result, and control the vehicle to pass according to the lane change execution policy.
In some embodiments, the driving information of the vehicle at the current moment comprises coordinates and speed of the vehicle, and the driving information of the adjacent vehicle at the current moment comprises coordinates and speed of the adjacent vehicle;
The control module 304 is specifically configured to:
when the detection result is that the target adjacent vehicle is detected, calculating a relative distance by utilizing the coordinates of the vehicle and the coordinates of the target adjacent vehicle to obtain a relative distance;
Calculating the relative speed by utilizing the speed of the vehicle and the speed of the adjacent vehicle to obtain the relative speed;
Calculating the relative time of the relative distance and the relative speed to obtain the relative time;
When the relative time is smaller than a preset first time threshold, determining that the lane change execution strategy of the vehicle is that the vehicle cannot change lanes;
and when the relative time is greater than or equal to a preset first time threshold, determining that the lane change execution strategy of the vehicle is that the vehicle can change lanes.
In some embodiments, the control module 304 includes:
The comparison unit is used for comparing the relative distance with a preset distance threshold value to obtain a comparison result when the detection result is that the target adjacent vehicle is not detected;
And the strategy determining unit is used for determining a lane change executing strategy of the vehicle according to the comparison result.
In some embodiments, the policy determining unit is specifically configured to:
and when the comparison result shows that the relative distance is smaller than a preset distance threshold value, determining that the lane change execution strategy of the vehicle is that the vehicle cannot change lanes, and controlling the vehicle to return to the lane where the lane change does not occur.
In some embodiments, the policy determining unit is specifically configured to:
when the comparison result shows that the relative distance is greater than or equal to a preset distance threshold, comparing the relative time with a preset second time threshold;
when the relative time is greater than or equal to the preset second time threshold, determining that the lane change execution strategy of the vehicle is that the vehicle can change lanes;
And when the relative time is smaller than the preset second time threshold, determining that the lane change execution strategy of the vehicle is that the vehicle cannot change lanes.
In some embodiments, the determining module 302 is specifically configured to:
acquiring a coordinate range of the target lane;
screening out coordinates belonging to the coordinate range from the coordinates of all the adjacent vehicles;
and taking the adjacent vehicle with coordinates belonging to the coordinate range as the target adjacent vehicle.
For convenience of description, the above devices are described as being functionally divided into various modules, respectively. Of course, the functions of each module may be implemented in the same piece or pieces of software and/or hardware when implementing the present application.
The device of the foregoing embodiment is used for implementing the corresponding lane change traffic control method in any of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiment, which is not described herein.
Based on the same inventive concept, the application also provides an electronic device corresponding to the method of any embodiment, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the lane change traffic control method of any embodiment when executing the program.
Fig. 4 shows a more specific hardware architecture of an electronic device provided by the present embodiment, which may include a processor 401, a memory 402, an input/output interface 403, a communication interface 404, and a bus 405. Wherein the processor 401, the memory 402, the input/output interface 403 and the communication interface 404 are in communication connection with each other inside the device via a bus 405.
The processor 401 may be implemented by a general purpose CPU (Central Processing Unit ), a microprocessor, an Application SPECIFIC INTEGRATED Circuit (ASIC), or one or more integrated circuits, etc. for executing related programs to implement the technical solutions provided in the embodiments of the present disclosure.
The Memory 402 may be implemented in the form of ROM (Read Only Memory), RAM (RandomAccess Memory ), static storage, dynamic storage, etc. Memory 402 may store an operating system and other application programs, and when implementing the solutions provided by the embodiments of the present specification by software or firmware, the relevant program code is stored in memory 402 and invoked for execution by processor 401.
The input/output interface 403 is used to connect with an input/output module to realize information input and output. The input/output module may be configured as a component in a device (not shown) or may be external to the device to provide corresponding functionality. Wherein the input devices may include a keyboard, mouse, touch screen, microphone, various types of sensors, etc., and the output devices may include a display, speaker, vibrator, indicator lights, etc.
The communication interface 404 is used to connect a communication module (not shown in the figure) to enable communication interaction between the present device and other devices. The communication module may implement communication through a wired manner (such as USB, network cable, etc.), or may implement communication through a wireless manner (such as mobile network, WIFI, bluetooth, etc.).
Bus 405 includes a path to transfer information between components of the device (e.g., processor 401, memory 402, input/output interface 403, and communication interface 404).
It should be noted that, although the above device only shows the processor 401, the memory 402, the input/output interface 403, the communication interface 404, and the bus 405, in the implementation, the device may further include other components necessary for realizing normal operation. Furthermore, it will be understood by those skilled in the art that the above-described apparatus may include only the components necessary to implement the embodiments of the present description, and not all the components shown in the drawings.
The electronic device of the foregoing embodiment is configured to implement the corresponding lane change traffic control method in any of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiment, which is not described herein.
Based on the same inventive concept, the present application also provides a non-transitory computer readable storage medium storing computer instructions for causing the computer to execute the lane change traffic control method according to any of the above embodiments, corresponding to the method of any of the above embodiments.
The computer readable media of the present embodiments, including both permanent and non-permanent, removable and non-removable media, may be used to implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device.
The storage medium of the foregoing embodiment stores computer instructions for causing the computer to execute the lane change traffic control method according to any one of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiments, which are not described herein.
Based on the same inventive concept, the present embodiment provides a vehicle corresponding to the lane change passage control apparatus or the electronic device or the storage medium of any of the above embodiments, on which the lane change passage control apparatus or the electronic device or the storage medium capable of realizing the lane change passage control method of any of the above embodiments is mounted.
It will be appreciated by persons skilled in the art that the foregoing discussion of any embodiment is merely exemplary and is not intended to imply that the scope of the application (including the claims) is limited to these examples, that combinations of technical features in the foregoing embodiments or in different embodiments may be implemented in any order and that many other variations of the different aspects of the embodiments described above exist within the spirit of the application, which are not provided in detail for clarity.
Additionally, well-known power/ground connections to Integrated Circuit (IC) chips and other components may or may not be shown within the provided figures, in order to simplify the illustration and discussion, and so as not to obscure the embodiments of the present application. Furthermore, the devices may be shown in block diagram form in order to avoid obscuring the embodiments of the present application, and also in view of the fact that specifics with respect to implementation of such block diagram devices are highly dependent upon the platform within which the embodiments of the present application are to be implemented (i.e., such specifics should be well within purview of one skilled in the art). Where specific details (e.g., circuits) are set forth in order to describe example embodiments of the application, it should be apparent to one skilled in the art that embodiments of the application can be practiced without, or with variation of, these specific details. Accordingly, the description is to be regarded as illustrative in nature and not as restrictive.
While the application has been described in conjunction with specific embodiments thereof, many alternatives, modifications, and variations of those embodiments will be apparent to those skilled in the art in light of the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may use the embodiments discussed.
The present embodiments are intended to embrace all such alternatives, modifications and variances which fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, and the like, which are within the spirit and principles of the embodiments of the application, are intended to be included within the scope of the application.
Claims (7)
1. The lane change traffic control method is characterized by comprising the following steps of:
When at least one adjacent vehicle exists in a preset range of the vehicle, acquiring the driving information of the vehicle at the current moment and the driving information of the at least one adjacent vehicle at the current moment;
When the vehicle is about to change lanes, determining a target lane of the vehicle lane change according to the driving information of the vehicle at the current moment, and determining whether a target adjacent vehicle exists in at least one adjacent vehicle according to the driving information of the at least one adjacent vehicle at the current moment, wherein the target adjacent vehicle is a vehicle positioned in the target lane and a vehicle about to enter the target lane;
Detecting the target adjacent vehicle when the target adjacent vehicle exists, so as to obtain a detection result;
determining a lane change execution strategy of the vehicle according to the detection result, and controlling the vehicle to pass according to the lane change execution strategy;
collecting driving information of at least one adjacent vehicle at the current moment through road equipment or a vehicle with V2X, and detecting a target adjacent vehicle through an intelligent driving sensor;
The driving information of the vehicle at the current moment comprises the coordinates and the speed of the vehicle, and the driving information of the target adjacent vehicle at the current moment comprises the coordinates and the speed of the target adjacent vehicle;
The determining the lane change execution strategy of the vehicle according to the detection result comprises the following steps:
when the detection result is that the target adjacent vehicle is detected, calculating a relative distance by utilizing the coordinates of the vehicle and the coordinates of the target adjacent vehicle to obtain a relative distance;
Calculating the relative speed by using the speed of the vehicle and the speed of the target adjacent vehicle to obtain the relative speed;
Calculating the relative time of the relative distance and the relative speed to obtain the relative time;
When the relative time is smaller than a preset first time threshold, determining that the lane change execution strategy of the vehicle is that the vehicle cannot change lanes;
When the relative time is greater than or equal to a preset first time threshold, determining that the lane change execution strategy of the vehicle is that the vehicle can change lanes;
The determining the lane change execution strategy of the vehicle according to the detection result comprises the following steps:
When the detection result is that the target adjacent vehicle is not detected, comparing the relative distance with a preset distance threshold value to obtain a comparison result;
determining a lane change execution strategy of the vehicle according to the comparison result;
The determining the lane change execution strategy of the vehicle according to the comparison result comprises the following steps:
when the comparison result shows that the relative distance is greater than or equal to a preset distance threshold, comparing the relative time with a preset second time threshold;
when the relative time is greater than or equal to the preset second time threshold, determining that the lane change execution strategy of the vehicle is that the vehicle can change lanes;
And when the relative time is smaller than the preset second time threshold, determining that the lane change execution strategy of the vehicle is that the vehicle cannot change lanes.
2. The method of claim 1, wherein the determining a lane-change execution strategy for the vehicle based on the comparison result comprises:
and when the comparison result shows that the relative distance is smaller than a preset distance threshold value, determining that the lane change execution strategy of the vehicle is that the vehicle cannot change lanes, and controlling the vehicle to return to the lane where the lane change does not occur.
3. The method of claim 1, wherein determining whether a target neighboring vehicle is present in the at least one neighboring vehicle based on the driving information of the at least one neighboring vehicle at the current time comprises:
acquiring a coordinate range of the target lane;
screening out coordinates belonging to the coordinate range from the coordinates of all the adjacent vehicles;
and taking the adjacent vehicle with coordinates belonging to the coordinate range as the target adjacent vehicle.
4. A lane-changing traffic control apparatus comprising:
the acquisition module is used for acquiring the driving information of the vehicle at the current moment and the driving information of at least one adjacent vehicle at the current moment when at least one adjacent vehicle exists in a preset range of the vehicle;
The system comprises a determining module, a control module and a control module, wherein the determining module is used for determining a target lane of the vehicle lane change according to the driving information of the vehicle at the current moment when the vehicle is about to change lanes, determining whether a target adjacent vehicle exists in at least one adjacent vehicle according to the driving information of the at least one adjacent vehicle at the current moment, and the target adjacent vehicle is a vehicle positioned in the target lane and a vehicle about to enter the target lane;
the detection module is used for detecting the target adjacent vehicle when the target adjacent vehicle exists, so as to obtain a detection result;
The control module is used for determining a lane change execution strategy of the vehicle according to the detection result, controlling the vehicle to pass according to the lane change execution strategy, acquiring driving information of at least one adjacent vehicle at the current moment through road equipment or the vehicle with V2X, detecting the target adjacent vehicle through an intelligent driving sensor, wherein the driving information of the vehicle at the current moment comprises coordinates and speeds of the vehicle, the driving information of the target adjacent vehicle at the current moment comprises the coordinates and the speeds of the target adjacent vehicle, determining the lane change execution strategy of the vehicle according to the detection result, specifically, when the detection result is that the target adjacent vehicle is detected, calculating a relative distance by utilizing the coordinates of the vehicle and the coordinates of the target adjacent vehicle to obtain a relative distance, calculating a relative speed by utilizing the speeds of the vehicle and the speeds of the target adjacent vehicle, calculating a relative time to obtain a relative time, determining the lane change execution strategy of the vehicle when the relative time is smaller than a preset first time threshold, determining the lane change execution strategy of the vehicle is not preset, and determining the lane change strategy of the vehicle according to the relative time is not preset, and determining the lane change strategy is not equal to the threshold when the relative time is equal to the preset, and the lane change execution strategy is not determined to the relative threshold, the method comprises the steps of obtaining a comparison result, determining a lane change execution strategy of the vehicle according to the comparison result, determining the lane change execution strategy of the vehicle according to the comparison result, and particularly, comparing the relative time with a preset second time threshold when the comparison result is that the relative distance is larger than or equal to a preset distance threshold, determining that the lane change execution strategy of the vehicle can change lanes when the relative time is larger than or equal to the preset second time threshold, and determining that the lane change execution strategy of the vehicle cannot change lanes when the relative time is smaller than the preset second time threshold.
5. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of any one of claims 1 to 3 when the program is executed by the processor.
6. A computer readable storage medium storing computer instructions for causing a computer to perform the method of any one of claims 1 to 3.
7. A vehicle comprising the lane change passage control apparatus according to claim 4 or the electronic device according to claim 5 or the storage medium according to claim 6.
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| CN111572547A (en) * | 2020-03-30 | 2020-08-25 | 奇瑞汽车股份有限公司 | Method and device for controlling lane change of automobile and storage medium |
| CN113689735A (en) * | 2020-05-19 | 2021-11-23 | 广州汽车集团股份有限公司 | Method and device for vehicle lane change collision early warning |
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| KR20120038748A (en) * | 2010-10-14 | 2012-04-24 | 현대모비스 주식회사 | Apparatus and method warning danger of lane change |
| CN103996312B (en) * | 2014-05-23 | 2015-12-09 | 北京理工大学 | Autonomous Vehicle Control System with Social Behavioral Interaction |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111572547A (en) * | 2020-03-30 | 2020-08-25 | 奇瑞汽车股份有限公司 | Method and device for controlling lane change of automobile and storage medium |
| CN113689735A (en) * | 2020-05-19 | 2021-11-23 | 广州汽车集团股份有限公司 | Method and device for vehicle lane change collision early warning |
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