CN-121849153-B - Vehicle lane change control method and electronic equipment

CN121849153BCN 121849153 BCN121849153 BCN 121849153BCN-121849153-B

Abstract

The application provides a vehicle lane change control method and electronic equipment, wherein the method comprises the steps of controlling a vehicle to run along a target lane line corresponding to a target lane and determining whether a lane change condition is met under the condition that a target lane change intention exists in the vehicle, controlling the vehicle to run along a front lane corresponding to the target vehicle in the target lane if the lane change condition is met, and re-determining whether the lane change condition is met, if the lane change condition is met, controlling the vehicle to run along a target lane before the target vehicle in the target lane, determining whether a target lane change node corresponding to the vehicle is reached, if the lane change node corresponding to the vehicle is not met, continuing to enable the vehicle to be in a lane change state, determining whether the lane change condition is met, if the lane change condition is met, controlling the vehicle to run along a strong insertion to the target vehicle, and re-determining whether the lane change condition is met until the lane change is completed under the condition that the lane change condition is met. In this way, a safer and more efficient lane change process for the vehicle may be achieved.

Inventors

WU GUOWEI
LIU XIN
FANG ZHIMING

Assignees

纽劢科技(上海)有限公司

Dates

Publication Date: 20260512
Application Date: 20260319

Claims (10)

1. A lane change control method for a vehicle, which is applied to a lane change control system for a vehicle, the method comprising: Controlling the vehicle to drive along a target lane line corresponding to a target lane under the condition that the vehicle has the target lane changing intention, so that the vehicle is in a line-along driving state, and determining whether a lane changing condition is met, wherein the target lane is an adjacent lane of the lane where the vehicle corresponding to the lane changing intention is located, and the target lane line is an adjacent lane line of the lane where the vehicle is located and the target lane; Controlling the vehicle to execute lane change processing to complete lane change from the located lane to the target lane in the case that the lane change condition is determined to be satisfied; Under the condition that the lane changing condition is not met, controlling the vehicle to drive to a target front vehicle corresponding to a target vehicle in the target lane, so that the vehicle is in a vehicle-mounted driving state, and re-determining whether the lane changing condition is met or not, wherein the target vehicle is a lane changing overrun vehicle corresponding to the lane changing intention in the target lane; controlling the vehicle to execute lane change processing to complete lane change from the located lane to the target lane under the condition that the lane change condition is met; And under the condition that the lane change condition is not met, determining whether a target lane change node corresponding to the vehicle is reached, if the target lane change node is not reached, continuing to enable the vehicle to be in the vehicle-mounted running state, continuing to determine whether the lane change condition is met, if the target lane change node is reached, controlling the vehicle to forcedly insert and run towards the target vehicle so as to enable the vehicle to be in the forcedly insert and run state, and determining whether the lane change condition is met again until lane change processing is controlled to be executed by the vehicle under the condition that the lane change condition is met, so that lane change from the lane where the vehicle is positioned to the target lane is completed.
2. The method of claim 1, wherein determining whether the pair strain trace condition is satisfied comprises: Determining a type of yielding intent of the target vehicle in the target lane for the vehicle, the type of yielding intent including an explicit intent and a non-explicit intent, the explicit intent including an explicit yielding intent and an explicit rejecting yielding intent; And determining whether a pair-strain channel condition is met according to the yield intention type, wherein if the yield intention type is the explicit yield intention, the pair-strain channel condition is determined to be met, and if the yield intention type is the non-explicit intention or the explicit rejection yield intention, the pair-strain channel condition is determined not to be met.
3. The method of claim 2, wherein controlling the vehicle to drive along a lane line corresponding to a lane of interest comprises: Determining first driving strategy information of the vehicle driving on the target lane line corresponding to the target lane, wherein the first driving strategy information comprises first transverse movement track planning strategy information and first longitudinal movement control strategy information, the first transverse movement track planning strategy information comprises a first transverse distance, the first transverse distance is a safety distance of the vehicle driving on the target lane, the first longitudinal movement control strategy information comprises a first longitudinal acceleration, and the first longitudinal acceleration is acceleration for enabling the vehicle to run at a reduced speed; and controlling the vehicle to drive along the target lane line corresponding to the target lane according to the first driving strategy information.
4. The method of claim 3, wherein the step of, Controlling the vehicle to travel to a target front vehicle patch corresponding to the target vehicle in the target lane, including: Determining second driving strategy information of the vehicle driving towards a front target vehicle corresponding to the target vehicle, wherein the second driving strategy information comprises second transverse movement track planning strategy information and second longitudinal movement control strategy information, the second transverse movement track planning strategy information comprises second transverse distances, the second transverse distances are safe distances of the vehicle relative to the front target vehicle corresponding to the target vehicle, the second transverse distances are smaller than the first transverse distances, the second longitudinal movement control strategy information comprises second longitudinal acceleration, and the second longitudinal acceleration is acceleration enabling the driving speed of the vehicle to be lower than the vehicle flow reference speed corresponding to the target lane; Controlling the vehicle to drive to a target front vehicle patch corresponding to the target vehicle according to the second driving strategy information; the method further comprises the steps of: And under the condition that the vehicle flow reference speed is smaller than a speed threshold value, the vehicle is controlled to drive towards the target lane line again.
5. The method of claim 4, wherein controlling the vehicle to drive forcibly toward the target vehicle comprises: the running speed of the vehicle is reduced, and the safe distance between the vehicle and the target vehicle is reduced, so that the vehicle continues to run close to the target vehicle.
6. The method of claim 5, wherein the method further comprises: And if the yield intention type is the clear refusal yield intention, re-determining a new target vehicle, and determining the yield intention type of the new target vehicle aiming at the vehicle so as to perform corresponding vehicle lane control processing.
7. The method of claim 6, wherein determining a type of yield intent of the target vehicle in the target lane for the vehicle comprises: determining yield feedback information of the target vehicle for the vehicle, wherein the yield feedback information comprises running state information of the target vehicle and space situation change information of the target vehicle and a target front vehicle corresponding to the target vehicle; and determining the type of the yield intention of the target vehicle for the vehicle according to the yield feedback information.
8. The method of claim 7, wherein determining the type of yield intent of the target vehicle for the vehicle based on the yield feedback information comprises: Determining the yield intention probability of the target vehicle for the vehicle according to the yield feedback information; Determining the type of the yield intention according to the yield intention probability, wherein the type of the yield intention is determined to be the explicit rejection yield intention if the yield intention probability is smaller than or equal to a first yield threshold, the type of the yield intention is determined to be the non-explicit intention if the yield intention probability is larger than the first yield threshold and smaller than a second yield threshold, and the type of the yield intention is determined to be the explicit yield intention if the yield intention probability is larger than or equal to the second yield threshold.
9. The method of claim 8, wherein determining a yield intention probability of the target vehicle for the vehicle based on the yield feedback information comprises: Determining a plurality of yield evaluation information corresponding to the target vehicle according to the yield feedback information, wherein the plurality of yield evaluation information comprises a space evaluation score, a space change trend reason evaluation score and a collision evaluation score between the vehicle and a target rear vehicle corresponding to the vehicle; And determining the yield intention probability according to the yield evaluation information and the weights corresponding to the yield evaluation information.
10. An electronic apparatus comprising a vehicle lane change control system that performs lane change control for a vehicle, for implementing the vehicle lane change control method according to any one of claims 1 to 9.

Description

Vehicle lane change control method and electronic equipment Technical Field The application relates to the technical field of decision and control of driving assisting vehicles, in particular to a vehicle lane change control method and electronic equipment. Background In a vehicle lane change scenario, such as a highly congested urban traffic stream, a vehicle in, for example, an assisted driving mode, often needs to "create" lane change space by interacting with a rear vehicle in a target lane, in the event that the vehicle in the target lane (i.e., adjacent lane) is not sufficiently legally obligated to do so. Conventional lane-changing control systems for driving-assisted vehicles generally complete lane-changing of the vehicle based on a fixed regular gap-accepting model, and the decision logic is binary (i.e. "variable" or "non-variable"), which causes the difficulty in dynamic game scenes that the lane-changing control system can never complete necessary lane-changing if being too conservative, and can easily cause sudden braking and even collision if being too aggressive, thus causing safety risks and driving discomfort. Therefore, how to implement a safer and more reliable and more efficient lane-changing process for vehicles is important to improve the safety and user experience of the assisted driving. Disclosure of Invention The application provides a vehicle lane change control method and electronic equipment, which are used for realizing safer and more reliable and more effective vehicle lane change processing. In a first aspect, an implementation manner of the present application provides a lane change control method for a vehicle, where the lane change control method includes controlling a vehicle to drive along a lane line corresponding to a target lane when it is determined that the vehicle has a lane change intention, so that the vehicle is in a lane-along driving state, determining whether a lane change condition is satisfied, and determining whether the target lane is an adjacent lane to a lane where the vehicle corresponds to the lane change intention, and determining that the lane line is an adjacent lane line between the lane where the vehicle is located and the target lane; the method comprises the steps of determining that a lane change condition is met, controlling a vehicle to execute lane change processing to finish lane change from a lane to a target lane, controlling the vehicle to drive towards a target front vehicle corresponding to the target vehicle in the target lane under the condition that the lane change condition is not met so as to enable the vehicle to be in a vehicle-mounted driving state, redetermining whether the lane change condition is met or not, enabling the target vehicle to be a lane change exceeding vehicle corresponding to a lane change intention in the target lane, controlling the vehicle to execute lane change processing to finish lane change from the lane to the target lane under the condition that the lane change condition is met, determining whether a target lane change node corresponding to the vehicle is reached under the condition that the lane change condition is not met, continuing to enable the vehicle to be in a vehicle-mounted driving state if the target lane change node is not reached, controlling the vehicle to be in a forced-inserted driving state, determining whether the lane change condition is met or not again until the lane change processing is executed from the lane to finish lane change from the target lane under the condition that the lane change condition is met. By adopting the technical scheme, in the lane changing process of the vehicle, the vehicle is controlled to drive along the lane line corresponding to the target lane, whether the lane changing condition is met is determined, if the lane changing condition is met, the vehicle is controlled to complete lane changing, if the lane changing condition is not met, the vehicle is controlled to drive along the front lane of the target corresponding to the target vehicle and whether the lane changing condition is met is determined again, if the lane changing condition is not met, the vehicle is controlled to execute forced insertion driving and whether the lane changing condition is met again is determined again so as to complete lane changing. Therefore, through the multi-stage and progressive cooperative game strategy, the intention of whether the target vehicle gives way to the vehicle is more accurately identified, and the forced lane change which is safer, smoother and more efficient is realized. In addition, the distance between the vehicle and the target vehicle is gradually adjusted through line-attaching running, vehicle-attaching running and forced insertion running, so that the running risk caused by blind lane change is effectively avoided, a target vehicle driver can quickly understand the lane change intention of the vehicle, the guessing time in a game is greatly shor