EP-4737246-A1 - CONTINUOUS LANE CHANGE CONTROL METHOD, APPARATUS AND SYSTEM, AND COMPUTER READABLE STORAGE MEDIUM

EP4737246A1EP 4737246 A1EP4737246 A1EP 4737246A1EP-4737246-A1

Abstract

The present application discloses a continuous lane change control method, apparatus and system, and a computer readable storage medium. The method comprises: when a lane change instruction is received in the process of a vehicle being traveling in a first lane, determining a target lane on the basis of the lane change instruction, there being at least one second lane between the first lane and the target lane; when a lane change condition is met, controlling the vehicle to change from the first lane to the second lane adjacent to the first lane, and determining whether a continuous lane change condition is met; and if the continuous lane change condition is met, controlling the vehicle to perform continuous lane change until the vehicle changes to the target lane. According to the present application, when it is determined that a continuous lane change condition is met in a lane change process, a vehicle is controlled to perform continuous lane change; and the vehicle sequentially changes to an adjacent lane so as to gradually change to the final target lane, thereby avoiding danger caused by the limitation of sensors, and improving the safety of continuous lane change control.

Inventors

XU, Shaolin
FAN, Qi
WANG, YIZHOU
QIU, JIE
LI, LIYUN

Assignees

Guangzhou Xiaopeng Autopilot Technology Co., Ltd.

Dates

Publication Date: 20260506
Application Date: 20240701

Claims (14)

A continuous lane change control method, characterized in that the method comprises: determining a target lane based on a lane change instruction, when the lane change instruction is received while a vehicle is traveling in a first lane, wherein there is at least one second lane between the first lane and the target lane; controlling the vehicle to change lanes from the first lane to the second lane adjacent to the first lane when a lane change condition is met, and determining whether a continuous lane change condition is met; and if the continuous lane change condition is met, controlling the vehicle to perform a continuous lane change until the vehicle reaches the target lane.
The continuous lane change control method according to claim 1, wherein before the step of determining whether the continuous lane change condition is met, the method comprises: acquiring a current position of the vehicle and an end position of the target lane, and determining a remaining lane change distance based on the current position and the end position, wherein the end position is a starting point of a curve of the target lane; and if the remaining lane change distance is less than a first preset distance threshold, executing the step of determining whether the continuous lane change condition is met.
The continuous lane change control method according to claim 1 or 2, wherein the step of determining whether the continuous lane change condition is met comprises: determining whether there is a lane in a direction of the target lane from the second lane adjacent to the first lane, whether a lane line on a side of the second lane adjacent to the first lane away from the first lane is a lane line that permits lane change, and whether there is space for lane change in current road conditions; determining that the continuous lane change condition is met, if there is a lane in the direction of the target lane from the second lane adjacent to the first lane, the lane line on the side of the second lane adjacent to the first lane away from the first lane permits lane change, and there is space for lane change in the current road conditions; and determining that the continuous lane change condition is not met, if there is no lane in the direction of the target lane from the second lane adjacent to the first lane, or the lane line on the side of the second lane adjacent to the first lane away from the first lane does not permit lane change, or there is no space for lane change in the current road conditions.
The continuous lane change control method according to claim 3, wherein after the step of determining that the continuous lane change condition is not met, the method further comprises: acquiring driving information of the vehicle, and determining whether the vehicle has completed the lane change from the first lane to the second lane adjacent to the first lane based on the driving information; if the lane change has not been completed, re-executing the step of determining whether the continuous lane change condition is met; if the lane change has been completed, designating the current lane of the vehicle as a new first lane, and when it is determined that there is at least one second lane between the new first lane and the target lane, re-executing the steps of controlling the vehicle to change lanes from the first lane to the second lane adjacent to the first lane when the lane change condition is met and determining whether the continuous lane change condition is met.
The continuous lane change control method according to claim 1, wherein the step of controlling the vehicle to perform the continuous lane change until the vehicle reaches the target lane if the continuous lane change condition is met comprises: if the continuous lane change condition is met, determining a lane change trajectory; controlling the vehicle to perform the continuous lane change from a current position to a next second lane according to the lane change trajectory, and continuing to determine whether the continuous lane change condition is met, the next second lane being an adjacent lane of the second lane adjacent to the first lane in the direction of the target lane; and controlling the vehicle to change lanes to the target lane until it is determined that the next second lane is the target lane.
The continuous lane change control method according to claim 5, wherein the step of determining the lane change trajectory comprises: acquiring current driving state information of the vehicle at the current position, expected driving state information of the vehicle at a target position, and current road conditions information corresponding to the next second lane, and determining the target position on the next second lane based on the current driving state information, the expected driving state information, and the current road conditions information; determining a first curvature of the vehicle at the current position based on the current driving state information, and determining a second curvature of the vehicle at the target position based on the expected driving state information; determining a set of planned trajectories based on the first curvature, the second curvature, the current position, and the target position, and calculating a curvature change rate of each planned trajectory in the set of planned trajectories; and comparing the curvature change rates of the planned trajectories, and determining the planned trajectory with the smallest curvature change rate as a lane-changing trajectory based on a comparison result.
The continuous lane change control method according to claim 5, wherein the step of controlling the vehicle to change lanes to the target lane comprises: obtaining position information and a heading angle of the vehicle; calculating a distance between the position information and a center line of the target lane, comparing the distance with a second preset distance threshold, and comparing the heading angle with a preset angle threshold; and determining that the vehicle has completed the lane change to the target lane, if the distance is less than the second preset distance threshold and the heading angle is less than the preset angle threshold.
A continuous lane change control apparatus, characterized in that the apparatus comprises: a determining module, configured to determine a target lane based on a lane change instruction, when the lane change instruction is received while a vehicle is traveling in a first lane, wherein there is at least one second lane between the first lane and the target lane; a determination module, configured to control the vehicle to change lanes from the first lane to the second lane adjacent to the first lane when a lane change condition is met, and to determine whether a continuous lane change condition is met; and a controlling module, configured to, if the continuous lane change condition is met, control the vehicle to perform continuous lane change until the vehicle reaches the target lane.
The continuous lane change control apparatus according to claim 8, wherein the determination module is further configured to: acquire a current position of the vehicle and an end position of the target lane, and determine a remaining lane change distance based on the current position and the end position, wherein the end position is a starting point of a curve of the target lane; and if the remaining lane change distance is less than a first preset distance threshold, execute the step of determining whether the continuous lane change condition is met.
The continuous lane change control apparatus according to claim 8, wherein the determination module is further configured to: determine whether there is a lane in a direction of the target lane from the second lane adjacent to the first lane, whether a lane line on a side of the second lane adjacent to the first lane away from the first lane is a lane line that permits lane change, and whether there is space for lane change in current road conditions; determine that the continuous lane change condition is met, if there is a lane in the direction of the target lane from the second lane adjacent to the first lane, the lane line on the side of the second lane adjacent to the first lane away from the first lane permits lane change, and there is space for lane change in the current road conditions; and determine that the continuous lane change condition is not met, if there is no lane in the direction of the target lane from the second lane adjacent to the first lane, or the lane line on the side of the second lane adjacent to the first lane away from the first lane does not permit lane change, or there is no space for lane change in the current road conditions.
The continuous lane change control apparatus according to claim 8, wherein the controlling module is further configured to: if the continuous lane change condition is met, determine a lane change trajectory; control the vehicle to perform the continuous lane change from a current position to a next second lane according to the lane change trajectory, and continue to determine whether the continuous lane change condition is met, the next second lane being an adjacent lane of the second lane adjacent to the first lane in the direction of the target lane; and control the vehicle to change lanes to the target lane until it is determined that the next second lane is the target lane.
The continuous lane change control apparatus according to claim 8, wherein the controlling module further comprises a determining submodule configured to: acquire current driving state information of the vehicle at the current position, expected driving state information of the vehicle at a target position, and current road conditions information corresponding to the next second lane, and determine the target position on the next second lane based on the current driving state information, the expected driving state information, and the current road conditions information; determine a first curvature of the vehicle at the current position based on the current driving state information, and determine a second curvature of the vehicle at the target position based on the expected driving state information; determine a set of planned trajectories based on the first curvature, the second curvature, the current position, and the target position, and calculate a curvature change rate of each planned trajectory in the set of planned trajectories; and compare the curvature change rates of the planned trajectories, and determine the planned trajectory with the smallest curvature change rate as a lane-changing trajectory based on a comparison result.
A continuous lane change control system, comprising: a memory, a processor, and a continuous lane change control program stored in the memory and executable on the processor, wherein the continuous lane change control program, when executed by the processor, implements the steps of the continuous lane change control method as claimed in any one of claims 1 to 7.
A computer-readable storage medium, having stored thereon a continuous lane change control program which, when executed by a processor, causes the processor to carry out the steps of the continuous lane change control method of any one of claims 1 to 7.

Description

This application claims priority to Chinese Patent Application No. 2023108177070, filed with the China National Intellectual Property Administration on July 4, 2023 and entitled "CONTINUOUS LANE CHANGE CONTROL METHOD, APPARATUS AND SYSTEM, AND COMPUTER READABLE STORAGE MEDIUM", which is incorporated herein by reference in its entirety. TECHNICAL FIELD This application relates to the field of assisted driving technology, and in particular to a continuous lane change control method, apparatus and system, and computer readable storage medium. BACKGROUND In high-speed NGP (Navigation Guided Pilot) or city assisted CNGP (City Navigation Guided Pilot) navigation scenarios, a vehicle needs to change multiple lanes to reach a target lane according to navigation instructions, so as to perform actions such as making left turns or right turns, or entering or exiting ramps at the starting point of a curve ahead of the target lane. However, when the longitudinal distance that the vehicle can change lanes to the target lane is short, continuous lane changes are required to avoid the vehicle missing the starting point of the curve in front of the target lane. A continuous lane change scheme in the related art is as follows: when a vehicle needs to initiate a continuous lane change, a final target lane is directly selected as the target lane for lane change, such that the vehicle crosses multiple lanes at one time to complete the goal of changing multiple lanes. However, in the continuous lane change scheme of the related art, the lateral distance for the vehicle to change lanes is relatively long. Due to the limitations in sensors' sensing range and accuracy, misidentification and misjudgment of vehicles in distant side lanes are likely to occur, which brings danger to the vehicle and other vehicles, resulting in low safety of continuous lane change. Therefore, improving the safety of continuous lane change is an urgent issue that needs to be addressed. SUMMARY In order to solve or partially solve the problems existing in the related art, this application provides a continuous lane change control method, apparatus and system, and computer readable storage medium, aiming to improve the safety of continuous lane change. To achieve the above object, this application provides a continuous lane change control method, which includes the following steps: determining a target lane based on a lane change instruction, when the lane change instruction is received while a vehicle is traveling in a first lane, wherein there is at least one second lane between the first lane and the target lane;controlling the vehicle to change lanes from the first lane to the second lane adjacent to the first lane when a lane change condition is met, and determining whether a continuous lane change condition is met; andif the continuous lane change condition is met, controlling the vehicle to perform a continuous lane change until the vehicle reaches the target lane. In an embodiment, before the step of determining whether the continuous lane change condition is met, the method further includes: acquiring a current position of the vehicle and an end position of the target lane, and determining a remaining lane change distance based on the current position and the end position, wherein the end position is a starting point of a curve of the target lane; andif the remaining lane change distance is less than a first preset distance threshold, executing the step of determining whether the continuous lane change condition is met. In an embodiment, the step of determining whether the continuous lane change condition is met includes: determining whether there is a lane in a direction of the target lane from the second lane adjacent to the first lane, whether a lane line on a side of the second lane adjacent to the first lane away from the first lane is a lane line that permits lane change, and whether there is space for lane change in current road conditions;determining that the continuous lane change condition is met if there is a lane in the direction of the target lane from the second lane adjacent to the first lane, the lane line on the side of the second lane adjacent to the first lane away from the first lane permits lane change, and there is space for lane change in the current road conditions; anddetermining that the continuous lane change condition is not met if there is no lane in the direction of the target lane from the second lane adjacent to the first lane, or the lane line on the side of the second lane adjacent to the first lane away from the first lane does not permit lane change, or there is no space for lane change in the current road conditions. In an embodiment, after the step of determining that the continuous lane change condition is not met, the method further includes: acquiring driving information of the vehicle, and determining whether the vehicle has completed the lane change from the first lane to the second lane adjacent to the f