WO2021017132A1

WO2021017132A1 - Lane changing method and device for vehicle

Info

Publication number: WO2021017132A1
Application number: PCT/CN2019/108079
Authority: WO
Inventors: 李仁杰; 冉旭; 田勃; 王睿; 贾思博
Original assignee: 初速度（苏州）科技有限公司
Priority date: 2019-07-26
Filing date: 2019-09-26
Publication date: 2021-02-04
Also published as: CN112298200B; CN112298200A

Abstract

A lane changing method and device for vehicle, the method comprising: when a current vehicle (a) needs to change lanes, if it is determined that the current vehicle (a) may not change to an adjacent lane, determining whether there is a vehicle behind which is driving in the same direction as the current vehicle (a) and has a relative operation state complying with a first set condition, the relative operation state comprising a relative speed and a relative distance; if there is a vehicle behind, determining that the current vehicle (a) needs to approach a target displacement of a target lane line (1) before changing lanes, the target lane line (1) being a lane line (1) between the current lane and the adjacent lane; and controlling the current vehicle (a) to execute a stick-to-the-line operation close to the target lane line (1) according to the target displacement, and once the stick-to-the-line operation is complete, if it is determined that the current vehicle (a) may change to the adjacent lane, controlling the current vehicle (a) to change lanes. By using the described technical solution, the success rate for a self-driving vehicle autonomously changing lanes in dense traffic scenarios is improved.

Description

一种车辆的换道方法和装置Method and device for changing lanes of vehicles

技术领域Technical field

本发明涉及自动驾驶技术领域，具体涉及一种车辆的换道方法和装置。The present invention relates to the technical field of automatic driving, in particular to a method and device for changing lanes of vehicles.

背景技术Background technique

自主换道(也称变道、并线等)是L3级及以上的自动驾驶车辆所必须实现的功能之一。在车流量密集的交通场景下，如何提高自主换道成功率、减少人类驾驶员接管次数是自动驾驶车辆面临的一项技术难题。Autonomous lane changing (also called lane change, lane merging, etc.) is one of the functions that must be realized by autonomous vehicles of L3 level and above. In a traffic scene with intensive traffic, how to improve the success rate of autonomous lane changes and reduce the number of takeovers by human drivers is a technical problem faced by autonomous vehicles.

目前，大多研究关注的是如何产生换道动机或请求、如何判断换道行为是否安全以及如何在已有换道决策的情况下规划换道运动轨迹。但是，在已有换道请求的情形下，自动驾驶车辆如何在密集交通场景下采取一些主动措施提升换道成功率还有待进行研究。At present, most researches focus on how to generate lane-changing motivations or requests, how to judge whether the lane-changing behavior is safe, and how to plan the lane-changing trajectory when the lane-changing decision has been made. However, in the case of existing lane change requests, how autonomous vehicles can take some active measures to improve the success rate of lane changes in dense traffic scenarios remains to be studied.

发明内容Summary of the invention

本发明实施例公开一种车辆的换道方法和装置，提升了在密集交通场景下自动驾驶车辆自主换道的成功率。The embodiment of the invention discloses a vehicle lane changing method and device, which improves the success rate of autonomous vehicle lane changing in dense traffic scenarios.

第一方面，本发明实施例公开了一种车辆的换道方法，该方法包括：In the first aspect, an embodiment of the present invention discloses a lane changing method for a vehicle, the method including:

在当前车辆需要进行换道时，如果判断出当前车辆不可变换到相邻车道，则判断所述相邻车道上是否存在与当前车辆同向行驶且相对运行状态符合第一设定条件的后车，其中，所述相对运行状态包括相对速度和相对距离；When the current vehicle needs to change lanes, if it is determined that the current vehicle cannot change to an adjacent lane, then determine whether there is a following vehicle in the adjacent lane that is driving in the same direction as the current vehicle and whose relative operating state meets the first set condition , Wherein the relative operating state includes relative speed and relative distance;

如果存在所述后车，则确定当前车辆在换道前需要靠近目标车道线的目标位移，其中，所述目标车道线为当前车道与其相邻车道之间的车道线；If there is the following vehicle, determine that the current vehicle needs to approach the target displacement of the target lane line before changing lanes, where the target lane line is the lane line between the current lane and its adjacent lanes;

控制当前车辆按照所述目标位移执行靠近目标车道线的贴线操作，并在所述贴线操作完成后，如果判断出当前车辆可变换到所述相邻车道，则控制当前车辆进行换道。Control the current vehicle to execute a line-applied operation close to the target lane line according to the target displacement, and after the line-applied operation is completed, if it is determined that the current vehicle can change to the adjacent lane, control the current vehicle to change lanes.

可选的，所述确定当前车辆在换道前需要靠近目标车道线的目标位移，包括：Optionally, the determining the target displacement that the current vehicle needs to approach the target lane line before changing lanes includes:

检测所述相邻车道上是否存在除所述后车外，与当前车辆的相对运行状态符合第二设定条件的其他车辆；Detecting whether there are other vehicles on the adjacent lanes other than the following vehicle whose relative operating state with the current vehicle meets the second set condition;

如果存在所述其他车辆，则根据当前车辆的运行状态、当前车辆所在当前车道的宽度以及所述其他车辆距离所述当前车道的横向距离，确定当前车辆在换道前需要靠近目标车道线的目标位移。If the other vehicle exists, determine the target that the current vehicle needs to approach the target lane line before changing lanes according to the current vehicle's operating state, the width of the current lane where the current vehicle is located, and the lateral distance of the other vehicle from the current lane Displacement.

如果不存在所述其他车辆，则根据当前车辆的运行状态和当前车辆所在当前车道的宽度，确定当前车辆在换道前需要靠近目标车道线的目标位移。If the other vehicle does not exist, then according to the current operating state of the vehicle and the width of the current lane where the current vehicle is located, determine the target displacement of the current vehicle that needs to approach the target lane line before changing lanes.

可选的，所述方法还包括：Optionally, the method further includes:

如果不存在所述后车，则保持当前车辆在当前车道上的运行状态。If there is no following vehicle, the running state of the current vehicle on the current lane is maintained.

可选的，所述方法还包括：Optionally, the method further includes:

在所述贴线操作完成后，如果判断出当前车辆仍不可变换到所述相邻车道，则保持当前车辆按照所述目标位移靠近所述目标车道线的运行状态。After the line-attaching operation is completed, if it is determined that the current vehicle still cannot change to the adjacent lane, the running state of the current vehicle approaching the target lane line according to the target displacement is maintained.

可选的，根据当前车辆、所述后车和所述其他车辆的相对运行状态，判断当前车辆与所述后车、所述其他车辆是否会发生碰撞；Optionally, judging whether the current vehicle will collide with the following vehicle or the other vehicle based on the relative operating status of the current vehicle, the following vehicle and the other vehicle;

如果会发生碰撞，则确定当前车辆不可变换到相邻车道。If a collision occurs, it is determined that the current vehicle cannot change to an adjacent lane.

第二方面，本发明实施例还提供了一种车辆的换道装置，该装置包括：In the second aspect, an embodiment of the present invention also provides a lane changing device for a vehicle, which includes:

后车判断模块，被配置为在当前车辆需要进行换道时，如果判断出当前车辆不可变换到相邻车道，则判断所述相邻车道上是否存在与当前车辆同向行驶且相对运行状态符合第一设定条件的后车，其中，所述相对运行状态包括相对速度和相对距离；The following vehicle determination module is configured to determine whether the current vehicle is driving in the same direction as the current vehicle and the relative operating state is consistent with the current vehicle if it is determined that the current vehicle cannot be changed to an adjacent lane when the current vehicle needs to change lanes The following vehicle under the first set condition, wherein the relative operating state includes a relative speed and a relative distance;

目标位移确定模块，被配置为如果存在所述后车，则确定当前车辆在换道前需要靠近目标车道线的目标位移，其中，所述目标车道线为当前车道与其相邻车道之间的车道线；The target displacement determining module is configured to determine the target displacement of the current vehicle that needs to approach a target lane line before changing lanes if the following vehicle exists, wherein the target lane line is the lane between the current lane and its adjacent lanes line;

换道模块，被配置为控制当前车辆按照所述目标位移执行靠近目标车道线的贴线操作，并在所述贴线操作完成后，如果判断出当前车辆可变换到所述相邻车道，则控制当前车辆进行换道。The lane-changing module is configured to control the current vehicle to perform a line-sticking operation close to the target lane line according to the target displacement, and after the line-sticking operation is completed, if it is determined that the current vehicle can change to the adjacent lane, then Control the current vehicle to change lanes.

可选的，所述目标位移确定模块，具体被配置为：Optionally, the target displacement determining module is specifically configured as:

检测所述相邻车道上是否存在除所述后车外，与当前车辆的相对运行状态符合第二设定条件的其他车辆；Detecting whether there are other vehicles on the adjacent lanes other than the trailing vehicle whose relative operating state with the current vehicle meets the second set condition;

可选的，所述装置还包括：Optionally, the device further includes:

运行状态保持模块，被配置为如果不存在所述后车，则保持当前车辆在当前车道上的运行状态。The running state keeping module is configured to keep the running state of the current vehicle in the current lane if there is no following vehicle.

所述装置还包括：The device also includes:

贴线状态保持模块，被配置为在所述贴线操作完成后，如果判断出当前车辆仍不可变换到所述相邻车道，则保持当前车辆按照所述目标位移靠近所述目标车道线的运行状态。The tracking state maintaining module is configured to maintain the current vehicle running close to the target lane line according to the target displacement if it is determined that the current vehicle is still unable to change to the adjacent lane after the alignment operation is completed status.

可选的，所述后车判断模块包括：Optionally, the following vehicle judgment module includes:

变道判断单元，被配置为根据当前车辆、所述后车和所述其他车辆的相对运行状态，判断当前车辆与所述后车、所述其他车辆是否会发生碰撞；如果会发生碰撞，则确定当前车辆不可变换到相邻车道。The lane change judging unit is configured to judge whether the current vehicle will collide with the following vehicle and the other vehicles according to the relative operating status of the current vehicle, the following vehicle and the other vehicles; if a collision will occur, then Determine that the current vehicle cannot change to the adjacent lane.

后车判断单元，被配置为在当前车辆需要进行换道时，如果所述变道判断单元判断出当前车辆不可变换到相邻车道，则判断所述相邻车道上是否存在与当前车辆同向行驶且相对运行状态符合第一设定条件的后车。The following vehicle judging unit is configured to, when the current vehicle needs to change lanes, if the lane change judging unit judges that the current vehicle cannot be changed to an adjacent lane, then judging whether the adjacent lane exists in the same direction as the current vehicle The following vehicle is driving and whose relative operating state meets the first set condition.

第三方面，本发明实施例还提供了一种车载终端，包括：In the third aspect, an embodiment of the present invention also provides a vehicle-mounted terminal, including:

存储有可执行程序代码的存储器；A memory storing executable program codes;

与所述存储器耦合的处理器；A processor coupled with the memory;

所述处理器调用所述存储器中存储的所述可执行程序代码，执行本发明任意实施例所提供的车辆的换道方法的部分或全部步骤。The processor calls the executable program code stored in the memory to execute part or all of the steps of the vehicle lane changing method provided by any embodiment of the present invention.

第四方面，本发明实施例还提供了一种计算机可读存储介质，其存储计算机程序，所述计算机程序包括用于执行本发明任意实施例所提供的车辆的换道方法的部分或全部步骤的指令。In a fourth aspect, an embodiment of the present invention also provides a computer-readable storage medium that stores a computer program, and the computer program includes some or all of the steps for executing the lane changing method for a vehicle provided by any embodiment of the present invention Instructions.

第五方面，本发明实施例还提供了一种计算机程序产品，当所述计算机程序产品在计算机上运行时，使得所述计算机执行本发明任意实施例所提供的车辆的换道方法的部分或全部步骤。In the fifth aspect, the embodiments of the present invention also provide a computer program product, which when the computer program product runs on a computer, causes the computer to execute part or part of the vehicle lane changing method provided by any embodiment of the present invention. All steps.

本发明实施例提供的技术方案，在当前车辆需要进行换道时，如果判断出当前车辆不可直接变换到相邻车道，则在与当前车辆同向行驶且相对运行状态符合第一设定条件的后车存在的条件下，按照确定的目标位移执行靠近目标车道线的贴线操作。通过采用上述设置方式，可以对后方来车进行适当的提醒和“压迫”，从而更容易使后方来车减速并提供给当前车辆一个可供换道的空间。此外，这样设置还可以缩短变道所需移动的横向距离，有利于自动驾驶车辆在狭小空间下更快速地***可换道空当，提升了在密集交通场景下自动驾驶车辆自主换道的成功率。In the technical solution provided by the embodiment of the present invention, when the current vehicle needs to change lanes, if it is determined that the current vehicle cannot directly change to the adjacent lane, the vehicle is traveling in the same direction as the current vehicle and the relative operating state meets the first set condition. Under the condition of the existence of the following vehicle, the line-sticking operation close to the target lane line is executed according to the determined target displacement. By adopting the above-mentioned setting method, it is possible to appropriately remind and "press" incoming vehicles from the rear, so that it is easier to slow down the incoming vehicles and provide a space for the current vehicle to change lanes. In addition, this setting can also shorten the lateral distance required to change lanes, which is conducive to the faster insertion of autonomous vehicles into lane-changing spaces in small spaces, and improves the success rate of autonomous vehicles in dense traffic scenarios. .

本发明的发明点包括：The invention points of the present invention include:

1、在当前车辆需要进行换道时，如果判断出当前车辆不可变换到相邻车道，则在与当前车辆同向行驶且相对运行状态符合第一设定条件的后车存在的条件下，按照确定的目标位移执行靠近目标车道线的贴线操作，从而提醒后车当前车辆想要换道的意图，以使后车减速并提供给当前车辆一个可供换道的空间。这样设置解决了自动驾驶车辆在拥挤空间无法换道的问题，提升了在密集交通场景下自动驾驶车辆自主换道的成功率，是本发明的发明点之一。1. When the current vehicle needs to change lanes, if it is judged that the current vehicle cannot be changed to an adjacent lane, then under the condition that the following vehicle exists in the same direction as the current vehicle and the relative operating state meets the first set condition, follow The determined target displacement performs a line-sticking operation close to the target lane line, thereby reminding the following vehicle of the intention of the current vehicle to change lanes, so as to slow down the following vehicle and provide a space for the current vehicle to change lanes. This arrangement solves the problem that the autonomous vehicle cannot change lanes in a crowded space, and improves the success rate of autonomous vehicle lane change in dense traffic scenarios, which is one of the invention points of the present invention.

2、自动驾驶车辆在换道准备阶段执行贴线操作的过程中，如果判断出在相邻车道上存在除后车外，与当前车辆的相对运行状态符合第二设定条件的其他车辆，则根据当前车辆的运行状态、当前车辆所在当前车道的宽度以及其他车辆距离当前车道的横向距离，确定当前车辆在换道前需要靠近目标车道线的目标位移。这样设置充分考虑到了相邻车道其他车辆的运行状态，因此在保证当前自动驾驶车辆不压线的情况下，使得该车辆能够以合理的目标位移贴近目标车道线，从而提醒后车当前车辆想要换道的意图，并且也缩短了换道时所需移动的横向距离。在保证安全行驶且符合交通规范的条件下，进一步提升了自主换道的成功率，是本发明的发明点之一。2. During the lane-change preparation phase of the self-driving vehicle, if it is determined that there are other vehicles in the adjacent lanes that meet the second set condition in relation to the current vehicle's relative operating state except for the following vehicle, then According to the current vehicle operating state, the width of the current lane where the current vehicle is located, and the lateral distance of other vehicles from the current lane, determine the target displacement that the current vehicle needs to approach the target lane line before changing lanes. This setting fully takes into account the operating status of other vehicles in the adjacent lanes. Therefore, while ensuring that the current autonomous vehicle does not press the line, the vehicle can approach the target lane line with a reasonable target displacement, thereby reminding the following vehicle that the current vehicle wants The intention of changing lanes, and also shortened the lateral distance required to move when changing lanes. Under the conditions of ensuring safe driving and complying with traffic regulations, the success rate of autonomous lane changing is further improved, which is one of the invention points of the present invention.

附图说明Description of the drawings

为了更清楚地说明本发明实施例中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to explain the technical solutions in the embodiments of the present invention more clearly, the following will briefly introduce the drawings needed in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative work, other drawings can be obtained based on these drawings.

图1是本发明实施例提供的一种车辆的换道方法的流程示意图；FIG. 1 is a schematic flowchart of a vehicle lane changing method provided by an embodiment of the present invention;

图2a是本发明实施例提供的在相邻车道上除后车外存在其他车辆时，当前车辆执行贴线操作后的示意图；FIG. 2a is a schematic diagram of the current vehicle after the line-joining operation is performed when there are other vehicles besides the following vehicle in the adjacent lane according to an embodiment of the present invention;

图2b是本发明实施例提供的在相邻车道上除后车外不存在其他车辆时，当前车辆执行贴线操作后的示意图；FIG. 2b is a schematic diagram of the current vehicle after the line-attaching operation is performed when there is no other vehicle except the following vehicle in the adjacent lane according to an embodiment of the present invention;

图3是本发明实施例提供的一种车辆的换道装置的结构示意图；3 is a schematic structural diagram of a lane changing device for a vehicle provided by an embodiment of the present invention;

图4是本发明实施例提供的一种车载终端的结构示意图。Fig. 4 is a schematic structural diagram of a vehicle-mounted terminal provided by an embodiment of the present invention.

具体实施方式Detailed ways

下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

需要说明的是，本发明实施例及附图中的术语“包括”和“具有”以及它们任何变形，意图在于覆盖不排他的包含。例如包含了一系列步骤或单元的过程、方法、***、产品或设备没有限定于已列出的步骤或单元，而是可选地还包括没有列出的步骤或单元，或可选地还包括对于这些过程、方法、产品或设备固有的其它步骤或单元。It should be noted that the terms "including" and "having" in the embodiments of the present invention and the drawings and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes unlisted steps or units, or optionally also includes Other steps or units inherent to these processes, methods, products or equipment.

实施例一Example one

请参阅图1，图1是本发明实施例提供的一种车辆的换道方法的流程示意图。该方法应用于自动驾驶过程中交通较为密集，无法直接执行换道的应用场景下。该方法可由车辆的换道装置来执行，该装置可通过软件和/或硬件的方式实现，一般可集成在车载电脑、车载工业控制计算机(Industrial personal Computer，IPC)等车载终端中，本发明实施例不做限定。如图1所示，本实施例提供的方法具体包括：Please refer to FIG. 1, which is a schematic flowchart of a vehicle lane changing method according to an embodiment of the present invention. This method is applied in application scenarios where the traffic is dense during the automatic driving process and the lane change cannot be performed directly. The method can be executed by the lane changing device of the vehicle. The device can be implemented by software and/or hardware. Generally, it can be integrated in on-board terminals such as on-board computers and on-board industrial control computers (IPC). The implementation of the present invention The examples are not limited. As shown in Figure 1, the method provided in this embodiment specifically includes:

110、在当前车辆需要进行换道时，如果判断出当前车辆不可变换到相邻车道，则判断该相邻车道上是否存在与当前车辆同向行驶且相对运行状态符合第一设定条件的后车。110. When the current vehicle needs to change lanes, if it is determined that the current vehicle cannot be changed to an adjacent lane, then determine whether there is a rear vehicle running in the same direction as the current vehicle and the relative operating state meets the first set condition on the adjacent lane. car.

示例性的，换道需求可以是自动驾驶车辆主动产生的路径变换意图，例如，当前自动驾驶车辆根据导航信息自动触发的换道意图，或者也可以是当前自动驾驶车辆在检测到其他车辆的运行轨迹将对自身的运行轨迹造成影响时所触发的位置调整意图等。Exemplarily, the lane change request may be a path change intention actively generated by an autonomous vehicle, for example, a lane change intention automatically triggered by the current autonomous vehicle according to navigation information, or it may be the current autonomous vehicle detecting the operation of other vehicles The position adjustment intention triggered when the trajectory will affect its own running trajectory, etc.

示例性的，换道需求还可以是由驾驶员根据当前车辆的实际运行情况向驾驶辅助***发送的换道指令，例如车辆在需要提速、超车时驾驶员向驾驶辅助***发送的换道指令，即该换道指令为自动驾驶车辆被动接收到的路径变换意图。Exemplarily, the lane change demand may also be a lane change instruction sent by the driver to the driving assistance system according to the actual operating conditions of the current vehicle, for example, the lane change instruction sent by the driver to the driving assistance system when the vehicle needs to speed up or overtake. That is, the lane change instruction is the path change intention passively received by the autonomous vehicle.

不论当前自动驾驶车辆是主动产生换道意图还是被动接收换道请求，均说明当前自动驾驶车辆需要进行换道。一般情况下，在车辆变换车道的过程中，不论车辆最终需要变换到哪个车道，均需要先变换到相邻车道，然后再依次变换到最终的目标车道。在每次换道前，可根据当前车辆与相邻车道上其他车辆的相对运行状态，判断当前车辆与其他车辆是否会发生碰撞。其中，相邻车道上的其他车辆可包括与当前车辆同向行驶的前车、后车和正侧方的车辆。其中，后车是指在当前车辆的运行方向上，车头在本车车尾后方的纵向距离满足设定距离范围的车辆。前车和正侧方的车辆可统称为侧前方车辆，是指车头超过本车车尾的车辆。当前车辆与其他车辆的相对运行状态可包括相对速度、相对位置和相对加速度等。如果通过相对运行状态判断出当前车辆与其他车辆不存在碰撞风险，则确定当前车辆可以变换到相邻车道。此时，可控制当前车辆直接进行换道操作。但如果通过上述相对运行状态判断出当前车辆与其他车辆存在碰撞风险，则确定当前车辆不可变换到相邻车道。此时，也可说明当前交通较为拥挤，当前车辆换道方向的侧方和前方没有合适的换道空间可供当前车辆执行换道。Regardless of whether the current autonomous vehicle actively generates lane change intentions or passively receives lane change requests, it indicates that the current autonomous vehicle needs to change lanes. Under normal circumstances, in the process of a vehicle changing lanes, no matter which lane the vehicle ultimately needs to change to, it must first change to the adjacent lane, and then change to the final target lane in turn. Before each lane change, it can be judged whether the current vehicle will collide with other vehicles based on the relative operating status of the current vehicle and other vehicles in the adjacent lane. Among them, other vehicles on the adjacent lanes may include the preceding car, the following car, and the vehicle on the side that are driving in the same direction as the current vehicle. Among them, the following vehicle refers to a vehicle whose longitudinal distance between the front of the vehicle and the rear of the vehicle meets the set distance range in the current running direction of the vehicle. The vehicle in front and the vehicle on the front side can be collectively referred to as the front vehicle, which refers to the vehicle whose head exceeds the rear of the vehicle. The relative operating status of the current vehicle and other vehicles may include relative speed, relative position, and relative acceleration. If it is determined from the relative running state that there is no risk of collision between the current vehicle and other vehicles, it is determined that the current vehicle can change to an adjacent lane. At this time, the current vehicle can be controlled to directly perform lane changing operations. However, if it is determined that there is a risk of collision between the current vehicle and other vehicles based on the above-mentioned relative operating status, it is determined that the current vehicle cannot change to an adjacent lane. At this time, it can also indicate that the current traffic is relatively congested, and there is no suitable lane-changing space on the side and in front of the current vehicle lane change direction for the current vehicle to perform lane change.

本实施例中，在当前车辆需要进行换道的条件下，但在确定出当前车辆不可直接变换到相邻车道的情况下，需判断相邻车道上是否存在与当前车辆同向行驶且相对运行状态符合第一设定条件的后车，这样设置是为了在该后车存在的情况下，控制当前车辆向需要变换道的相邻车道进行靠近，从而可以对后方来车进行适当的提醒和“压迫”，以更容易使后方来车减速并提供给当前车辆一个可供换道的空间。此外，这样设置也可以缩短变道所需移动的横向距离，有利于自动驾驶车辆在狭小空间下更快速地***可换道空当。In this embodiment, under the condition that the current vehicle needs to change lanes, but it is determined that the current vehicle cannot directly change to the adjacent lane, it is necessary to determine whether there is driving in the same direction as the current vehicle on the adjacent lane and running relative to each other. The following vehicle whose status meets the first set condition is set to control the current vehicle to approach the adjacent lane that needs to change lanes when the following vehicle exists, so that appropriate reminders and " Compression" to make it easier to slow down the oncoming vehicle and provide the current vehicle with a space for lane change. In addition, this arrangement can also shorten the lateral distance required to change lanes, which is conducive to the faster insertion of autonomous vehicles into lane-changing spaces in small spaces.

其中，在判断后车是否存在的过程中，所涉及到的相对运行状态包括相对速度和相对距离。第一设定条件可以为相对距离和相对速度分别满足对应的预设距离阈值，例如相对距离小于设定距离阈值，相对速度大于设定速度阈值。或者第一设定条件也可以为相对距离除以相对速度小于设定阈值。如果存在相对运行状态符合第一设定条件的后车，则说明当前车辆在换道准备阶段可通过靠近当前车道与相邻车道之间的车道线来提醒该后车，以使后车通过减速等方式提供给当前车辆一个可供换道的空间。Among them, in the process of judging whether the following vehicle exists, the relative running state involved includes relative speed and relative distance. The first set condition may be that the relative distance and the relative speed respectively meet the corresponding preset distance threshold, for example, the relative distance is less than the set distance threshold, and the relative speed is greater than the set speed threshold. Or the first setting condition may also be that the relative distance divided by the relative speed is less than the set threshold. If there is a following vehicle whose relative operating state meets the first set condition, it means that the current vehicle can remind the following vehicle by approaching the lane line between the current lane and the adjacent lane during the lane change preparation stage, so that the following vehicle can pass through and slow down Provide the current vehicle with a space for lane changing.

示例性的，如果判断出相邻车道上不存在与当前车辆同向行驶且相对运行状态符合第一设定条件的后车，则无需执行靠近相邻车道的贴线操作，保持当前车辆在当前车道上的运行状态即可。Exemplarily, if it is determined that there is no trailing vehicle driving in the same direction as the current vehicle in the adjacent lane and the relative running state meets the first set condition, then there is no need to perform the line-joining operation near the adjacent lane to keep the current vehicle in the current The running state on the lane is sufficient.

120、如果存在后车，则确定当前车辆在换道前需要靠近目标车道线的目标位移。120. If there is a vehicle behind, it is determined that the current vehicle needs to approach the target displacement of the target lane line before changing lanes.

本实施例中，与当前车辆同向行驶且相对运行状态符合第一设定条件的后车的存在，进一步说明了当前车辆无法直接变换到相邻车道。此时，可在换道准备阶段控制当前车辆执行靠近目标车道线的贴线操作，从而提醒后车当前车辆想要换道的意图，从而更容易使得后车减速以为当前车辆提供换道空间。其中，当前车辆靠近目标车道线的距离则可通过当前车辆与相邻车道上除后车外的其他车辆的相对运行状态来确定。其中，目标车道线为当前车道与其相邻车道之间的车道线，即当前车辆换到相邻车道时必须经过的车道线。In this embodiment, the existence of the following vehicle traveling in the same direction as the current vehicle and whose relative operating state meets the first set condition further illustrates that the current vehicle cannot directly change to an adjacent lane. At this time, the current vehicle can be controlled to execute the line-sticking operation close to the target lane line during the lane-changing preparation phase, thereby reminding the following vehicle of the intention of the current vehicle to change lanes, thereby making it easier to slow down the following vehicle to provide lane-changing space for the current vehicle. Among them, the distance of the current vehicle close to the target lane line can be determined by the relative operating state of the current vehicle and other vehicles in the adjacent lane except for the following vehicle. Among them, the target lane line is the lane line between the current lane and its adjacent lane, that is, the lane line that the current vehicle must pass when changing to the adjacent lane.

作为一种可选的实施例方式，确定当前车辆在换道前需要靠近目标车道线的目标位移，可以为：检测相邻车道上是否存在除后车外，与当前车辆的相对运行状态符合第二设定条件的其他车辆；如果存在该其他车辆，则根据当前车辆的运行状态、当前车辆所在当前车道的宽度以及其他车辆距离所述当前车道的横向距离，确定当前车辆在换道前需要靠近目标车道线的目标位移。As an optional embodiment, determining the target displacement of the current vehicle that needs to be close to the target lane line before changing lanes may be: detecting whether there is a vehicle in the adjacent lane other than the following vehicle, and the relative operating state of the current vehicle conforms to the first 2. Other vehicles with set conditions; if there are other vehicles, based on the current vehicle's operating status, the width of the current lane where the current vehicle is located, and the lateral distance of other vehicles from the current lane, determine that the current vehicle needs to approach before changing lanes The target displacement of the target lane line.

其中，除后车外，与当前车辆的相对运行状态符合第二设定条件的其他车辆可以为与当前车辆相对距离和相对速度分别小于对应阈值的车辆，例如，速度低于当前车辆的速度，且车头位置在当前车辆车尾前两米范围内的车辆均可作为相对运行状态符合第二设定条件的其他车辆。此外，当前车辆的运行状态可包括速度、位置和加速度等。其他车辆距离当前车道的横向距离可用其他车辆距离当前车道中心线的距离来表示。Among them, in addition to the following vehicle, other vehicles whose relative operating state with the current vehicle meets the second set condition may be vehicles whose relative distance and relative speed from the current vehicle are respectively smaller than the corresponding threshold, for example, the speed is lower than the speed of the current vehicle, And the vehicle whose head position is within two meters in front of the rear of the current vehicle can be regarded as other vehicles whose relative operating state meets the second set condition. In addition, the current operating state of the vehicle may include speed, position, acceleration, and so on. The lateral distance of other vehicles from the current lane can be represented by the distance of other vehicles from the centerline of the current lane.

具体的，图2a为本发明实施例提供的在相邻车道上除后车(图2a中未示出)外存在其他车辆时，当前车辆执行贴线操作后的示意图。如图2a所示，车辆a所在位置表示当前车辆在执行贴线操作后的车辆位置，车辆b表示当前车辆的前车(在相邻车道上)；w表示当前车辆所在当前车道的宽度，Δy _c表示当前车辆的前车(在相邻车道上)距离当前车辆所在当前车道中心线的距离，Δy表示当前车辆在换道前需要靠近目标车道线的目标位移；车道线1表示当前车道与相邻车道之间的目标车道线，轨迹2表示当前车辆按照Δy的距离靠近目标车道线运行时的运行轨迹，轨迹3表示当前车辆所在当前车道的中心线。如图2a所示，在车辆a换到相邻车道前，在换道准备阶段，由于相邻车道存在除后车外的其他车辆b，因此，当前车辆在换道前需要靠近目标车道线1的目标位移Δy不仅要考虑到当前车辆的车速、当前车道的宽度w，还需考虑到其他车辆b的运行状态，例如车辆b距离当前车道中心线的距离Δy _c。 Specifically, FIG. 2a is a schematic diagram of the current vehicle after the current vehicle performs the line-attaching operation when there are other vehicles in the adjacent lane except for the following vehicle (not shown in FIG. 2a) provided by the embodiment of the present invention. As shown in Figure 2a, the location of vehicle a represents the vehicle location of the current vehicle after the line-attaching operation, vehicle b represents the vehicle ahead of the current vehicle (in the adjacent lane); w represents the width of the current lane where the current vehicle is located, Δy _c represents the distance between the vehicle in front of the current vehicle (in the adjacent lane) and the center line of the current lane where the current vehicle is located, Δy represents the target displacement of the current vehicle that needs to approach the target lane line before changing lanes; lane line 1 represents the current lane and phase The target lane line between adjacent lanes, trajectory 2 represents the running trajectory when the current vehicle is running close to the target lane line at a distance of Δy, and trajectory 3 represents the center line of the current lane where the current vehicle is located. As shown in Figure 2a, before vehicle a changes to an adjacent lane, during the lane change preparation stage, because there are other vehicles b in the adjacent lane except for the following vehicle, the current vehicle needs to approach the target lane line 1 before changing lanes. The target displacement Δy of Δy should not only take into account the current vehicle speed and the width w of the current lane, but also the operating state of other vehicles b, such as the distance Δy _{c of the} vehicle b from the centerline of the current lane.

作为另外一种可选的实施例方式，确定当前车辆在换道前需要靠近目标车道线的目标位移，还可以为：检测相邻车道上是否存在除所述后车外，与当前车辆的相对运行状态符合第二设定条件的其他车辆；如果不存在该其他车辆，则根据当前车辆的运行状态和当前车辆所在当前车道的宽度，确定当前车辆在换道前需要靠近目标车道线的目标位移。As another optional embodiment, determining the target displacement of the current vehicle that needs to be close to the target lane line before changing lanes may also be: detecting whether there is a vehicle in the adjacent lane, in addition to the following vehicle, relative to the current vehicle Other vehicles whose running status meets the second set condition; if there is no other vehicle, according to the current running status of the vehicle and the width of the current lane where the current vehicle is located, determine the target displacement of the current vehicle that needs to approach the target lane line before changing lanes .

具体的，图2b为本发明实施例提供的在相邻车道上除后车(图2b中未示出)外不存在其他车辆时，当前车辆执行贴线操作后的示意图。如图2b所示，车辆a所在位置表示当前车辆在执行贴线操作后的车辆位置；w表示当前车辆所在当前车道的宽度；Δy表示当前车辆在换道前需要靠近目标车道线的目标位移。车道线1表示当前车道与相邻车道之间的目标车道线，轨迹2表示当前车辆按照Δy的距离靠近目标车道线运行时的运行轨迹，轨迹3表示当前车辆所在当前车道的中心线。如图2b所示，在相邻车道不存在除后车外其他车辆的情况下，当前车辆靠近目标车道线的目标位移则无需考虑其他车辆的运行状态，根据当前车辆的车速和当前车道的宽度w，确定在换道前需要靠近目标车道线的目标位移Δy即可。Specifically, FIG. 2b is a schematic diagram of the current vehicle after the current vehicle performs the line-attaching operation when there is no other vehicle except the following vehicle (not shown in FIG. 2b) in the adjacent lane according to the embodiment of the present invention. As shown in Figure 2b, the location of vehicle a represents the vehicle location of the current vehicle after the line-sticking operation; w represents the width of the current lane where the current vehicle is located; Δy represents the target displacement of the current vehicle that needs to approach the target lane line before changing lanes. Lane line 1 represents the target lane line between the current lane and the adjacent lane, trajectory 2 represents the running trajectory when the current vehicle is running close to the target lane line at a distance of Δy, and trajectory 3 represents the center line of the current lane where the current vehicle is located. As shown in Figure 2b, when there are no other vehicles in the adjacent lane except for the following vehicle, the target displacement of the current vehicle approaching the target lane line does not need to consider the operating status of other vehicles, based on the current vehicle speed and the width of the current lane w, determine the target displacement Δy that needs to be close to the target lane line before changing lanes.

如图2a和2b所示，如果控制车辆a沿着轨迹2行驶，可起到对相邻车道上车辆a的后方来车(图2a和2b中未示出)发出提示的作用，以更容易使得后方来车减速并提供给当前车辆a一个可供换道的空间。此外，沿着轨迹2运行，相对于在当前车道沿着当前车道中心线3运行，缩短了当前车辆a变换到相邻车道时所需要移动的横向距离，有利于自动驾驶车辆在狭小空间下更快速地***可换道空当。As shown in Figures 2a and 2b, if the vehicle a is controlled to travel along the track 2, it can play a role of prompting the incoming vehicles (not shown in Figures 2a and 2b) behind the vehicle a in the adjacent lane to make it easier This slows down the incoming vehicles and provides a space for the current vehicle a to change lanes. In addition, running along the trajectory 2, compared to running along the centerline 3 of the current lane in the current lane, shortens the lateral distance that the current vehicle a needs to move when changing to an adjacent lane, which is conducive to automatic driving vehicles in a narrow space. Quickly insert the changeable lane.

130、控制当前车辆按照目标位移执行靠近目标车道线的贴线操作，并在贴线操作完成后，如果判断出当前车辆可变换到相邻车道，则控制当前车辆进行换道。130. Control the current vehicle to execute a line-applied operation close to the target lane line according to the target displacement, and after the line-applied operation is completed, if it is determined that the current vehicle can change to an adjacent lane, control the current vehicle to change lanes.

本实施例中，在当前车辆需要进行换道时，如果判断出当前车辆不可变换到相邻车道，则在与当前车辆同向行驶且相对运行状态符合第一设定条件的后车存在的条件下，按照上述确定的目标位移执行靠近目标车道线的贴线操作。该贴线操作完成后，当前车辆能否进行换道还需根据当前车辆、与在相邻车道上运行的当前车辆的后车、前车和侧方车辆的相对运行状态，判断当前车辆与设定距离范围内的其他所有车辆是否会发生碰撞，如果不会发生碰撞，则确定当前车辆可变换到相邻车道。此时，可根据当前车辆、在相邻车道上运行的当前车辆的后车和其他车辆的运行状态，例如速度、位置和加速等，控制当前车辆进行换道。In this embodiment, when the current vehicle needs to change lanes, if it is determined that the current vehicle cannot be changed to an adjacent lane, the following vehicle is driving in the same direction as the current vehicle and the relative running state meets the first set condition. Next, follow the above-determined target displacement to execute the line-sticking operation close to the target lane line. After the wiring operation is completed, whether the current vehicle can change lanes still needs to judge the current vehicle and the design based on the relative operating status of the current vehicle, the following vehicle and the current vehicle running in the adjacent lane, the preceding vehicle, and the side vehicle. Whether all other vehicles within a certain distance will collide, if no collision will occur, it is determined that the current vehicle can change to an adjacent lane. At this time, the current vehicle can be controlled to change lanes according to the current vehicle, the current vehicle running in the adjacent lane, and the running status of other vehicles, such as speed, position, and acceleration.

示例性的，在当前车辆贴线操作完成后，如果判断出当前车辆仍不可变换到相邻车道，则不论在相邻车道上运行的当前车辆的后车是否仍然存在，可控制当前车辆继续保持按照目标位移靠近目标车道线的运行状态。直到判断出当前车辆可变换到相邻车道时，再控制当前车辆执行换道操作。Exemplarily, after the completion of the current vehicle line operation, if it is determined that the current vehicle still cannot change to the adjacent lane, no matter whether the following vehicle of the current vehicle running on the adjacent lane still exists, the current vehicle can be controlled to continue to maintain According to the operating state of the target displacement approaching the target lane line. Until it is judged that the current vehicle can change to an adjacent lane, the current vehicle is controlled to perform the lane changing operation.

本实施例提供的技术方案，在当前车辆需要进行换道时，如果判断出当前车辆不可直接变换到相邻车道，则在与当前车辆同向行驶且相对运行状态符合第一设定条件的后车存在的条件下，按照确定的目标位移执行靠近目标车道线的贴线操作。通过采用上述设置方式，可以对后方来车进行适当的提醒和“压迫”，从而更容易使后方来车减速并提供给当前车辆一个可供换道的空间。此外，这样设置还可以缩短变道所需移动的横向距离，有利于自动驾驶车辆在狭小空间下更快速地***可换道空当，提升了在密集交通场景下自动驾驶车辆自主换道的成功率。In the technical solution provided by this embodiment, when the current vehicle needs to change lanes, if it is determined that the current vehicle cannot directly change to the adjacent lane, it will run in the same direction as the current vehicle and the relative operating state meets the first set condition. Under the condition of the existence of the vehicle, perform the line-sticking operation close to the target lane line according to the determined target displacement. By adopting the above-mentioned setting method, it is possible to appropriately remind and "press" the incoming vehicles from the rear, thereby making it easier to slow down the incoming vehicles and provide a space for the current vehicle to change lanes. In addition, this setting can also shorten the lateral distance required to change lanes, which is conducive to the faster insertion of autonomous vehicles into lane-changing spaces in small spaces, and improves the success rate of autonomous vehicles in dense traffic scenarios. .

实施例二Example two

请参阅图3，图3是本发明实施例提供的一种车辆的换道装置的结构示意图。如图3所示，该装置包括：后车判断模块210、目标位移确定模块220和换道模块230，其中，Please refer to FIG. 3, which is a schematic structural diagram of a lane changing device for a vehicle according to an embodiment of the present invention. As shown in Figure 3, the device includes: a vehicle-behind judgment module 210, a target displacement determination module 220, and a lane-changing module 230, where:

后车判断模块210，被配置为在当前车辆需要进行换道时，如果判断出当前车辆不可变换到相邻车道，则判断所述相邻车道上是否存在与当前车辆同向行驶且相对运行状态符合第一设定条件的后车，其中，所述相对运行状态包括相对速度和相对距离；The following vehicle judging module 210 is configured to determine whether the current vehicle is driving in the same direction as the current vehicle and the relative running state exists in the adjacent lane if it is judged that the current vehicle cannot be changed to an adjacent lane when the current vehicle needs to change lanes The following vehicle that meets the first set condition, wherein the relative running state includes a relative speed and a relative distance;

目标位移确定模块220，被配置为如果存在所述后车，则确定当前车辆在换道前需要靠近目标车道线的目标位移，其中，所述目标车道线为当前车道与其相邻车道之间的车道线；The target displacement determining module 220 is configured to determine the target displacement of the current vehicle that needs to approach the target lane line before changing lanes if the following vehicle exists, wherein the target lane line is the distance between the current lane and its adjacent lanes Lane line

换道模块230，被配置为控制当前车辆按照所述目标位移执行靠近目标车道线的贴线操作，并在所述贴线操作完成后，如果判断出当前车辆可变换到所述相邻车道，则控制当前车辆进行换道。The lane-changing module 230 is configured to control the current vehicle to perform a line-applied operation close to the target lane line according to the target displacement, and after the line-applied operation is completed, if it is determined that the current vehicle can change to the adjacent lane, Then control the current vehicle to change lanes.

可选的，所述装置还包括：Optionally, the device further includes:

本发明实施例所提供的车辆的换道装置可执行本发明任意实施例所提供的车辆的换道方法，具备执行方法相应的功能模块和有益效果。未在上述实施例中详尽描述的技术细节，可参见本发明任意实施例所提供的车辆的换道方法。The vehicle lane-changing device provided by the embodiment of the present invention can execute the vehicle lane-changing method provided by any embodiment of the present invention, and has corresponding functional modules and beneficial effects for the execution method. For technical details that are not described in detail in the foregoing embodiments, reference may be made to the lane changing method for vehicles provided in any embodiment of the present invention.

实施例三Example three

请参阅图4，图4是本发明实施例提供的一种车载终端的结构示意图。如图4所示，该车载终端可以包括：Please refer to FIG. 4, which is a schematic structural diagram of a vehicle-mounted terminal according to an embodiment of the present invention. As shown in Figure 4, the vehicle-mounted terminal may include:

存储有可执行程序代码的存储器701；A memory 701 storing executable program codes;

与存储器701耦合的处理器702；A processor 702 coupled with the memory 701;

其中，处理器702调用存储器701中存储的可执行程序代码，执行本发明任意实施例所提供的车辆的换道方法。The processor 702 calls the executable program code stored in the memory 701 to execute the lane changing method of the vehicle provided by any embodiment of the present invention.

本发明实施例公开一种计算机可读存储介质，其存储计算机程序，其中，该计算机程序使得计算机执行本发明任意实施例所提供的车辆的换道方法。The embodiment of the present invention discloses a computer-readable storage medium that stores a computer program, wherein the computer program causes a computer to execute the lane changing method of a vehicle provided by any embodiment of the present invention.

本发明实施例公开一种计算机程序产品，其中，当计算机程序产品在计算机上运行时，使得计算机执行本发明任意实施例所提供的车辆的换道方法的部分或全部步骤。The embodiment of the present invention discloses a computer program product, wherein when the computer program product runs on a computer, the computer is caused to execute part or all of the steps of the vehicle lane changing method provided by any embodiment of the present invention.

在本发明的各种实施例中，应理解，上述各过程的序号的大小并不意味着执行顺序的必然先后，各过程的执行顺序应以其功能和内在逻辑确定，而不应对本发明实施例的实施过程构成任何限定。In the various embodiments of the present invention, it should be understood that the size of the sequence numbers of the aforementioned processes does not mean the necessary sequence of execution. The execution order of each process should be determined by its function and internal logic, and should not be implemented in the present invention. The implementation process of the example constitutes any limitation.

在本发明所提供的实施例中，应理解，“与A相应的B”表示B与A相关联，根据A可以确定B。但还应理解，根据A确定B并不意味着仅仅根据A确定B，还可以根据A和/或其他信息确定B。In the embodiments provided by the present invention, it should be understood that “B corresponding to A” means that B is associated with A, and B can be determined according to A. However, it should also be understood that determining B according to A does not mean that B is determined only according to A, and B can also be determined according to A and/or other information.

另外，在本发明各实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。In addition, the functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or software functional unit.

上述集成的单元若以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可获取的存储器中。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或者部分，可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储器中，包括若干请求用以使得一台计算机设备(可以为个人计算机、服务器或者网络设备等，具体可以是计算机设备中的处理器)执行本发明的各个实施例上述方法的部分或全部步骤。If the aforementioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-accessible memory. Based on this understanding, the essence of the technical solution of the present invention or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a memory. , Including several requests to make a computer device (which may be a personal computer, a server, or a network device, etc., specifically a processor in a computer device) execute part or all of the steps of the above methods of the various embodiments of the present invention.

本领域普通技术人员可以理解上述实施例的各种方法中的全部或部分步骤是可以通过程序来指令相关的硬件来完成，该程序可以存储于一计算机可读存储介质中，存储介质包括只读存储器(Read-Only Memory，ROM)、随机存储器(Random Access Memory，RAM)、可编程只读存储器(Programmable Read-only Memory，PROM)、可擦除可编程只读存储器(Erasable Programmable Read Only Memory，EPROM)、一次可编程只读存储器(One-time Programmable Read-Only Memory，OTPROM)、电子抹除式可复写只读存储器(Electrically-Erasable Programmable Read-Only Memory，EEPROM)、只读光盘(Compact Disc Read-Only Memory，CD-ROM)或其他光盘存储器、磁盘存储器、磁带存储器、或者能够用于携带或存储数据的计算机可读的任何其他介质。A person of ordinary skill in the art can understand that all or part of the steps in the various methods of the above-mentioned embodiments can be completed by a program instructing relevant hardware. The program can be stored in a computer-readable storage medium. The storage medium includes read-only Memory (Read-Only Memory, ROM), Random Access Memory (RAM), Programmable Read-only Memory (PROM), Erasable Programmable Read Only Memory, EPROM), One-time Programmable Read-Only Memory (OTPROM), Electronically-Erasable Programmable Read-Only Memory (EEPROM), CD-ROM (Compact Disc) Read-Only Memory, CD-ROM) or other optical disk storage, magnetic disk storage, tape storage, or any other computer-readable medium that can be used to carry or store data.

以上对本发明实施例公开的一种车辆的换道方法和装置进行了详细介绍，本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本发明的限制。The above describes in detail a vehicle lane changing method and device disclosed in the embodiments of the present invention. Specific examples are used in this article to illustrate the principles and implementation of the present invention. The description of the above embodiments is only used to help understand the present invention. The method of the invention and its core idea; at the same time, for those of ordinary skill in the art, according to the idea of the invention, there will be changes in the specific implementation and the scope of application. In summary, the content of this specification should not be understood To limit the present invention.

Claims

一种车辆的换道方法，应用于自动驾驶，其特征在于，包括：A vehicle lane changing method, applied to automatic driving, is characterized in that it includes:

在当前车辆需要进行换道时，如果判断出当前车辆不可变换到相邻车道，则判断所述相邻车道上是否存在与当前车辆同向行驶且相对运行状态符合第一设定条件的后车，其中，所述相对运行状态包括相对速度和相对距离；When the current vehicle needs to change lanes, if it is determined that the current vehicle cannot change to an adjacent lane, then determine whether there is a following vehicle in the adjacent lane that is driving in the same direction as the current vehicle and whose relative operating state meets the first set condition , Wherein the relative operating state includes relative speed and relative distance;

如果存在所述后车，则确定当前车辆在换道前需要靠近目标车道线的目标位移，其中，所述目标车道线为当前车道与其相邻车道之间的车道线；If there is the following vehicle, determine that the current vehicle needs to approach the target displacement of the target lane line before changing lanes, where the target lane line is the lane line between the current lane and its adjacent lanes;

控制当前车辆按照所述目标位移执行靠近目标车道线的贴线操作，并在所述贴线操作完成后，如果判断出当前车辆可变换到所述相邻车道，则控制当前车辆进行换道。Control the current vehicle to execute a line-applied operation close to the target lane line according to the target displacement, and after the line-applied operation is completed, if it is determined that the current vehicle can change to the adjacent lane, control the current vehicle to change lanes.
根据权利要求1所述的方法，其特征在于，所述确定当前车辆在换道前需要靠近目标车道线的目标位移，包括：The method according to claim 1, wherein the determining the target displacement that the current vehicle needs to approach the target lane line before changing lanes comprises:

检测所述相邻车道上是否存在除所述后车外，与当前车辆的相对运行状态符合第二设定条件的其他车辆；Detecting whether there are other vehicles on the adjacent lanes other than the following vehicle whose relative operating state with the current vehicle meets the second set condition;

如果存在所述其他车辆，则根据当前车辆的运行状态、当前车辆所在当前车道的宽度以及所述其他车辆距离所述当前车道的横向距离，确定当前车辆在换道前需要靠近目标车道线的目标位移。If the other vehicle exists, determine the target that the current vehicle needs to approach the target lane line before changing lanes according to the current vehicle's operating state, the width of the current lane where the current vehicle is located, and the lateral distance of the other vehicle from the current lane Displacement.
根据权利要求1所述的方法，其特征在于，所述确定当前车辆在换道前需要靠近目标车道线的目标位移，包括：The method according to claim 1, wherein the determining the target displacement that the current vehicle needs to approach the target lane line before changing lanes comprises:

检测所述相邻车道上是否存在除所述后车外，与当前车辆的相对运行状态符合第二设定条件的其他车辆；Detecting whether there are other vehicles on the adjacent lanes other than the following vehicle whose relative operating state with the current vehicle meets the second set condition;

如果不存在所述其他车辆，则根据当前车辆的运行状态和当前车辆所在当前车道的宽度，确定当前车辆在换道前需要靠近目标车道线的目标位移。If the other vehicle does not exist, then according to the current operating state of the vehicle and the width of the current lane where the current vehicle is located, determine the target displacement of the current vehicle that needs to approach the target lane line before changing lanes.
根据权利要求1所述的方法，其特征在于，所述方法还包括：The method of claim 1, wherein the method further comprises:

如果不存在所述后车，则保持当前车辆在当前车道上的运行状态。If there is no following vehicle, the running state of the current vehicle on the current lane is maintained.
根据权利要求1-4任一所述的方法，其特征在于，所述方法还包括：The method according to any one of claims 1-4, wherein the method further comprises:

在所述贴线操作完成后，如果判断出当前车辆仍不可变换到所述相邻车道，则保持当前车辆按照所述目标位移靠近所述目标车道线的运行状态。After the line attaching operation is completed, if it is determined that the current vehicle still cannot change to the adjacent lane, the operating state of the current vehicle approaching the target lane line according to the target displacement is maintained.
根据权利要求1-5任一所述的方法，其特征在于，所述判断出当前车辆不可变换到相邻车道，包括：The method according to any one of claims 1-5, wherein the judging that the current vehicle cannot be changed to an adjacent lane comprises:

根据当前车辆、所述后车和所述其他车辆的相对运行状态，判断当前车辆与所述后车、所述其他车辆是否会发生碰撞；Judging whether the current vehicle will collide with the following vehicle or the other vehicle according to the relative operating status of the current vehicle, the following vehicle and the other vehicle;

如果会发生碰撞，则确定当前车辆不可变换到相邻车道。If a collision occurs, it is determined that the current vehicle cannot change to an adjacent lane.
一种车辆的换道装置，应用于自动驾驶，其特征在于，包括：A lane-changing device for vehicles, applied to automatic driving, characterized in that it includes:

后车判断模块，被配置为在当前车辆需要进行换道时，如果判断出当前车辆不可变换到相邻车道，则判断所述相邻车道上是否存在与当前车辆同向行驶且相对运行状态符合第一设定条件的后车，其中，所述相对运行状态包括相对速度和相对距离；The following vehicle determination module is configured to determine whether the current vehicle is driving in the same direction as the current vehicle and the relative operating state is consistent with the current vehicle if it is determined that the current vehicle cannot be changed to an adjacent lane when the current vehicle needs to change lanes The following vehicle under the first set condition, wherein the relative operating state includes a relative speed and a relative distance;

目标位移确定模块，被配置为如果存在所述后车，则确定当前车辆在换道前需要靠近目标车道线的目标位移，其中，所述目标车道线为当前车道与其相邻车道之间的车道线；The target displacement determining module is configured to determine the target displacement of the current vehicle that needs to approach a target lane line before changing lanes if the following vehicle exists, wherein the target lane line is the lane between the current lane and its adjacent lanes line;

换道模块，被配置为控制当前车辆按照所述目标位移执行靠近目标车道线的贴线操作，并在所述贴线操作完成后，如果判断出当前车辆可变换到所述相邻车道，则控制当前车辆进行换道。The lane-changing module is configured to control the current vehicle to perform a line-sticking operation close to the target lane line according to the target displacement, and after the line-sticking operation is completed, if it is determined that the current vehicle can change to the adjacent lane, then Control the current vehicle to change lanes.
根据权利要求7所述的装置，其特征在于，所述目标位移确定模块，具体被配置为：The device according to claim 7, wherein the target displacement determining module is specifically configured to:

检测所述相邻车道上是否存在除所述后车外，与当前车辆的相对运行状态符合第二设定条件的其他车辆；Detecting whether there are other vehicles on the adjacent lanes other than the following vehicle whose relative operating state with the current vehicle meets the second set condition;

如果存在所述其他车辆，则根据当前车辆的运行状态、当前车辆所在当前车道的宽度以及所述其他车辆距离所述当前车道的横向距离，确定当前车辆在换道前需要靠近目标车道线的目标位移。If the other vehicle exists, determine the target that the current vehicle needs to approach the target lane line before changing lanes according to the current vehicle's operating state, the width of the current lane where the current vehicle is located, and the lateral distance of the other vehicle from the current lane Displacement.
根据权利要求7所述的装置，其特征在于，所述目标位移确定模块，具体被配置为：The device according to claim 7, wherein the target displacement determining module is specifically configured to:

检测所述相邻车道上是否存在除所述后车外，与当前车辆的相对运行状态符合第二设定条件的其他车辆；Detecting whether there are other vehicles on the adjacent lanes other than the following vehicle whose relative operating state with the current vehicle meets the second set condition;

如果不存在所述其他车辆，则根据当前车辆的运行状态和当前车辆所在当前车道的宽度，确定当前车辆在换道前需要靠近目标车道线的目标位移。If the other vehicle does not exist, then according to the current operating state of the vehicle and the width of the current lane where the current vehicle is located, determine the target displacement of the current vehicle that needs to approach the target lane line before changing lanes.
根据权利要求7所述的装置，其特征在于，所述装置还包括：The device according to claim 7, wherein the device further comprises:

贴线状态保持模块，被配置为在所述贴线操作完成后，如果判断出当前车辆仍不可变换到所述相邻车道，则保持当前车辆按照所述目标位移靠近所述目标车道线的运行状态。The tracking state maintaining module is configured to maintain the current vehicle running close to the target lane line according to the target displacement if it is determined that the current vehicle is still unable to change to the adjacent lane after the alignment operation is completed status.