WO2024016733A1 - 车辆变道方法、装置及电子设备、存储介质 - Google Patents

车辆变道方法、装置及电子设备、存储介质 Download PDF

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Publication number
WO2024016733A1
WO2024016733A1 PCT/CN2023/086076 CN2023086076W WO2024016733A1 WO 2024016733 A1 WO2024016733 A1 WO 2024016733A1 CN 2023086076 W CN2023086076 W CN 2023086076W WO 2024016733 A1 WO2024016733 A1 WO 2024016733A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
roadside
overlapping area
lane
roadside rsu
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Application number
PCT/CN2023/086076
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English (en)
French (fr)
Inventor
冀英超
高杰
Original Assignee
智道网联科技(北京)有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 智道网联科技(北京)有限公司 filed Critical 智道网联科技(北京)有限公司
Publication of WO2024016733A1 publication Critical patent/WO2024016733A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle

Definitions

  • the present disclosure relates to the technical field of vehicle-road collaboration, and in particular, to a vehicle lane changing method, device, electronic equipment, and storage medium.
  • the present disclosure provides vehicle lane changing methods, devices, electronic devices, and storage media to improve collaboration efficiency and safety during the collaboration process.
  • the present disclosure provides a vehicle lane changing method, which is used on the vehicle side.
  • the method includes: initiating a collaborative lane changing request to a roadside RSU (Road Side Unit) device, and the roadside RSU device is preset Coverage area; when the vehicle is located in an overlapping area of multiple coverage areas, select any roadside RSU device in the overlapping area, and/or select a target roadside RSU device that matches the vehicle's driving intention; according to the selected Guidance information from roadside RSU equipment to complete vehicle lane changing.
  • a roadside RSU Roadside RSU
  • the present disclosure also provides a vehicle lane changing method, wherein, for the roadside end, a coverage area is preset on each roadside RSU device, and the method includes: receiving a cooperative lane changing request initiated by at least one requesting vehicle; When it is detected that the requesting vehicle is located in an overlapping area of multiple preset coverage areas, based on any roadside RSU device in the overlapping area and/or the target road matching the driving intention of the requesting vehicle, The side RSU device sends guidance information to the requesting vehicle to cause the requesting vehicle to change lanes through cooperation.
  • the vehicle is located in an overlapping area of multiple preset coverage areas, which further includes:
  • RSU equipment including:
  • a target roadside RSU device that matches the vehicle's driving intention is selected.
  • RSU equipment including:
  • the method further includes:
  • DSA DSRC Service Advertisement
  • the execution process After replying to the confirmation message, the execution process is entered, and execution information is periodically sent to the roadside RSU device;
  • lane change completion information is sent to the roadside RSU device.
  • the present disclosure also provides a vehicle lane changing device, wherein, for use on the vehicle side, the device includes: a lane change initiation module that initiates a collaborative lane change request to a roadside RSU device, which has a preset coverage area; A roadside RSU device selection module, configured to select any roadside RSU device in the overlapping area when the vehicle is located in an overlapping area of multiple coverage areas, and/or select a target road that matches the vehicle's driving intention. Side RSU equipment; lane changing module, used to complete vehicle lane changing based on the guidance information of the selected roadside RSU equipment.
  • the influencing vehicles that affect the lane change of the requesting vehicle in the following manner:
  • the vehicle in the preset influence area of the target lane is used as the influencing vehicle of the requesting vehicle;
  • the vehicle that is in front of the preset influence area of the target lane and decelerates is used as the influencing vehicle of the requesting vehicle;
  • the vehicle that is behind the preset influence area of the target lane and accelerates is used as the influencing vehicle of the requesting vehicle.
  • the present disclosure also provides an electronic device, including: a processor; and a memory arranged to store computer-executable instructions, which when executed cause the processor to perform the above method.
  • the present disclosure also provides a computer-readable storage medium that stores one or more programs that, when executed by an electronic device including a plurality of application programs, cause the electronic device to The device performs the above method.
  • Figure 1 is a schematic flowchart of a vehicle lane changing method in an embodiment of the present disclosure
  • Figure 2 is a schematic diagram of the impact of vehicle lane changing on vehicles in a vehicle lane changing method in an embodiment of the present disclosure
  • Figure 3(a) is a schematic diagram of the overlapping coverage area of roadside RSU equipment in a vehicle lane changing method in an embodiment of the present disclosure
  • Figure 3(b) is a schematic diagram of the overlapping coverage area of roadside RSU equipment in a vehicle lane changing method in an embodiment of the present disclosure
  • Figure 4 is a schematic flowchart of a vehicle lane changing method in an embodiment of the present disclosure
  • Figure 5 is a schematic structural diagram of a vehicle lane changing device in an embodiment of the present disclosure.
  • FIG. 6 is a schematic structural diagram of an electronic device in an embodiment of the present disclosure.
  • the vehicle lane changing method in the embodiment of the present disclosure consists of a requesting vehicle and a roadside sensing system.
  • the requesting vehicle will be described in detail below with the requesting vehicle as the cooperative execution subject.
  • the embodiment of the present disclosure provides a vehicle lane changing method. As shown in Figure 1, a schematic flow chart of the vehicle lane changing method in the embodiment of the present disclosure is provided. The method at least includes the following steps S110 to S130:
  • Step S110 Initiate cooperative lane change requests to multiple roadside RSU devices, each of which has a preset coverage area.
  • the vehicle side includes but is not limited to vehicles with autonomous driving capabilities or vehicles without autonomous driving capabilities, and is not specifically limited in the embodiments of the present disclosure.
  • each of the roadside RSU devices includes a preset coverage area. There are overlapping coverage areas between preset coverage areas. When a vehicle is in an overlapping coverage area, it is necessary to select the corresponding roadside RSU device for interaction.
  • trigger collaborative lane change on the vehicle side to obtain the vehicle's own lane change intention including but not limited to turn signals, steering wheel angle, wheel angle, and wire control. Trigger, etc.
  • Step S120 When the vehicle is located in an overlapping area of multiple preset coverage areas, select any roadside RSU device in the overlapping area, and/or select a target roadside RSU device that matches the vehicle's driving intention.
  • the intersection of two RSUs is the overlapping area of the preset coverage areas.
  • the requesting vehicle is covered by the area covered by RSU1 and RSU2.
  • any roadside RSU device in the overlapping area can be selected.
  • the vehicle since the vehicle is in an overlapping area of the preset coverage areas, it can be Covers any roadside RSU device interaction within the overlapping area.
  • a target roadside RSU device that matches the vehicle's driving intention can also be selected.
  • the vehicle may be about to enter or exit the preset coverage area.
  • the overlapping area can interact with the target roadside RSU device that matches the vehicle's driving intention within the overlapping area.
  • the roadside RSU2 device and the roadside RSU1 device that match the vehicle's driving intention are entered from the coverage area of the roadside RSU2 device. coverage area, choose to interact with the roadside RSU2 device.
  • the vehicle's driving intention matches the coverage area of the roadside RSU2 device and is about to drive out of the overlapping area into the separate coverage area of the roadside RSU2 device, then it chooses to interact with the roadside RSU2 device.
  • Step S130 Complete the vehicle lane change according to the guidance information of the selected roadside RSU device.
  • the vehicle lane change is completed based on the guidance information of the roadside RSU device in the above filtering results.
  • a lane change request is sent to the corresponding roadside RSU device and waits for a response from the roadside RSU device.
  • the vehicle responds with a confirmation message.
  • the vehicle After the vehicle enters the execution process, it periodically sends execution information to the roadside RSU device.
  • the vehicle terminal completes the lane change process, it sends lane change completion information.
  • the vehicle end can send cancellation cooperation information in each of the above processes to end this collaborative lane change.
  • the vehicle is located in an overlapping area of multiple preset coverage areas, which further includes: determining whether the vehicle is located in an overlapping area of multiple preset coverage areas based on the current location of the vehicle; Alternatively, it is determined according to the vehicle's driving intention whether the vehicle is about to drive out of or out of an overlapping area of multiple preset coverage areas.
  • the vehicle it is necessary to determine whether the vehicle is located in an overlapping area of multiple preset coverage areas based on the current location of the vehicle. It can be understood that the current location of the vehicle can be determined based on the vehicle's positioning information.
  • the vehicle's driving intention includes but is not limited to judging based on the vehicle's driving entry area, vehicle heading angle, vehicle current speed, etc.
  • the above two situations may switch to each other in real time. Depending on the current speed of the vehicle, both may occur, or only one situation may occur.
  • the vehicle After the vehicle leaves the non-overlapping coverage area, it will select the roadside RSU that supports the V2I collaborative lane change service, send a lane change request to the roadside RSU, and wait for the RSU's response.
  • the vehicle After the vehicle enters the overlapping coverage area again, it needs to perform any one or more of the above strategies based on the location of the overlapping coverage area where the vehicle is located when the collaboration request is initiated.
  • the matching target roadside RSU equipment includes: judging whether the vehicle is located in an overlapping area of multiple preset coverage areas according to the current position of the vehicle; if so, sending cooperation to any roadside RSU equipment in the overlapping area. Lane change request; if multiple roadside RSU devices are received, select the target roadside RSU device that matches the vehicle's driving intention.
  • the requesting vehicle determines that the vehicle is about to enter the coverage area of RSU2 based on the location information and calibration coverage carried in the broadcast information of RSU1 and RSU2, and based on the heading angle of its own vehicle. At this time, the requesting vehicle sends lane change request information to RSU1 and RSU2 at the same time. When either RSU sends guidance information, the requesting vehicle can perform a cooperative lane change operation. When the requesting vehicle first receives the guidance information sent by RSU2, regardless of whether RSU1 sends the guidance information, the requesting vehicle actively ends the cooperation process with RSU1. That is to say, if it is received that there are multiple roadside RSU devices, the target roadside RSU device that matches the vehicle's driving intention is selected, and the interaction with the roadside RSU device that does not match the vehicle's driving intention is terminated.
  • the matching target roadside RSU device includes: judging whether the vehicle is about to drive out of the overlapping area of multiple preset coverage areas according to the vehicle's driving intention; if so, sending the target roadside that matches the vehicle's driving intention.
  • the RSU device sends a cooperative lane change request; if it is received that the target roadside RSU device includes multiple, it switches from receiving the target roadside RSU device when it has not driven out of the overlapping area of multiple preset coverage areas to receiving all the target roadside RSU devices. Any roadside RSU device in the overlapping area.
  • the method when the vehicle is not located in an overlapping area of multiple preset coverage areas, the method includes determining based on the vehicle's driving intention that the vehicle is about to enter multiple locations when it starts to change lanes. For the overlapping area of the coverage area described above, the requesting vehicle starts the cooperative lane change within the coverage of the target roadside RSU equipment. During the lane change process, it drives to the target roadside RSU equipment and the next target roadside RSU equipment covers the overlapping area. .
  • the requesting vehicle determines that the vehicle is about to enter the coverage area of the next target roadside RSU equipment, and automatically initiates a collaborative approach to the next target roadside RSU equipment. Lane change request.
  • the lane changing operation continues to be performed relying on the guidance information of the target roadside RSU device.
  • the lane change cooperation process of the target roadside RSU device is automatically ended, and the collaborative switching of the two RSU coverage areas is completed.
  • the requesting vehicle determines that the vehicle is about to enter the coverage of RSU2, and automatically initiates a collaborative lane change request to RSU2.
  • the request process of RSU2 it continues to rely on the boot information of RSU1 to perform the lane change operation.
  • the target roadside RSU device is switched from receiving the target roadside RSU device when it has not left the overlapping area of multiple preset coverage areas to receiving the target roadside RSU device in the overlapping area.
  • Any roadside RSU equipment can complete smooth switching in different coverage areas.
  • the method when the vehicle is located in the preset coverage area and there is no overlapping area, the method further includes: filtering out the DSA service tables that support the preset collaboration based on the DSA service tables of other vehicles within the preset range.
  • the roadside RSU equipment of the lane changing service sends a lane changing request to the roadside RSU equipment, and after receiving the request response from the roadside RSU equipment, replies with confirmation information; after replying with the confirmation information, enters the execution process, and periodically sends a request to the roadside RSU equipment.
  • the roadside RSU device sends execution information; after completing the lane change process, it sends lane change completion information to the roadside RSU device.
  • roadside RSU devices that support the V2I cooperative lane changing service are screened out based on the DSA service tables of surrounding vehicles. After that, it sends a lane change request to the roadside RSU device, and after receiving the request response from the roadside RSU device, it replies with a confirmation message; after replying the confirmation message from the vehicle end, it enters an execution process and periodically sends a request to the roadside RSU device.
  • the RSU device sends execution information, that is, synchronizes the execution information in real time during the lane change process; after the vehicle end executes and completes the lane change process, it sends lane change completion information to the roadside RSU device.
  • the embodiment of the present disclosure also provides a vehicle lane changing method.
  • a schematic flow chart of the vehicle lane changing method in the embodiment of the present disclosure is provided.
  • the method at least includes the following steps S410 to S420: wherein, using At the roadside end, a coverage area is preset for each roadside RSU device.
  • the method includes:
  • Step S410 receive a cooperative lane change request initiated by at least one requesting vehicle
  • Step S420 When it is detected that the requesting vehicle is located in an overlapping area of multiple coverage areas, based on any roadside RSU device in the overlapping area and/or a target matching the driving intention of the requesting vehicle The roadside RSU device sends guidance information to the requesting vehicle to cause the requesting vehicle to change lanes through cooperation.
  • the coverage range of the roadside RSU device is calibrated according to the sensing range of the roadside sensing system, and no response is received when vehicle requests outside the calibrated range are received.
  • the roadside RSU equipment will uniformly guide the requesting vehicle and the affected vehicle according to the requesting vehicle's lane change request to cooperate with the requesting vehicle to complete the lane changing process.
  • Guidance information is sent to the requesting vehicle according to any roadside RSU device in the overlapping area and/or a target roadside RSU device matching the driving intention of the requesting vehicle. This needs to be determined based on the location in the coverage area where the current vehicle is currently located.
  • the method further includes screening the influencing vehicles that affect the lane change of the requesting vehicle in the following manner: when the vehicle distance in front of the requesting vehicle in the same lane is The requesting vehicle is less than the preset distance and is decelerating, as the influencing vehicle of the requesting vehicle; and/or, when located at the requesting vehicle The vehicle behind the requesting vehicle in the same lane, which is less than the preset distance from the requesting vehicle and is accelerating, serves as the influencing vehicle of the requesting vehicle; and/or, when the vehicle is located in the target lane of the requesting vehicle's lane change, it is in the target lane predetermined distance.
  • vehicles within the influence area are regarded as the influencing vehicles of the requesting vehicle; and/or, when the vehicle is located in the target lane of the requesting vehicle's lane change, the vehicle that is in front of the preset influence area of the target lane and decelerates is used as the requesting vehicle.
  • the influencing vehicle of the vehicle; and/or, when the vehicle is located in the lane change target lane of the requesting vehicle, the vehicle that is behind the preset influence area of the target lane and accelerates is the influencing vehicle of the requesting vehicle.
  • the requesting vehicle includes at least one. After receiving the lane change request sent by the requesting vehicle in at least one of the roadside RSU devices, the vehicle information that affects the requesting vehicle's lane change is screened; the vehicle located in front of the requesting vehicle in the same lane, The distance to the requesting vehicle is less than the preset distance, and when decelerating, it is determined to be an influencing vehicle; the vehicle located behind the requesting vehicle in the same lane, the distance to the requesting vehicle is less than the preset distance, and when accelerating, it is determined to be an influencing vehicle; the vehicle located behind the requesting vehicle changes lanes Vehicles in the target lane that are within the preset influence area of the target lane are judged to be influencing vehicles; vehicles that are in the target lane of the requesting vehicle to change lanes are in front of the target lane's preset influence area and are slowing down, and are judged to be influencing vehicles; A vehicle located in the target lane of the requesting vehicle to change lanes,
  • the embodiment of the present disclosure also provides a vehicle lane changing device 500.
  • a schematic structural diagram of the vehicle lane changing device in the embodiment of the present disclosure is provided.
  • the vehicle lane changing device 500 at least includes: a lane change initiation module 510; Roadside RSU equipment selection module 520 and lane changing module 530, where:
  • the lane change initiation module 510 is specifically configured to initiate a collaborative lane change request to a roadside RSU device, which has a preset coverage area.
  • the vehicle side includes but is not limited to vehicles with autonomous driving capabilities or vehicles without autonomous driving capabilities, and is not specifically limited in the embodiments of the present disclosure.
  • each of the roadside RSU devices has a preset coverage area. There are overlapping coverage areas between preset coverage areas. When a vehicle is in an overlapping coverage area, it is necessary to select the corresponding roadside RSU device for interaction.
  • trigger collaborative lane change on the vehicle side to obtain the vehicle's own lane change intention including but not limited to turn signals, steering wheel angle, wheel angle, and wire control. Trigger, etc.
  • the roadside RSU device selection module 520 is specifically configured to: when a vehicle is located in an overlapping area of multiple coverage areas, select any roadside RSU device in the overlapping area. , and/or select the target roadside RSU device that matches the vehicle's driving intention.
  • the intersection of two RSUs is the overlapping area of the preset coverage areas.
  • the requesting vehicle drives from the RSU1 coverage area into the RSU2 coverage area.
  • the overlapping area can be selected Any roadside RSU device in the domain, that is to say, since the vehicle is in the overlapping area of the preset coverage area, it can interact with any roadside RSU device within the coverage overlapping area.
  • a target roadside RSU device that matches the vehicle's driving intention can also be selected.
  • the vehicle may be about to enter or exit the preset coverage area.
  • the overlapping area can interact with the target roadside RSU device that matches the vehicle's driving intention within the overlapping area.
  • the vehicle's driving intention matches the coverage area of the roadside RSU2 device and is about to enter the overlapping area and enter the roadside RSU2 device, roadside If the coverage area of the side RSU1 device is limited, choose to interact with the roadside RSU2 device.
  • the vehicle's driving intention matches the coverage area of the roadside RSU2 device and is about to leave the overlapping area and enter the separate coverage area of the roadside RSU2 device, then it chooses to interact with the roadside RSU2 device.
  • the lane changing module 530 is specifically configured to complete the vehicle lane changing according to the guidance information of the selected roadside RSU device.
  • the vehicle lane change is completed based on the guidance information of the roadside RSU device in the above filtering results.
  • a lane change request is sent to the corresponding roadside RSU device and waits for a response from the roadside RSU device.
  • the vehicle responds with a confirmation message.
  • the vehicle After the vehicle enters the execution process, it periodically sends execution information to the roadside RSU device.
  • the vehicle terminal completes the lane change process, it sends lane change completion information.
  • the vehicle end can send cancellation cooperation information in each of the above processes to end this collaborative lane change.
  • vehicle lane-changing device can implement each step of the vehicle lane-changing method provided in the aforementioned embodiments.
  • the relevant explanations about the vehicle lane-changing method are applicable to the vehicle lane-changing device, and will not be described again here.
  • FIG. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure.
  • the electronic device includes a processor and optionally an internal bus, a network interface, and a memory.
  • the memory may include memory, such as high-speed random access memory (Random-Access Memory, RAM), or may also include non-volatile memory (non-volatile memory), such as at least one disk memory.
  • RAM random access memory
  • non-volatile memory such as at least one disk memory.
  • the electronic equipment may also include other hardware required by the business.
  • the processor, network interface and memory can be connected to each other through an internal bus, which can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect, a peripheral component interconnect standard) bus or an EISA (Extended Industry Standard Architecture, extended industrial standard architecture) bus, etc.
  • the bus can be divided into address bus, data bus, control bus, etc. For ease of presentation, only one bidirectional arrow is used in Figure 6, but it does not mean that there is only one bus or one type of bus.
  • Memory used to store programs.
  • a program may include program code including computer operating instructions.
  • Memory may include internal memory and non-volatile memory and provides instructions and data to the processor.
  • the processor reads the corresponding computer program from the non-volatile memory into the memory and then runs it, at the logical level Form a vehicle lane changing device.
  • the processor executes the program stored in the memory and is specifically used to perform the following operations:
  • any roadside RSU device forming the overlapping area select any roadside RSU device forming the overlapping area, and/or select a target roadside RSU device that matches the vehicle's driving intention;
  • the method performed by the vehicle lane changing device disclosed in the embodiment shown in FIG. 1 of the present disclosure can be applied to a processor or implemented by the processor.
  • the processor may be an integrated circuit chip that has signal processing capabilities.
  • each step of the above method can be completed by instructions in the form of hardware integrated logic circuits or software in the processor.
  • the above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (Network Processor, NP), etc.; it can also be a digital signal processor (Digital Signal Processor, DSP), special integrated Circuit (Application Specific Integrated Circuit, ASIC), Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.
  • a general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.
  • the steps of the method disclosed in conjunction with the embodiments of the present disclosure can be directly embodied as executed by a hardware decoding processor, or executed using a combination of hardware and software modules in the decoding processor.
  • the software module can be located in random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, registers and other mature storage media in this field.
  • the storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.
  • the electronic device can also perform the method performed by the vehicle lane changing device in Figure 1, and realize the functions of the vehicle lane changing device in the embodiment shown in Figure 1.
  • the embodiments of the present disclosure will not be described in detail here.
  • Embodiments of the present disclosure also provide a computer-readable storage medium that stores one or more programs, the one or more programs include instructions, and the instructions when executed by an electronic device including multiple application programs When, the electronic device can be caused to perform the method performed by the vehicle lane changing device in the embodiment shown in Figure 1, and is specifically used to perform:
  • any roadside RSU device in the overlapping area select any roadside RSU device in the overlapping area, and/or select a target roadside RSU device that matches the vehicle's driving intention;
  • embodiments of the present disclosure may be provided as methods, systems, or computer program products. Accordingly, the disclosure may take the form of an entirely hardware implementation, an entirely software implementation, or an implementation combining software and hardware aspects. Furthermore, the present disclosure may employ computer-usable program code embodied therein in one or more In the form of a computer program product implemented on a computer-usable storage medium (including but not limited to disk storage, CD-ROM, optical storage, etc.).
  • a computer-usable storage medium including but not limited to disk storage, CD-ROM, optical storage, etc.
  • These computer program instructions may also be stored in a computer-readable memory that causes a computer or other programmable data processing apparatus to operate in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction means, the instructions
  • the device implements the functions specified in a process or processes of the flowchart and/or a block or blocks of the block diagram.
  • These computer program instructions may also be loaded onto a computer or other programmable data processing device, causing a series of operating steps to be performed on the computer or other programmable device to produce computer-implemented processing, thereby executing on the computer or other programmable device.
  • Instructions provide steps for implementing the functions specified in a process or processes of a flowchart diagram and/or a block or blocks of a block diagram.
  • a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
  • processors CPUs
  • input/output interfaces network interfaces
  • memory volatile and non-volatile memory
  • Memory may include non-permanent storage in computer-readable media, random access memory (RAM) and/or non-volatile memory in the form of read-only memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.
  • RAM random access memory
  • ROM read-only memory
  • flash RAM flash random access memory
  • Computer-readable media includes both persistent and non-volatile, removable and non-removable media that can be implemented by any method or technology for storage of information.
  • Information may be computer-readable instructions, data structures, modules of programs, or other data.
  • Examples of computer storage media 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), and read-only memory.
  • PRAM phase change memory
  • SRAM static random access memory
  • DRAM dynamic random access memory
  • RAM random access memory
  • read-only memory read-only memory
  • ROM read-only memory
  • EEPROM electrically erasable programmable read-only memory
  • flash memory or other memory technology
  • compact disc read-only memory CD-ROM
  • DVD digital versatile disc
  • Magnetic tape cassettes tape magnetic disk storage or other magnetic storage devices or any other non-transmission medium can be used to store information that can be accessed by a computing device.
  • computer-readable media does not include transitory media, such as modulated data signals and carrier waves.
  • embodiments of the present disclosure may be provided as methods, systems, or computer program products. Accordingly, the disclosure may take the form of an entirely hardware implementation, an entirely software implementation, or an implementation combining software and hardware aspects. Furthermore, the present disclosure may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
  • computer-usable storage media including, but not limited to, disk storage, CD-ROM, optical storage, etc.

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Abstract

一种车辆变道方法、装置及电子设备、存储介质，方法包括向路侧RSU设备发起协作变道请求，路侧RSU设备预设覆盖区域；在车辆位于多个覆盖区域的重叠区域的情况下，选择重叠区域的任意路侧RSU设备，和/或选择与车辆行驶意图匹配的目标路侧RSU设备；根据所选路侧RSU设备的引导信息，完成车辆变道。

Description

车辆变道方法、装置及电子设备、存储介质
相关申请的交叉引用
本公开要求于2022年07月21日提交中国专利局的申请号为CN202210864049.6、名称为“车辆变道方法、装置及电子设备、存储介质”的中国专利申请的优先权，其全部内容通过引用结合在本公开中。
技术领域
本公开涉及车路协同技术领域，尤其涉及一种车辆变道方法、装置及电子设备、存储介质。
背景技术
车辆行驶过程中，变换车道时，周围车辆的行驶状态影响车辆变道过程，驾驶员判断不准确，导致交通事故发生的概率很高。
相关技术中，将车辆的变道意图通过通知其他车，并与影响变道的车辆进行协商。然而，仍会出现其他车无法协作配合或者响应不及时的问题。
发明内容
本公开提供了车辆变道方法、装置及电子设备、存储介质，以提高协作效率以及协作过程中的安全性。
本公开提供一种车辆变道方法，其中，用于车辆端，所述方法包括：向路侧RSU(Road Side Unit，路侧单元)设备发起协作变道请求，所述路侧RSU设备预设覆盖区域；在车辆位于多个所述覆盖区域的重叠区域的情况下，选择所述重叠区域的任意路侧RSU设备，和/或选择与车辆行驶意图匹配的目标路侧RSU设备；根据所选路侧RSU设备的引导信息，完成车辆变道。
本公开还提供一种车辆变道方法，其中，用于路侧端，在每个所述路侧RSU设备预设覆盖区域，所述方法包括：接收至少一个请求车发起的协作变道请求；在检测到所述请求车位于多个所述预设覆盖区域的重叠区域的情况下，根据所述重叠区域中的任意路侧RSU设备，和/或与所述请求车行驶意图匹配的目标路侧RSU设备，向所述请求车发送引导信息，以通过协作使所述请求车变道。
可选地，所述车辆位于多个所述预设覆盖区域的重叠区域，还包括：
根据所述车辆当前位置判断车辆是否位于多个所述预设覆盖区域的重叠区域；
或者，
根据所述车辆行驶意图判断车辆开启变道时是否即将驶出多个所述覆盖区域的重叠区域。
可选地，所述在车辆位于多个所述预设覆盖区域的重叠区域的情况下，选择所述重叠区域中的任意路侧RSU设备，和/或选择与车辆行驶意图匹配的目标路侧RSU设备，包括：
根据所述车辆当前位置判断车辆是否位于多个所述预设覆盖区域的重叠区域；
如果是，则向所述重叠区域中的任意路侧RSU设备发送协作变道请求；
如果接收到所述路侧RSU设备包括多个，则选择与所述车辆行驶意图匹配的目标路侧RSU设备。
可选地，所述在车辆位于多个所述预设覆盖区域的重叠区域的情况下，选择所述重叠区域中的任意路侧RSU设备，和/或选择与车辆行驶意图匹配的目标路侧RSU设备，包括：
根据所述车辆行驶意图判断车辆是否即将驶出多个所述预设覆盖区域的重叠区域；
如果是，则向与车辆行驶意图匹配的所述目标路侧RSU设备发送协作变道请求；
如果接收到所述目标路侧RSU设备包括多个，则从接收未驶出多个所述预设覆盖区域的重叠区域时的目标路侧RSU设备切换为接收所述重叠区域中的任意路侧RSU设备。
可选地，在在车辆位于所述预设覆盖区域未出现重叠区域的情况下，所述方法还包括：
根据预设范围内其他车辆的DSA(DSRC Sevice Advertisement)专用短程通信业务公告服务表，筛选出支持预设协作变道业务的路侧RSU设备；
向所述路侧RSU设备发送变道请求，并接收所述路侧RSU设备的请求响应后，回复确认信息；
回复确认信息之后进入执行流程，周期性地向所述路侧RSU设备发送执行信息；
执行完成变道流程后，向所述路侧RSU设备发送变道完成信息。
本公开还提供一种车辆变道装置，其中，用于车辆端，所述装置包括：变道发起模块，向路侧RSU设备发起协作变道请求，所述路侧RSU设备预设覆盖区域；路侧RSU设备选择模块，用于在车辆位于多个所述覆盖区域的重叠区域的情况下，选择所述重叠区域中的任意路侧RSU设备，和/或选择与车辆行驶意图匹配的目标路侧RSU设备；变道模块，用于根据所选路侧RSU设备的引导信息，完成车辆变道。
可选地，接收多个车辆发起的协作变道请求之后，还包括按照如下方式筛选影响所述请求车变道的影响车辆：
当位于所述请求车同车道前方的车辆距离所述请求车小于预设距离并且在减速时，作为所述请求车的影响车辆；
和/或，当位于所述请求车同车道后方的车辆，距离请求车小于预设距离并且在加速时，作为所述请求车的影响车辆；
和/或，当位于所述请求车变道目标车道的车辆，处于目标车道预设影响区域内的车辆，作为所述请求车的影响车辆；
和/或，当位于所述请求车变道目标车道的车辆，处于目标车道预设影响区域前方且减速的车辆，作为所述请求车的影响车辆；
和/或，当位于所述请求车变道目标车道的车辆，处于目标车道预设影响区域后方且加速的车辆，作为所述请求车的影响车辆。
本公开还提供一种电子设备，包括：处理器；以及被安排成存储计算机可执行指令的存储器，所述可执行指令在被执行时使所述处理器执行上述方法。
本公开还提供一种计算机可读存储介质，所述计算机可读存储介质存储一个或多个程序，所述一个或多个程序当被包括多个应用程序的电子设备执行时，使得所述电子设备执行上述方法。
本公开采用的上述至少一个技术方案能够达到以下有益效果：
首先向多个路侧RSU设备发起协作变道请求，其次在车辆位于多个所述预设覆盖区域的重叠区域的情况下，选择所述重叠区域中的任意路侧RSU设备，和/或选择与车辆行驶意图匹配的目标路侧RSU设备。最后，根据路侧RSU设备的引导信息，完成车辆变道。通过借助多个路侧RSU设备，提高车辆变道协作的成功率的同时，提高效率和安全性。
附图说明
此处所说明的附图用来提供对本公开的进一步理解，构成本公开的一部分，本公开的示意性实施例及其说明用于解释本公开，并不构成对本公开的不当限定。在附图中：
图1为本公开实施方式中一种车辆变道方法的流程示意图；
图2为本公开实施方式中一种车辆变道方法中车辆变道影响车辆示意图；
图3(a)为本公开实施方式中一种车辆变道方法中路侧RSU设备的重叠覆盖区域示意图；
图3(b)为本公开实施方式中一种车辆变道方法中路侧RSU设备的重叠覆盖区域示意图；
图4为本公开实施方式中一种车辆变道方法的流程示意图；
图5为本公开实施方式中一种车辆变道装置的结构示意图；
图6为本公开实施方式中一种电子设备的结构示意图。
具体实施方式
为使本公开的目的、技术方案和优点更加清楚，下面将结合本公开具体实施方式及相应的附图对本公开技术方案进行清楚、完整地描述。显然，所描述的实施方式仅是本公开一部分实施方式，而不是全部的实施方式。基于本公开中的实施方式，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方式，都属于本公开保护的范围。
以下结合附图，详细说明本公开各实施方式提供的技术方案。
本公开实施方式中的车辆变道方法由请求车以及路侧感知***组成，以下以请求车作为协作执行主体进行详细说明。
本公开实施方式提供了一种车辆变道方法，如图1所示，提供了本公开实施方式中车辆变道方法流程示意图，所述方法至少包括如下的步骤S110至步骤S130：
步骤S110，向多个路侧RSU设备发起协作变道请求，每个所述路侧RSU设备预设覆盖区域。
车辆端包括但不限于具有自动驾驶能力的车辆或者非具有自动驾驶能力的车辆，在本公开的实施方式中并不进行具体限定。
在车辆端作为请求车向多个路侧RSU设备发起协作变道请求。需要注意的是，每个所述路侧RSU设备均包括了预设覆盖区域。预设覆盖区域之间存在重叠覆盖区域。当车辆在重叠覆盖区域内时，需要筛选出对应的路侧RSU设备进行交互。
可选地，在向多个路侧RSU设备发起协作变道请求之前，在车辆端触发协同变道，获取车辆自身的变道意图，包括但不限于转向灯、方向盘转角、车轮转角、线控触发等方式。
步骤S120，在车辆位于多个所述预设覆盖区域的重叠区域的情况下，选择所述重叠区域中的任意路侧RSU设备，和/或选择与车辆行驶意图匹配的目标路侧RSU设备。
判断车辆是否位于多个所述预设覆盖区域的重叠区域，对于两个RSU交界处即预设覆盖区域的重叠区域，比如请求车由RSU1覆盖区域RSU2覆盖区域。
如果判断车辆位于多个所述预设覆盖区域的重叠区域的情况下，可以选择所述重叠区域中的任意路侧RSU设备，也就说，由于车辆处于预设覆盖区域的重叠区域，可以与覆盖重叠区域范围内的任意路侧RSU设备交互。
如果判断车辆位于多个所述预设覆盖区域的重叠区域的情况下，还可以选择与车辆行驶意图匹配的目标路侧RSU设备，也就说，车辆可能处于即将进入或驶出预设覆盖区域的 重叠区域，可以与覆盖重叠区域范围内与车辆行驶意图匹配的目标路侧RSU设备交互，比如，与车辆行驶意图匹配的是从路侧RSU2设备覆盖区域进入路侧RSU2设备以及路侧RSU1设备的覆盖区域，则选择与路侧RSU2设备交互。又比如，车辆行驶意图匹配的是路侧RSU2设备覆盖区域且即将驶出重叠区域进入路侧RSU2设备单独的覆盖区域，则选择与路侧RSU2设备交互。
步骤S130，根据所选路侧RSU设备的引导信息，完成车辆变道。
如图2所示，根据上述筛选结果中的路侧RSU设备的引导信息，完成车辆变道。经过筛选之后，向对应的路侧RSU设备发送变道请求，等待路侧RSU设备响应。车辆端收到路侧RSU设备的请求响应后，回复确认信息。车辆端进入执行流程后，周期性向路侧RSU设备发送执行信息。车辆端执行完成变道流程后，发送变道完成信息。车辆端在上述各流程均可发送取消协作信息，结束本次协作变道。
在本公开的一个实施方式中，所述车辆位于多个所述预设覆盖区域的重叠区域，还包括：根据所述车辆当前位置判断车辆是否位于多个所述预设覆盖区域的重叠区域；或者，根据所述车辆行驶意图判断车辆是否即将或驶出多个所述预设覆盖区域的重叠区域。
具体实施时，需要根据所述车辆当前位置判断车辆是否位于多个所述预设覆盖区域的重叠区域。可以理解，可以根据车辆的定位信息判断车辆当前位置。
如图3(a)所示，如果车辆当前位置车辆位于多个所述预设覆盖区域的重叠区域，则认为作为车辆端的请求车在路侧RSU1设备和路侧RSU2设备覆盖重叠区域开启协作式变道请求。
根据所述车辆行驶意图判断车辆是否即将驶出多个所述预设覆盖区域的重叠区域，车辆行驶意图即包括但不限于根据车辆行驶进入区域、车辆航向角、车辆当前车速等判断得到。
如图3(b)所示，如果所述车辆行驶意图判断车辆即将驶出多个所述预设覆盖区域的叠区域，则认为作为车辆端的请求车在RSU1覆盖范围内，开启协作式变道，在变道过程中行驶到RSU1和RSU2覆盖重叠区域。同理，驶出RSU1和RSU2覆盖重叠区域。
需要注意的是，上述两种情况，可能实时相互切换，根据车辆当前的车速，可能都会出现，或者仅出现一种情况。且车辆在驶出无重叠覆盖区域之后，则按照筛选出支持V2I协作变道业务的路侧RSU，向路侧RSU发送变道请求，等待RSU响应即可。而车辆再次驶入重叠覆盖区域之后，需要根据发起协作请求时车辆所在重叠覆盖区域的位置判断进行上述的任意一种或多种策略。
在本公开的一个实施方式中，所述在车辆位于多个所述预设覆盖区域的重叠区域的情况下，选择所述重叠区域中的任意路侧RSU设备，和/或选择与车辆行驶意图匹配的目标路侧RSU设备，包括：根据所述车辆当前位置判断车辆是否位于多个所述预设覆盖区域的重叠区域；如果是，则向所述重叠区域中的任意路侧RSU设备发送协作变道请求；如果接收到所述路侧RSU设备包括多个，则选择与所述车辆行驶意图匹配的目标路侧RSU设备。
具体实施时，如图3(a)所示，请求车根据RSU1和RSU2广播信息中携带的位置信息和标定覆盖范围，根据自车的航向角来确定车辆即将驶入RSU2覆盖区域。此时，请求车向RSU1和RSU2同时发送变道请求信息，任一RSU发送引导信息时，请求车均可执行协作式变道操作。当请求车首先收到RSU2发送的引导信息时，无论RSU1是否发送引导信息，请求车均主动结束与RSU1的协作过程。也就是说如果接收到所述路侧RSU设备包括多个，则选择与所述车辆行驶意图匹配的目标路侧RSU设备，并结束与车辆行驶意图不匹配的路侧RSU设备的交互。
在本公开的一个实施方式中，所述在车辆位于多个所述预设覆盖区域的重叠区域的情况下，选择所述重叠区域中的任意路侧RSU设备，和/或选择与车辆行驶意图匹配的目标路侧RSU设备，包括：根据所述车辆行驶意图判断车辆是否即将驶出多个所述预设覆盖区域的重叠区域；如果是，则向与车辆行驶意图匹配的所述目标路侧RSU设备发送协作变道请求；如果接收到所述目标路侧RSU设备包括多个，则从接收未驶出多个所述预设覆盖区域的重叠区域时的目标路侧RSU设备切换为接收所述重叠区域中的任意路侧RSU设备。
在本公开的一个实施方式中，所述在车辆不位于多个所述预设覆盖区域的重叠区域的情况下，包括可以根据所述车辆行驶意图判断车辆开启变道时即将驶入多个所述覆盖区域的重叠区域的情况，请求车在目标路侧RSU设备覆盖范围内，开启协作式变道，在变道过程中行驶到目标路侧RSU设备和下一目标路侧RSU设备覆盖重叠区域。
根据下一目标路侧RSU设备广播信息中携带的位置信息和标定覆盖范围，请求车判断车辆即将驶入下一目标路侧RSU设备覆盖范围，则自动向下一目标路侧RSU设备发起协作式变道请求。
向下一目标路侧RSU设备请求过程中，继续依赖所述目标路侧RSU设备的引导信息执行变道操作。
收到下一目标路侧RSU设备的引导信息后，自动结束所述目标路侧RSU设备的变道协作过程，完成两个RSU覆盖区域的协作切换。
具体实施时，如图3(b)所示，根据RSU2广播信息中携带的位置信息和标定覆盖范围，请求车判断车辆即将驶入RSU2覆盖范围，则自动向RSU2发起协作式变道请求。向 RSU2请求过程中，继续依赖RSU1的引导信息执行变道操作。收到RSU2的引导信息后，自动结束RSU1的变道协作过程，完成两个RSU覆盖区域的协作切换。也就是说，如果接收到所述目标路侧RSU设备包括多个，则从接收未驶出多个所述预设覆盖区域的重叠区域时的目标路侧RSU设备切换为接收所述重叠区域中的任意路侧RSU设备，完成不同覆盖区域内的平滑切换。
在本公开的一个实施方式中，在车辆位于所述预设覆盖区域未出现重叠区域的情况下，所述方法还包括：根据预设范围内其他车辆的DSA服务表，筛选出支持预设协作变道业务的路侧RSU设备；向所述路侧RSU设备发送变道请求，并接收所述路侧RSU设备的请求响应后，回复确认信息；回复确认信息之后进入执行流程，周期性地向所述路侧RSU设备发送执行信息；执行完成变道流程后，向所述路侧RSU设备发送变道完成信息。
具体实施时，筛选路侧RSU设备时，根据周围车辆的DSA服务表，筛选出支持V2I协作变道业务的路侧RSU设备。之后向所述路侧RSU设备发送变道请求，并接收所述路侧RSU设备的请求响应后，回复确认信息；根据车辆端回复确认信息之后进入一个执行流程，周期性地向所述路侧RSU设备发送执行信息即在变道过程中实时同步执行信息；车辆端执行完成变道流程后，向所述路侧RSU设备发送变道完成信息。
本公开实施方式还提供了一种车辆变道方法，如图4所示，提供了本公开实施方式中车辆变道方法流程示意图，所述方法至少包括如下的步骤S410至步骤S420：其中，用于路侧端，在每个所述路侧RSU设备预设覆盖区域，所述方法包括：
步骤S410，接收至少一个请求车发起的协作变道请求；
步骤S420，在检测到所述请求车位于多个所述覆盖区域的重叠区域的情况下，根据所述重叠区域中的任意路侧RSU设备，和/或与所述请求车行驶意图匹配的目标路侧RSU设备，向所述请求车发送引导信息，以通过协作使所述请求车变道。
具体实施时，在所述路侧RSU设备的覆盖范围根据路侧感知***的感知范围进行标定，接收到标定范围外的车辆请求，不予响应。此外，对于路侧RSU设备会根据请求车的变道请求，对请求车和影响车辆统一进行引导，以配合请求车完成变道流程。
根据所述重叠区域中的任意路侧RSU设备，和/或与所述请求车行驶意图匹配的目标路侧RSU设备，向所述请求车发送引导信息。这里需要根据当前车辆当前所在的覆盖区域中的位置确定。
在本公开的一个实施方式中，接收多个车辆发起的协作变道请求之后，还包括按照如下方式筛选影响所述请求车变道的影响车辆：当位于所述请求车同车道前方的车辆距离所述请求车小于预设距离并且在减速时，作为所述请求车的影响车辆；和/或，当位于所述请 求车同车道后方的车辆，距离请求车小于预设距离并且在加速时，作为所述请求车的影响车辆；和/或，当位于所述请求车变道目标车道的车辆，处于目标车道预设影响区域内的车辆，作为所述请求车的影响车辆；和/或，当位于所述请求车变道目标车道的车辆，处于目标车道预设影响区域前方且减速的车辆，作为所述请求车的影响车辆；和/或，当位于所述请求车变道目标车道的车辆，处于目标车道预设影响区域后方且加速的车辆，作为所述请求车的影响车辆。
具体实施时，请求车至少包括一个，在至少一个所述路侧RSU设备中收到请求车发送的变道请求后，筛选影响请求车变道的车辆信息；位于请求车同车道前方的车辆，距离请求车小于预设距离，并且在减速时，判定为影响车辆；位于请求车同车道后方的车辆，距离请求车小于预设距离，并且在加速时，判定为影响车辆；位于请求车变道目标车道的车辆，处于目标车道预设影响区域内的车辆，判定为影响车辆；位于请求车变道目标车道的车辆，处于目标车道预设影响区域前方，且减速的车辆，判定为影响车辆；位于请求车变道目标车道的车辆，处于目标车道预设影响区域后方，且加速的车辆，判定为影响车辆。
本公开实施方式还提供了车辆变道装置500，如图5所示，提供了本公开实施方式中车辆变道装置的结构示意图，所述车辆变道装置500至少包括：变道发起模块510、路侧RSU设备选择模块520以及变道模块530，其中：
在本公开的一个实施方式中，所述变道发起模块510具体用于：向路侧RSU设备发起协作变道请求，所述路侧RSU设备预设覆盖区域。
车辆端包括但不限于具有自动驾驶能力的车辆或者非具有自动驾驶能力的车辆，在本公开的实施方式中并不进行具体限定。
在车辆端作为请求车向多个路侧RSU设备发起协作变道请求。需要注意的是，每个所述路侧RSU设备均预设覆盖区域。预设覆盖区域之间存在重叠覆盖区域。当车辆在重叠覆盖区域内时，需要筛选出对应的路侧RSU设备进行交互。
可选地，在向多个路侧RSU设备发起协作变道请求之前，在车辆端触发协同变道，获取车辆自身的变道意图，包括但不限于转向灯、方向盘转角、车轮转角、线控触发等方式。
在本公开的一个实施方式中，所述路侧RSU设备选择模块520具体用于：在车辆位于多个所述覆盖区域的重叠区域的情况下，选择所述重叠区域中的任意路侧RSU设备，和/或选择与车辆行驶意图匹配的目标路侧RSU设备。
判断车辆是否位于多个所述预设覆盖区域的重叠区域，对于两个RSU交界处即预设覆盖区域的重叠区域，比如请求车由RSU1覆盖区域驶入RSU2覆盖区域。
如果判断车辆位于多个所述预设覆盖区域的重叠区域的情况下，可以选择所述重叠区 域中的任意路侧RSU设备，也就说，由于车辆处于预设覆盖区域的重叠区域，可以与覆盖重叠区域范围内的任意路侧RSU设备交互。
如果判断车辆位于多个所述预设覆盖区域的重叠区域的情况下，还可以选择与车辆行驶意图匹配的目标路侧RSU设备，也就说，车辆可能处于即将进入或驶出预设覆盖区域的重叠区域，可以与覆盖重叠区域范围内与车辆行驶意图匹配的目标路侧RSU设备交互，比如，车辆行驶意图匹配的是路侧RSU2设备覆盖区域且即将进入重叠区域进入路侧RSU2设备、路侧RSU1设备的覆盖区域，则选择与路侧RSU2设备交互。又比如，车辆行驶意图匹配的是路侧RSU2设备覆盖区域且即将驶出重叠区域进入路侧RSU2设备单独的覆盖区域，则选择与路侧RSU2设备交互。
在本公开的一个实施方式中，所述变道模块530具体用于：根据所选路侧RSU设备的引导信息，完成车辆变道。
如图2所示，根据上述筛选结果中的路侧RSU设备的引导信息，完成车辆变道。经过筛选之后，向对应的路侧RSU设备发送变道请求，等待路侧RSU设备响应。车辆端收到路侧RSU设备的请求响应后，回复确认信息。车辆端进入执行流程后，周期性向路侧RSU设备发送执行信息。车辆端执行完成变道流程后，发送变道完成信息。车辆端在上述各流程均可发送取消协作信息，结束本次协作变道。
能够理解，上述车辆变道装置，能够实现前述实施方式中提供的车辆变道方法的各个步骤，关于车辆变道方法的相关阐释均适用于车辆变道装置，此处不再赘述。
图6是本公开的一个实施方式电子设备的结构示意图。请参考图6，在硬件层面，该电子设备包括处理器，可选地还包括内部总线、网络接口、存储器。其中，存储器可能包含内存，例如高速随机存取存储器(Random-Access Memory，RAM)，也可能还包括非易失性存储器(non-volatile memory)，例如至少1个磁盘存储器等。当然，该电子设备还可能包括其他业务所需要的硬件。
处理器、网络接口和存储器可以通过内部总线相互连接，该内部总线可以是ISA(Industry Standard Architecture，工业标准体系结构)总线、PCI(Peripheral Component Interconnect，外设部件互连标准)总线或EISA(Extended Industry Standard Architecture，扩展工业标准结构)总线等。所述总线可以分为地址总线、数据总线、控制总线等。为便于表示，图6中仅用一个双向箭头表示，但并不表示仅有一根总线或一种类型的总线。
存储器，用于存放程序。具体地，程序可以包括程序代码，所述程序代码包括计算机操作指令。存储器可以包括内存和非易失性存储器，并向处理器提供指令和数据。
处理器从非易失性存储器中读取对应的计算机程序到内存中然后运行，在逻辑层面上 形成车辆变道装置。处理器，执行存储器所存放的程序，并具体用于执行以下操作：
向路侧RSU设备发起协作变道请求，所述路侧RSU设备预设覆盖区域；
在车辆位于多个所述覆盖区域的重叠区域的情况下，选择形成所述重叠区域的任意路侧RSU设备，和/或选择与车辆行驶意图匹配的目标路侧RSU设备；
根据所选路侧RSU设备的引导信息，完成车辆变道。
上述如本公开图1所示实施方式揭示的车辆变道装置执行的方法可以应用于处理器中，或者由处理器实现。处理器可能是一种集成电路芯片，具有信号的处理能力。在实现过程中，上述方法的各步骤可以通过处理器中的硬件的集成逻辑电路或者软件形式的指令完成。上述的处理器可以是通用处理器，包括中央处理器(Central Processing Unit，CPU)、网络处理器(Network Processor，NP)等；还可以是数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现场可编程门阵列(Field－Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件。可以实现或者执行本公开实施方式中的公开的各方法、步骤及逻辑框图。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。结合本公开实施方式所公开的方法的步骤可以直接体现为硬件译码处理器执行完成，或者用译码处理器中的硬件及软件模块组合执行完成。软件模块可以位于随机存储器，闪存、只读存储器，可编程只读存储器或者电可擦写可编程存储器、寄存器等本领域成熟的存储介质中。该存储介质位于存储器，处理器读取存储器中的信息，结合其硬件完成上述方法的步骤。
该电子设备还可执行图1中车辆变道装置执行的方法，并实现车辆变道装置在图1所示实施方式的功能，本公开实施方式在此不再赘述。
本公开实施方式还提出了一种计算机可读存储介质，该计算机可读存储介质存储一个或多个程序，该一个或多个程序包括指令，该指令当被包括多个应用程序的电子设备执行时，能够使该电子设备执行图1所示实施方式中车辆变道装置执行的方法，并具体用于执行：
向路侧RSU设备发起协作变道请求，所述路侧RSU设备预设覆盖区域；
在车辆位于多个所述预设覆盖区域的重叠区域的情况下，选择所述重叠区域的任意路侧RSU设备，和/或选择与车辆行驶意图匹配的目标路侧RSU设备；
根据所选路侧RSU设备的引导信息，完成车辆变道。
本领域内的技术人员应明白，本公开的实施方式可提供为方法、***、或计算机程序产品。因此，本公开可采用完全硬件实施方式、完全软件实施方式、或结合软件和硬件方面的实施方式的形式。而且，本公开可采用在一个或多个其中包含有计算机可用程序代码 的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本公开是参照根据本公开实施方式的方法、设备(***)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
在一个典型的配置中，计算设备包括一个或多个处理器(CPU)、输入/输出接口、网络接口和内存。
内存可能包括计算机可读介质中的非永久性存储器，随机存取存储器(RAM)和/或非易失性内存等形式，如只读存储器(ROM)或闪存(flash RAM)。内存是计算机可读介质的示例。
计算机可读介质包括永久性和非永久性、可移动和非可移动媒体可以由任何方法或技术来实现信息存储。信息可以是计算机可读指令、数据结构、程序的模块或其他数据。计算机的存储介质的例子包括，但不限于相变内存(PRAM)、静态随机存取存储器(SRAM)、动态随机存取存储器(DRAM)、其他类型的随机存取存储器(RAM)、只读存储器(ROM)、电可擦除可编程只读存储器(EEPROM)、快闪记忆体或其他内存技术、只读光盘只读存储器(CD-ROM)、数字多功能光盘(DVD)或其他光学存储、磁盒式磁带，磁带磁磁盘存储或其他磁性存储设备或任何其他非传输介质，可用于存储可以被计算设备访问的信息。按照本文中的界定，计算机可读介质不包括暂存电脑可读媒体(transitory media)，如调制的数据信号和载波。
还需要说明的是，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、商品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、商品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、商品或者设备中还存在另外的相同要素。
本领域技术人员应明白，本公开的实施方式可提供为方法、***或计算机程序产品。因此，本公开可采用完全硬件实施方式、完全软件实施方式或结合软件和硬件方面的实施方式的形式。而且，本公开可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
以上所述仅为本公开的实施方式而已，并不用于限制本公开。对于本领域技术人员来说，本公开可以有各种更改和变化。凡在本公开的精神和原理之内所作的任何修改、等同替换、改进等，均应包含在本公开的权利要求范围之内。

Claims (10)

  1. 一种车辆变道方法，用于车辆端，所述方法包括：
    向路侧RSU设备发起协作变道请求，所述路侧RSU设备预设覆盖区域；
    在车辆位于多个所述覆盖区域的重叠区域的情况下，选择形成所述重叠区域的任意路侧RSU设备，和/或选择与车辆行驶意图匹配的目标路侧RSU设备；
    根据所选路侧RSU设备的引导信息，完成车辆变道。
  2. 如权利要求1所述方法，其中，所述车辆位于多个所述覆盖区域的重叠区域，还包括：
    根据所述车辆当前位置判断车辆是否位于多个所述覆盖区域的重叠区域；
    或者，
    根据所述车辆行驶意图判断车辆开启变道时是否即将驶出多个所述覆盖区域的重叠区域。
  3. 如权利要求2所述方法，其中，所述在车辆位于多个所述覆盖区域的重叠区域的情况下，选择所述重叠区域中的任意路侧RSU设备，和/或选择与车辆行驶意图匹配的目标路侧RSU设备，包括：
    根据所述车辆当前位置判断车辆是否位于多个所述覆盖区域的重叠区域；
    如果是，则向所述重叠区域中的任意路侧RSU设备发送协作变道请求；
    如果接收到所述路侧RSU设备包括多个，则选择与所述车辆行驶意图匹配的目标路侧RSU设备。
  4. 如权利要求2所述方法，其中，所述在车辆位于多个所述覆盖区域的重叠区域的情况下，选择所述重叠区域中的任意路侧RSU设备，和/或选择与车辆行驶意图匹配的目标路侧RSU设备，包括：
    根据所述车辆行驶意图判断车辆开启变道时是否即将驶出多个所述覆盖区域的重叠区域；
    如果是，则向与车辆行驶意图匹配的所述目标路侧RSU设备发送协作变道请求；
    如果接收到所述目标路侧RSU设备包括多个，则从接收未驶出多个所述覆盖区域的重叠区域时的目标路侧RSU设备切换为接收所述重叠区域中的任意路侧RSU设备。
  5. 如权利要求1所述方法，其中，在车辆位于所述覆盖区域未出现重叠区域的情况下，所述方法还包括：
    根据预设的覆盖区域范围内其他车辆的DSA服务表，筛选出支持预设协作变道业务的路侧RSU设备；
    向所述路侧RSU设备发送变道请求，并接收所述路侧RSU设备的请求响应后，回复确 认信息；
    回复确认信息之后进入执行流程，周期性地向所述路侧RSU设备发送执行信息；
    执行完成变道流程后，向所述路侧RSU设备发送变道完成信息。
  6. 一种车辆变道方法，用于路侧端，在每个所述路侧RSU设备预设覆盖区域，所述方法包括：
    接收至少一个请求车发起的协作变道请求；
    在检测到所述请求车位于多个所述覆盖区域的重叠区域的情况下，根据所述重叠区域中的任意路侧RSU设备，和/或与所述请求车行驶意图匹配的目标路侧RSU设备，向所述请求车发送引导信息，以通过协作使所述请求车变道。
  7. 如权利要求6所述方法，其中，接收多个车辆发起的协作变道请求之后，还包括按照如下方式筛选影响所述请求车变道的影响车辆：
    当位于所述请求车同车道前方的车辆距离所述请求车小于预设距离并且在减速时，作为所述请求车的影响车辆；
    和/或，当位于所述请求车同车道后方的车辆，距离请求车小于预设距离并且在加速时，作为所述请求车的影响车辆；
    和/或，当位于所述请求车变道目标车道的车辆，处于目标车道预设影响区域内的车辆，作为所述请求车的影响车辆；
    和/或，当位于所述请求车变道目标车道的车辆，处于目标车道预设影响区域前方且减速的车辆，作为所述请求车的影响车辆；
    和/或，当位于所述请求车变道目标车道的车辆，处于目标车道预设影响区域后方且加速的车辆，作为所述请求车的影响车辆。
  8. 一种车辆变道装置，用于车辆端，所述装置包括：
    变道发起模块，向路侧RSU设备发起协作变道请求，所述路侧RSU设备预设覆盖区域；
    路侧RSU设备选择模块，用于在车辆位于多个所述覆盖区域的重叠区域的情况下，选择所述重叠区域中的任意路侧RSU设备，和/或选择与车辆行驶意图匹配的目标路侧RSU设备；
    变道模块，用于根据所选路侧RSU设备的引导信息，完成车辆变道。
  9. 一种电子设备，包括：
    处理器；以及
    被安排成存储计算机可执行指令的存储器，所述可执行指令在被执行时使所述处理器执行所述权利要求1～5之任一所述方法，和/或所述权利要求6～7之任一所述方法。
  10. 一种计算机可读存储介质，所述计算机可读存储介质存储一个或多个程序，所述一个或多个程序当被包括多个应用程序的电子设备执行时，使得所述电子设备执行所述权利要求1～5之任一所述方法，和/或所述权利要求6～7之任一所述方法。
PCT/CN2023/086076 2022-07-21 2023-04-04 车辆变道方法、装置及电子设备、存储介质 WO2024016733A1 (zh)

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