Vehicle lane changing control method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention discloses a vehicle lane changing control method and device, electronic equipment and a storage medium, and the method comprises the steps: acquiring the visual information of a surrounding environment; based on the visual information, determining drivable area boundary data of the current vehicle; determining parallel vehicle information of at least one side of the current vehicle based on the travelable area boundary data; determining lane changing information based on the parallel vehicle information; and controlling the driving state of the current vehicle according to the lane changing information. According to the embodiment of the invention, an accurate and reliable basis can be provided for a lane changing control decision of the vehicle, and the situation that potential safety hazards are brought to lane changing due to the fact that large vehicles running side by side are omitted to be recognized is avoided, so that the reliability and safety of an automatic lane changing function of the vehicle are improved.

Description

technical field [0001] The present disclosure relates to computer vision technology, in particular to a control method and device for vehicle lane change, electronic equipment and a storage medium. Background technique [0002] At present, the research on the automatic driving system of autonomous vehicles mainly focuses on the longitudinal control of the road, and less consideration is given to lateral motion such as lane changing. The lateral movement of the vehicle is also an extremely frequent and critical part of the automatic driving process. The automatic lane change function is one of the most basic functions of the automatic driving vehicle. However, due to the long duration of the automatic lane change function and the variable parameters involved in the scene More, when the vehicle speed is high, once the automatic lane change function goes wrong, it will bring potential safety hazards. [0003] In the prior art, image-based target detection is used to determine ...

AI Technical Summary

Problems solved by technology

The lateral movement of the vehicle is also an extremely frequent and critical part of the automatic driving process. The automatic lane change function is one of the most basic functions of the automatic driving vehicle. However, due to the long duration of the automatic lane change function and the variable parameters involved in the scene Many, when the vehicle speed is high, once the automatic lane change function goes wrong, it will bring safety hazards

[0003] In the prior art, image-based target detection is used to determine whether there are parallel vehicles. When there are large vehicles driving side by side, due to the long body of the large vehicles and the high chassis, there may be cases where the parallel large vehicles are missed. Changing lanes in time is very dangerous. Therefore, how to effectively identify parallel large vehicles and ensure the reliability and safety of the automatic lane changing function of self-driving vehicles has become a technical problem that needs to be solved urgently.

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