Granted Patent B2

US 12,304,478 · App. 18/069,391 · Granted May 20, 2025

Inventors: Ning Yu (Beijing, CN); An Pan (Beijing, CN); Zhiqi Feng (Beijing, CN); Lin Meng (Beijing, CN); Yongchen Li (Beijing, CN); Pingping Wu (Beijing, CN); Yaling Zhang (Beijing, CN)

Assignee: APOLLO INTELLIGENT CONNECTIVITY (BEIJING) TECHNOLOGY CO., LTD.

B60W30/0956B60W30/18163B60W2510/20B60W2520/14B60W2552/10B60W2554/802

Abstract

Claims (68)

1. A method for controlling lane changing, implemented by an autonomous driving system of a vehicle, comprising:

predicting a target pose of the vehicle changed to a second lane based on a current pose of the vehicle on a first lane in response to a trigger of changing the vehicle from the first lane to the second lane;

determining a lane changing preparation pose of the vehicle on the first lane based on the target pose, a minimum turning radius of the vehicle and at least one safe distance parameter of the vehicle; and

performing lane changing of the vehicle based on the lane changing preparation pose.

2. The method of claim 1 , wherein the at least one safe distance parameter comprises a safe distance of the vehicle to an obstacle in front;

determining the lane changing preparation pose of the vehicle on the first lane based on the target pose, the minimum turning radius of the vehicle and the at least one safe distance parameter of the vehicle comprises:

determining a minimum longitudinal distance of turning for the vehicle based on the minimum turning radius of the vehicle;

determining a minimum longitudinal distance between the vehicle and the obstacle in front based on the minimum longitudinal distance of turning for the vehicle and the safe distance of the vehicle to the obstacle in front; and

determining the lane changing preparation pose of the vehicle on the first lane based on the minimum longitudinal distance between the vehicle and the obstacle in front and the target pose.

3. The method of claim 2 , wherein determining the minimum longitudinal distance of turning for the vehicle based on the minimum turning radius of the vehicle comprises:

determining a first circle of the vehicle tangent to a preset straight pose based on the preset straight pose of the vehicle on the first lane and the minimum turning radius of the vehicle;

determining a second circle based on a center of the first circle and a farthest distance of the center of the first circle to a head of the vehicle;

determining a straight line perpendicular to a speed direction corresponding to the preset straight pose and tangent to the second circle based on the second circle and the speed direction; and

determining the minimum longitudinal distance of turning for the vehicle based on a perpendicular distance between the straight line and the head of the vehicle.

4. The method of claim 1 , wherein, the at least one safe distance parameter comprises a safe distance of the vehicle to an obstacle in front and a safe distance of the vehicle to a lane boundary;

determining the lane changing preparation pose of the vehicle on the first lane based on the target pose, the minimum turning radius of the vehicle, and the at least one safe distance parameter of the vehicle comprises:

determining a third circle of the vehicle tangent to the target pose based on the target pose and the minimum turning radius of the vehicle;

determining a straight lane changing trajectory of the vehicle tangent to the third circle based on the third circle, the safe distance of the vehicle to the obstacle in front and the safe distance of the vehicle to the lane boundary; and

determining the lane changing preparation pose of the vehicle on the first lane based on the straight lane changing trajectory, the safe distance of the vehicle to the obstacle in front, and the safe distance of the vehicle to the lane boundary.

5. The method of claim 4 , wherein determining the lane changing preparation pose of the vehicle on the first lane based on the straight lane changing trajectory, the safe distance of the vehicle to the obstacle in front, and the safe distance of the vehicle to the lane boundary comprises:

determining a yaw angle in the lane changing preparation pose of the vehicle on the first lane based on the straight lane changing trajectory; and

determining a coordinate of a center point of a rear axle in the lane changing preparation pose of the vehicle on the first lane based on the yaw angle, the safe distance of the vehicle to the obstacle in front and the safe distance of the vehicle to the lane boundary.

6. An apparatus for controlling lane changing, comprising:

at least one processor; and

a memory communicatively connected to the at least one processor; wherein, the memory is stored with instructions executable by the at least one processor, and the instructions are executed by the at least one processor, to cause the at least one processor to perform:

predicting a target pose of a vehicle changed to a second lane based on a current pose of the vehicle on a first lane in response to a trigger of changing the vehicle from the first lane to the second lane;

determining a lane changing preparation pose of the vehicle on the first lane based on the target pose, a minimum turning radius of the vehicle and at least one safe distance parameter of the vehicle; and

performing lane changing of the vehicle based on the lane changing preparation pose.

7. The apparatus of claim 6 , wherein the at least one safe distance parameter comprises a safe distance of the vehicle to an obstacle in front;

the at least one processor is configured to perform:

determining a minimum longitudinal distance of turning for the vehicle based on the minimum turning radius of the vehicle;

determining a minimum longitudinal distance between the vehicle and the obstacle in front based on the minimum longitudinal distance of turning for the vehicle and the safe distance of the vehicle to the obstacle in front; and

determining the lane changing preparation pose of the vehicle on the first lane based on the minimum longitudinal distance between the vehicle and the obstacle in front and the target pose.

8. The apparatus of claim 7 , wherein at least one processor is configured to perform:

determining a first circle of the vehicle tangent to a preset straight pose based on the preset straight pose of the vehicle on the first lane and the minimum turning radius of the vehicle;

determining a second circle based on a center of the first circle and a farthest distance of the center of the first circle to a head of the vehicle;

determining a straight line perpendicular to a speed direction corresponding to the preset straight pose and tangent to the second circle based on the second circle and the speed direction; and

determining a minimum longitudinal distance of turning for the vehicle based on a perpendicular distance between the straight line and the head of the vehicle.

9. The apparatus of claim 6 , wherein, the at least one safe distance parameter comprises a safe distance of the vehicle to an obstacle in front and a safe distance of the vehicle to a lane boundary;

the at least one processor is configured to perform:

determining a third circle of the vehicle tangent to the target pose based on the target pose and the minimum turning radius of the vehicle;

determining a straight lane changing trajectory of the vehicle tangent to the third circle based on the third circle, the safe distance of the vehicle to the obstacle in front and the safe distance of the vehicle to the lane boundary; and

determining the lane changing preparation pose of the vehicle on the first lane based on the straight lane changing trajectory, the safe distance of the vehicle to the obstacle in front, and the safe distance of the vehicle to the lane boundary.

10. The apparatus of claim 9 , wherein the at least one processor is configured to perform:

determining a yaw angle in the lane changing preparation pose of the vehicle on the first lane based on the straight lane changing trajectory; and

determining a coordinate of a center point of a rear axle in the lane changing preparation pose of the vehicle on the first lane based on the yaw angle, the safe distance of the vehicle to the obstacle in front and the safe distance of the vehicle to the lane boundary.

11. A non-transitory computer-readable storage medium having computer instructions stored thereon, wherein the computer instructions are configured to cause a computer to perform:

predicting a target pose of a vehicle changed to a second lane based on a current pose of the vehicle on a first lane in response to a trigger of changing the vehicle from the first lane to the second lane;

determining a lane changing preparation pose of the vehicle on the first lane based on the target pose, a minimum turning radius of the vehicle and at least one safe distance parameter of the vehicle; and

performing lane changing of the vehicle based on the lane changing preparation pose.

12. The storage medium of claim 11 , wherein the at least one safe distance parameter comprises a safe distance of the vehicle to an obstacle in front;

determining the lane changing preparation pose of the vehicle on the first lane based on the target pose, the minimum turning radius of the vehicle and the at least one safe distance parameter of the vehicle comprises:

determining a minimum longitudinal distance of turning for the vehicle based on the minimum turning radius of the vehicle;

determining a minimum longitudinal distance between the vehicle and the obstacle in front based on the minimum longitudinal distance of turning for the vehicle and the safe distance of the vehicle to the obstacle in front; and

determining the lane changing preparation pose of the vehicle on the first lane based on the minimum longitudinal distance between the vehicle and the obstacle in front and the target pose.

13. The storage medium of claim 12 , wherein determining the minimum longitudinal distance of turning for the vehicle based on the minimum turning radius of the vehicle comprises:

determining a first circle of the vehicle tangent to a preset straight pose based on the preset straight pose of the vehicle on the first lane and the minimum turning radius of the vehicle;

determining a second circle based on a center of the first circle and a farthest distance of the center of the first circle to a head of the vehicle;

determining a straight line perpendicular to a speed direction corresponding to the preset straight pose and tangent to the second circle based on the second circle and the speed direction; and

determining the minimum longitudinal distance of turning for the vehicle based on a perpendicular distance between the straight line and the head of the vehicle.

14. The storage medium of claim 11 , wherein, the at least one safe distance parameter comprises a safe distance of the vehicle to an obstacle in front and a safe distance of the vehicle to a lane boundary;

determining the lane changing preparation pose of the vehicle on the first lane based on the target pose, the minimum turning radius of the vehicle, and the at least one safe distance parameter of the vehicle comprises:

determining a third circle of the vehicle tangent to the target pose based on the target pose and the minimum turning radius of the vehicle;

determining a straight lane changing trajectory of the vehicle tangent to the third circle based on the third circle, the safe distance of the vehicle to the obstacle in front and the safe distance of the vehicle to the lane boundary; and

determining the lane changing preparation pose of the vehicle on the first lane based on the straight lane changing trajectory, the safe distance of the vehicle to the obstacle in front, and the safe distance of the vehicle to the lane boundary.

15. The storage medium of claim 14 , wherein determining the lane changing preparation pose of the vehicle on the first lane based on the straight lane changing trajectory, the safe distance of the vehicle to the obstacle in front, and the safe distance of the vehicle to the lane boundary comprises:

determining a yaw angle in the lane changing preparation pose of the vehicle on the first lane based on the straight lane changing trajectory; and

determining a coordinate of a center point of a rear axle in the lane changing preparation pose of the vehicle on the first lane based on the yaw angle, the safe distance of the vehicle to the obstacle in front and the safe distance of the vehicle to the lane boundary.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (25)