Lane changing control method of vehicle, vehicle and computer readable storage medium

Abstract

The invention discloses a lane changing control method of a vehicle, the vehicle and a computer readable storage medium, and the method comprises the steps: determining whether the vehicle can change a lane from a current lane to an adjacent target lane or not before the vehicle changes the lane; if it is determined that the vehicle can change the lane from the current lane to the target lane, a secure lane changing control method is executed, and the secure lane changing control method comprises the step of determining whether the vehicle is parallel to the cart or not after the vehicle changes the lane to the target lane. If it is determined that the vehicle is not parallel to the cart after changing to the target lane, the vehicle is controlled to change to the target lane. By determining whether the vehicle is parallel to the cart after changing the lane to the target lane, the situation of the adjacent lane of the lane where the vehicle is located after lane changing is fully considered. If it is determined that the vehicle is not parallel to the cart after changing to the target lane, the vehicle is controlled to change to the target lane. Therefore, the driver can be prevented from running in parallel with the cart after lane changing is completed, and the safety of the driver is guaranteed.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle lane change control, and in particular to a vehicle lane change control method, a vehicle and a computer-readable storage medium. Background Art

[0002] With the development of technology, the rate of high-level intelligent driving is getting higher and higher, and consumers' requirements for intelligent driving are also getting higher and higher, evolving from the previous need for automatic lane change to the demand for detailed experience of functions. In related technologies, automatic lane change mainly considers lane change efficiency and safety, and only considers the information of vehicles in adjacent lanes when planning lane changes. If the lane can be changed, it will be changed directly, without considering the attributes of the vehicles in the adjacent lanes at the end of the lane change. For some drivers, their sense of security is poor. Summary of the invention

[0003] The present application provides a vehicle lane change control method, a vehicle and a computer-readable storage medium to solve at least some of the problems in the related art.

[0004] On one hand, the present application provides a vehicle lane change control method, comprising: Before a vehicle changes lanes, it is determined whether the vehicle can change lanes from a current lane to an adjacent target lane.

[0005] If it is determined that the vehicle can change lanes from the current lane to the target lane, a safe lane change control method is executed, wherein the safe lane change control method includes: Determine whether the vehicle will run parallel to the large vehicle after changing lanes to the target lane.

[0006] If it is determined that the vehicle does not run parallel to the large vehicle after changing lanes to the target lane, the vehicle is controlled to change lanes to the target lane.

[0007] Optionally, the safe lane change control method further includes: If it is determined that the vehicle changes lanes to the target lane and runs parallel to the large vehicle, the vehicle is controlled to travel in the current lane.

[0008] Optionally, the safe lane change control method further includes: If it is determined that the vehicle changes lanes to the target lane and runs parallel to the large vehicle, a request is generated as to whether to control the vehicle to change lanes.

[0009] In response to confirmation information from the driver confirming the request, the vehicle is controlled to change lanes to the target lane or to travel in the current lane.

[0010] Optionally, the lane change control method further includes: The driving style information of the driver is acquired, wherein the driving style information includes first information indicating that the driving style of the driver is a first style, and second information indicating that the driving style is a second style.

[0011] If the driving style information is the first information, the safe lane change control method is executed.

[0012] If the driving style information is the second information, an efficient lane change control method is executed, and the efficient lane change control method includes: if it is determined that the vehicle can change lanes from the current lane to the target lane, controlling the vehicle to change lanes to the target lane.

[0013] Optionally, obtaining the driver's driving style information includes: Obtain the gender of the driver, the first information indicates that the driver is female, and the second information indicates that the driver is male. Or A request is generated to request the driver to select a driving style, the driving style comprising a first style and a second style.

[0014] The driving style information generated when the driver selects the first style or the second style is obtained. If the driver selects the first style, the first information is generated. If the driver selects the second style, the second information is generated.

[0015] Optionally, the lane change control method further includes: If the driving style information is the first information, a first takeover number is obtained, where the first takeover number is the number of times the driver takes over to change lanes of the vehicle to the target lane when it is determined that the vehicle changes lanes to the target lane and becomes parallel to the large vehicle.

[0016] If the first takeover number is greater than a set first number limit, the vehicle is controlled according to the efficient lane change control method.

[0017] Optionally, the lane change control method further includes: If the driving style information is the second information, obtain the second takeover number, which is the number of times the driver takes over to make the vehicle drive in the current lane when it is determined that the vehicle can change lanes from the current lane to the target lane and run parallel to the large vehicle after changing lanes.

[0018] If the second takeover number is greater than the set second number limit, the vehicle is controlled according to the safe lane change control method.

[0019] Optionally, before determining whether the vehicle can change lanes from the current lane to the target lane, the lane change control method further includes: A first vehicle speed of a preceding vehicle in the current lane and a second vehicle speed of a preceding vehicle in the target lane are obtained.

[0020] The determining whether the vehicle can change lanes from the current lane to the target lane includes: If the first vehicle speed is less than a first vehicle speed limit and the second vehicle speed is greater than the first vehicle speed, it is determined whether the vehicle can change lanes from a current lane to a target lane.

[0021] Optionally, the lane change control method further includes: Path planning information is obtained, where the path planning information includes lane change information indicating that the vehicle needs to change lanes from the current lane to the target lane.

[0022] If the lane change information is acquired and it is determined that the vehicle can change lanes from the current lane to the target lane, the vehicle is controlled to change lanes to the target lane.

[0023] If the path planning information is not the lane change information, in the case of a pending lane change, if it is determined that the vehicle can change lanes from the current lane to the target lane, the safe lane change control method is executed.

[0024] Optionally, the lane change control method further includes: Path planning information is obtained, where the path planning information includes lane change information indicating that the vehicle needs to change lanes from the current lane to the target lane.

[0025] If the lane change information is obtained, it is determined that the vehicle can change lanes from the current lane to the target lane, and the vehicle is parallel to the large vehicle after changing lanes to the target lane, a prompt is generated to select lane change or plan a new path.

[0026] In response to lane change selection information indicating that a driver selects a lane change, the vehicle is controlled to change lanes.

[0027] In response to the driver selecting the route update selection information for planning a new route, the vehicle is controlled to travel along the new route.

[0028] Optionally, the lane change control method further includes: The distance between another vehicle in a reference lane and the target lane is obtained, wherein the reference lane is adjacent to the target lane, the target lane is located between the reference lane and the current lane, and the other vehicle is a vehicle that will run parallel to the vehicle after the vehicle changes lanes.

[0029] The lateral acceleration of the vehicle when changing lanes is determined according to the distance, wherein the lateral acceleration is different when the distance is different.

[0030] On the other hand, the present application provides a vehicle, including a sensing system, a steering system, a driving system and a lane change control system, wherein the lane change control system is connected to the sensing system, the steering system and the driving system, and the lane change control system includes a memory, a processor and a program stored in the memory and executable on the processor, and the lane change control method is implemented when the processor executes the program.

[0031] On another aspect, the present application provides a computer-readable storage medium having a program stored thereon, and a lane change control method implemented when the program is executed.

[0032] Compared with the related art, the lane change control method of the vehicle provided in the present application fully considers the situation of the adjacent lanes of the lane where the vehicle is located after the lane change is completed by determining whether the vehicle is parallel to the large vehicle after changing lanes to the target lane. If it is determined that the vehicle is not parallel to the large vehicle after changing lanes to the target lane, the vehicle is controlled to change lanes to the target lane. In this way, it can avoid being parallel to the large vehicle after the lane change is completed, ensuring the driver's sense of security when using automatic lane change. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0034] Figure 1 A flowchart of a lane change control method for a vehicle shown in an embodiment of the present application.

[0035] Figure 2 for Figure 1 A flowchart of an implementation of a safe lane change control method is shown.

[0036] Figure 3 for Figure 1 A flowchart diagram of another implementation of a safe lane change control method is shown.

[0037] Figure 4 for Figure 1 A flow chart of another implementation of the safe lane change control method is shown.

[0038] Figure 5 A flowchart of a lane change control method for a vehicle shown in another embodiment of the present application.

[0039] Figure 6 A flowchart of a lane change control method for a vehicle shown in yet another embodiment of the present application.

[0040] Figure 7 A flowchart of a lane change control method for a vehicle shown in yet another embodiment of the present application.

[0041] Figure 8 A flowchart of a lane change control method for a vehicle shown in yet another embodiment of the present application.

[0042] Fig. 9 A flowchart of a lane change control method for a vehicle shown in yet another embodiment of the present application.

[0043] Fig.10 A structural block diagram of a vehicle shown in one embodiment of the present application.

[0044] Fig.11 for Fig.10 The structural block diagram of the lane change control system is shown. DETAILED DESCRIPTION

[0045] The present application provides a vehicle lane change control method, a vehicle, and a computer-readable storage medium. The vehicle lane change control method, the vehicle, and the computer-readable storage medium of the present application are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the features of the following embodiments and implementations can be combined with each other.

[0046] Please refer to Figure 1 and Figure 2 , Figure 1 It is a flowchart of a lane change control method 10 for a vehicle shown in one embodiment of the present application. Figure 2 for Figure 1 A flowchart of an implementation of a safe lane change control method 20 is shown.

[0047] like Figure 1 and Figure 2 As shown, the vehicle lane change control method 10 provided in the embodiment of the present application includes steps 11 and 12.

[0048] Step 11, before the vehicle changes lanes, determine whether the vehicle can change lanes from the current lane to the adjacent target lane. Specifically, the speed of the rear vehicle in the adjacent target lane and the interval between the front vehicle and the rear vehicle in the adjacent target lane can be collected by the sensor system on the vehicle to determine whether the vehicle can change lanes from the current lane to the adjacent target lane.

[0049] Step 12: If it is determined that the vehicle can change lanes from the current lane to the target lane, execute the safe lane change control method 20. The safe lane change control method 20 includes steps 21 and 22.

[0050] Step 21, determine whether the vehicle will run parallel to the large vehicle after changing lanes to the target lane. Specifically, the sensor system on the vehicle can collect information about other vehicles in the adjacent lane on the other side of the target lane, and determine the landing point information of the vehicle changing lanes to the target lane, and judge whether the other vehicles in the adjacent lanes near the landing point are large vehicles. If it is a large vehicle, the vehicle will run parallel to the large vehicle after changing lanes to the target lane. The large vehicle in the embodiment of the present application can be a truck, a bus, a large bus, etc. Because the length of the large vehicle is relatively long and the width is relatively wide, the line of sight is poor when running parallel to the large vehicle, which will reduce the sense of security of some drivers.

[0051] Step 22: If it is determined that the vehicle does not run parallel to the large vehicle after changing lanes to the target lane, control the vehicle to change lanes to the target lane.

[0052] The vehicle lane change control method 10 provided in the present application fully considers the adjacent lanes of the lane where the vehicle is located after the lane change is completed by determining whether the vehicle is parallel to the vehicle after changing lanes to the target lane. If it is determined that the vehicle is not parallel to the vehicle after changing lanes to the target lane, the vehicle is controlled to change lanes to the target lane. In this way, it can avoid being parallel to the vehicle after the lane change is completed, ensuring the driver's sense of security.

[0053] Please refer to Figure 3 , Figure 3 for Figure 1 FIG. 2 is a flow chart of another embodiment of the safe lane change control method 20. Figure 3 In the illustrated embodiment, the safe lane change control method 20 includes step 21 and step 23 .

[0054] Step 21, determining whether the vehicle will be parallel to the large vehicle after changing lanes to the target lane.

[0055] Step 23: If it is determined that the vehicle will run parallel to the large vehicle after changing lanes to the target lane, the vehicle is controlled to run in the current lane. This can prevent the vehicle from running parallel to the large vehicle after changing lanes to the target lane, thereby ensuring the driver's sense of security.

[0056] Please refer to Figure 4 , Figure 4 for Figure 1 FIG. 2 is a flow chart of another embodiment of the safe lane change control method 20. Figure 4 In the illustrated embodiment, the safe lane change control method 20 includes step 21 and step 241 to step 242.

[0057] Step 21, determining whether the vehicle will be parallel to the large vehicle after changing lanes to the target lane.

[0058] Step 241, if it is determined that the vehicle changes lanes to the target lane and is parallel to the large vehicle, a request is generated as to whether to control the vehicle to change lanes.

[0059] Step 242, in response to the driver's confirmation request confirmation information, control the vehicle to change lanes to the target lane or drive in the current lane.

[0060] When it is determined that the vehicle will be parallel to the large vehicle when changing lanes to the target lane, if the driver chooses to continue changing lanes, the vehicle is controlled to change lanes to the target lane. If the driver chooses not to change lanes temporarily, the vehicle is controlled to drive in the current lane. This not only takes into account the driver's peace of mind for automatic lane changes, but also respects the driver's true driving intentions. In addition, by generating a request for whether to control the vehicle to change lanes, human-computer interaction is carried out with the driver to remind the driver of the current lane change situation. If the driver chooses to continue changing lanes, the driver will have a certain psychological expectation of the road conditions after the lane change, which can reduce the suddenness and uneasiness during automatic lane changes.

[0061] Please refer to Figure 5 , Figure 5 FIG. 1 is a flow chart of a lane change control method 10 for a vehicle shown in another embodiment of the present application. Figure 5 In the illustrated embodiment, the vehicle lane change control method 10 includes steps 13 and 14.

[0062] Step 13, obtaining the driving style information of the driver, where the driving style information includes first information indicating that the driving style of the driver is a first style, and second information indicating that the driving style is a second style.

[0063] Step 14 : If the driving style information is the first information, execute the safe lane change control method 20 .

[0064] Step 15: If the driving style information is the second information, execute an efficient lane change control method, the efficient lane change control method comprising: if it is determined that the vehicle can change lanes from the current lane to the target lane, control the vehicle to change lanes to the target lane.

[0065] Among them, the efficient lane change method does not consider the situation of the adjacent lane after the vehicle completes the lane change. It only controls the vehicle to change lanes to the target lane when it is determined that the vehicle can change lanes from the current lane to the target lane. In this way, the efficiency of lane change can be improved.

[0066] The vehicle lane change control method 10 provided in the embodiment of the present application obtains the driving style information of the driver. If the driving style information is the first information, the safe lane change control method 20 is executed. If the driving style is the second information, the efficient lane change control method is executed. In this way, different lane change control methods 10 can be executed according to different driving style information, so that the vehicle lane change control method 10 matches the driver's driving style, the tacit understanding between the vehicle and the driver is higher, and the driver's experience is improved.

[0067] In some embodiments, obtaining the driving style information of the driver includes: The driver's gender is obtained. The first information indicates that the driver is a female, and the second information indicates that the driver is a male.

[0068] In some specific embodiments, the driver's gender information can be obtained by using an image sensor on the vehicle or by combining it with a pressure sensor on the vehicle's driving position. Based on the analysis of the driving styles of male and female drivers based on big data, female drivers generally prefer the first style, i.e., the safe driving style, and avoid driving parallel to a large vehicle after changing lanes. Male drivers prefer the second style, i.e., the efficient driving style, and pay more attention to the efficiency of changing lanes, and pay less attention to whether they will drive parallel to a large vehicle after changing lanes.

[0069] In this patent application, by obtaining the gender of the driver, if the driver is female, the safe lane change control method 20 is executed. If the driver is male, the efficient lane change control method is executed. In this way, the appropriate driving style and lane change control method 10 can be matched for the driver according to the driver's gender. And by obtaining the gender of the driver, the driving style and lane change control method 10 are automatically matched for the driver, which is convenient and fast, and can reduce the steps for the driver to set the vehicle driving style parameters, thereby improving the driving experience.

[0070] In some other embodiments, obtaining the driver's driving style information includes: A request is generated to request the driver to select a driving style, where the driving styles include a first style and a second style.

[0071] The driving style information generated by the driver selecting the first style or the second style is obtained. If the driver selects the first style, the first information is generated. If the driver selects the second style, the second information is generated. In this way, the driver can select a suitable driving style based on his understanding of his driving habits, and match the appropriate lane change control method 10 for the driver, which is more targeted.

[0072] Please refer to Figure 6 , Figure 6 FIG. 1 is a flow chart of a lane change control method 10 for a vehicle according to another embodiment of the present application. Figure 6 In the illustrated embodiment, the lane change control method 10 further includes step 16 , switching from the safe lane change control method 20 to the efficient lane change control method. Step 16 includes step 161 and step 162 .

[0073] Step 161, if the driving style information is the first information, obtain the first takeover number, which is the number of times the driver takes over to change the vehicle to the target lane when it is determined that the vehicle changes lanes to the target lane and runs parallel to the large vehicle.

[0074] Step 162: If the first takeover number is greater than the set first number limit, the vehicle is controlled according to the efficient lane change control method.

[0075] Although the lane change control method 10 is determined to be the safe lane change control method 20 or the efficient lane change control method based on the driver's gender or the driver's choice of driving style before the lane change, some male drivers also tend to prefer the safe driving style, and some female drivers also tend to prefer the efficient driving style. In addition, the driver may have a certain deviation in whether his or her driving habits are more in line with the safe driving style or the efficient driving style, so it needs to be corrected during the driving process.

[0076] In the present patent application, when the driving style information is the first information, that is, the driving style is a safe driving style. When it is determined that the vehicle changes lanes to the target lane and runs parallel to the large vehicle, the vehicle lane change control method 10 controls the vehicle to drive on the current road or generates a request for whether to control the vehicle to change lanes, and obtains the first takeover number of the driver taking over the vehicle to change lanes to the target lane or choosing to control the vehicle to change lanes to the target lane. If the first takeover number is greater than the set first number limit, it means that the driver's driving style is more in line with the efficiency driving style. At this time, the vehicle is controlled according to the efficiency lane change control method. In some embodiments, the sum of the number of consecutive takeovers is the first takeover number. In this way, the driver's driving style can be accurately obtained in fewer turns.

[0077] Please refer to Figure 7 , Figure 7 FIG. 1 is a flow chart of a vehicle lane change control method 10 shown in another embodiment of the present application. Figure 7 In the illustrated embodiment, the lane change control method 10 further includes step 17 , switching from the efficient lane change control method to the safe lane change control method 20 . Step 17 includes step 171 and step 172 .

[0078] Step 171, if the driving style information is the second information, obtain the second takeover number, which is the number of times the driver takes over to make the vehicle drive in the current lane when it is determined that the vehicle can change lanes from the current lane to the target lane and run parallel to the large vehicle after changing lanes.

[0079] Step 172 , if the second takeover number is greater than the set second number limit, control the vehicle driving according to the safe lane change control method 20 .

[0080] When the driving style information is the second information, that is, the driving style is the efficiency driving style, when it is determined that the vehicle can change lanes from the current lane to the target lane, the vehicle lane change control method 10 controls the vehicle to change lanes from the current lane to the target lane. If the vehicle is parallel to the large vehicle after the lane change, the second takeover number of the driver taking over the vehicle to make the vehicle drive in the current lane, thereby avoiding paralleling with the large vehicle after the lane change. If the second takeover number is greater than the set second number limit, it means that the driver's driving style is more in line with the safe driving style. At this time, the vehicle is controlled to drive according to the safe lane change control method 20.

[0081] In some embodiments, before determining whether the vehicle can change lanes from the current lane to the target lane, the lane change control method 10 further includes: acquiring a first vehicle speed of a preceding vehicle in the current lane and a second vehicle speed of a preceding vehicle in the target lane.

[0082] Determining whether the vehicle can change lanes from the current lane to the target lane includes: if the first vehicle speed is less than the first vehicle speed limit and the second vehicle speed is greater than the first vehicle speed, determining whether the vehicle can change lanes from the current lane to the target lane.

[0083] If the first speed is less than the first speed limit, and the second speed is greater than the first speed, it means that the speed of the vehicle in the current lane is slow, and the speed of the adjacent target lane is greater than the speed of the vehicle in the current lane. In this case, it can be determined whether the vehicle can change lanes from the current lane to the target lane, thereby reducing the adverse effects of the front vehicle's speed reduction on the vehicle.

[0084] If it is determined that the vehicle can change lanes from the current lane to the target lane, the safe lane change control method 20 can be executed. Specifically, if it is determined that the vehicle will be parallel to the vehicle after changing lanes to the target lane, the vehicle is controlled to travel in the current lane. If it is determined that the vehicle will not be parallel to the vehicle after changing lanes to the target lane, the vehicle is controlled to change lanes to the target lane or, in response to the confirmation information of the driver's confirmation request, the vehicle is controlled to change lanes to the target lane or travel in the current lane. The efficient lane change control method can also be executed to directly control the vehicle to change lanes to the target lane.

[0085] Please refer to Figure 8 , Figure 8 FIG. 1 is a flow chart of a vehicle lane change control method 10 shown in another embodiment of the present application. Figure 8 As shown, the vehicle lane change control method 10 includes steps 181 to 183.

[0086] Step 181, obtaining path planning information, where the path planning information includes lane change information indicating that the vehicle needs to change lanes from the current lane to the target lane.

[0087] Step 182: If lane change information is obtained and it is determined that the vehicle can change lanes from the current lane to the target lane, control the vehicle to change lanes to the target lane.

[0088] Step 183 , if the path planning information is not lane change information, in the case of waiting to change lanes, if it is determined that the vehicle can change lanes from the current lane to the target lane, execute the safe lane change control method 20 .

[0089] In this way, by obtaining the path planning information, it can be determined whether the vehicle needs to change lanes based on the path planning needs. For example, vehicle turns or in and out of ramps all fall within the scope of the path planning required lane changes. When the lane change is required based on path planning, it is determined that the vehicle can change lanes from the current lane to the target lane, and the vehicle is controlled to change lanes to the target lane. At this time, the priority of driving according to the planned path is higher than the priority of avoiding parallel driving with large vehicles. The problem of parallel driving with large vehicles after changing lanes to the target lane can be ignored, and the vehicle is controlled to change lanes to the target lane. If the lane change is not required based on path planning, if it is determined that the vehicle can change lanes from the current lane to the target lane, the safe lane change control method 20 is executed to avoid parallel driving with large vehicles after the lane change is completed.

[0090] Please refer to Fig. 9 , Fig. 9 FIG. 1 is a flow chart of a vehicle lane change control method 10 shown in another embodiment of the present application. Fig. 9 As shown, the vehicle lane change control method 10 includes steps 191 to 194.

[0091] Step 191, obtaining path planning information, where the path planning information includes lane change information indicating that the vehicle needs to change lanes from the current lane to the target lane.

[0092] Step 192: If lane change information is obtained and it is determined that the vehicle can change lanes from the current lane to the target lane, and the vehicle is parallel to the large vehicle after changing lanes to the target lane, a prompt is generated to select lane change or plan a new path.

[0093] Step 193, in response to the lane change selection information indicating that the driver has selected a lane change, controlling the vehicle to change lanes.

[0094] Step 194 , in response to the driver selecting the path update selection information for planning a new path, controlling the vehicle to travel along the new path.

[0095] In this way, when a lane change is required based on the path planning and the vehicle changes lanes to the target lane and runs parallel to the large vehicle, a prompt is generated to select lane change or plan a new path. Controlling the vehicle to change lanes or drive along a new path according to the driver's instructions can make the vehicle control more in line with the driver's wishes.

[0096] In some embodiments, the lane change control method 10 further includes: obtaining a distance between another vehicle in a reference lane and a target lane, the reference lane is adjacent to the target lane, the target lane is located between the reference lane and the current lane, and the other vehicle is a vehicle that is parallel to the vehicle after the vehicle changes lanes. According to the distance, determining the lateral acceleration of the vehicle when changing lanes. Wherein, different distances have different lateral accelerations.

[0097] Specifically, if the distance between the other vehicle in the reference lane and the target lane is large, the lateral acceleration of the vehicle when changing lanes can be appropriately increased to improve the lane changing efficiency. If the distance between the other vehicle in the reference lane and the target lane is small, the lateral acceleration of the vehicle when changing lanes can be appropriately reduced to make the turning path smoother and improve the sense of security when changing lanes.

[0098] Another aspect of the present application provides a vehicle, Fig.10 FIG. 1 is a structural block diagram of a vehicle shown in an embodiment. Fig.10 As shown, the vehicle 1 includes a sensing system 2, a steering system 4, a driving system 5 and a lane change control system 3, and the lane change control system 3 is connected to the sensing system 2, the steering system 4 and the driving system 5. The sensing system 2 may include one or more of a distance sensor, a vehicle speed sensor, an image sensor and a pressure sensor, which is used to collect information such as vehicle speed, distance, and image, to provide a basis for determining whether the vehicle 1 can change lanes from the current lane to the target lane, to provide a basis for determining whether the vehicle 1 is parallel to the large vehicle after changing lanes to the target lane, and to provide a basis for determining the gender of the driver. The steering system 4, the driving system 5 and the lane change control system 3 are connected to control the driving of the vehicle 1 according to the lane change control system 3.

[0099] Please refer to Fig.10 , Fig.10 for Fig. 9 The structural block diagram of the lane change control system 3 is shown in FIG. Fig. 9 As shown, the lane change control system 3 includes a memory, a processor 31 and a program stored in the memory and executable on the processor. When the processor executes the program, the vehicle lane change control method 10 is implemented.

[0100] Please refer to Fig.11 , Fig.11 for Fig.10 The structural block diagram of the lane change control system 3 is shown. Fig.11 In the illustrated embodiment, the lane change control system 3 may include a computer-readable storage medium 32, which may store a program that can be called by the processor 31 and may include a non-volatile storage medium. In some embodiments, the lane change control system 3 may include a memory 33 and an interface 34. In some embodiments, the lane change control system 3 may also include other hardware according to actual applications.

[0101] On the other hand, the present application provides a computer-readable storage medium, on which a program is stored, and when the program is executed, a vehicle lane change control method 10 is implemented. In some embodiments, a computer program product implemented on one or more computer-readable storage media 32 (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing program code can be adopted. The computer-readable storage medium 32 includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. The information can be a computer-readable instruction, a data structure, a module of a program, or other data. Examples of computer-readable storage media 32 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), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassette, tape disk storage or other magnetic storage device or any other non-transmission medium, which can be used to store information that can be accessed by a computing device.

[0102] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the application disclosed herein. The present application is intended to cover any variations, uses or adaptations of the present application, which follow the general principles of the present application and include common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0103] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A vehicle lane change control method, characterized in that: include: Before the vehicle changes lanes, determining whether the vehicle can change lanes from the current lane to an adjacent target lane; If it is determined that the vehicle can change lanes from the current lane to the target lane, a safe lane change control method is executed, wherein the safe lane change control method includes: Determine whether the vehicle will be parallel to the large vehicle after changing lanes to the target lane; If it is determined that the vehicle does not run parallel to the large vehicle after changing lanes to the target lane, the vehicle is controlled to change lanes to the target lane.

2. The vehicle lane change control method according to claim 1, characterized in that: The safe lane change control method further includes: If it is determined that the vehicle changes lanes to the target lane and runs parallel to the large vehicle, the vehicle is controlled to travel in the current lane.

3. The vehicle lane change control method according to claim 1, characterized in that: The safe lane change control method further includes: If it is determined that the vehicle changes lanes to the target lane and runs parallel to the large vehicle, a request is generated as to whether to control the vehicle to change lanes; In response to confirmation information from the driver confirming the request, the vehicle is controlled to change lanes to the target lane or to travel in the current lane.

4. The vehicle lane change control method according to claim 1, characterized in that: The lane change control method further includes: Acquiring driving style information of a driver, wherein the driving style information includes first information indicating that the driving style of the driver is a first style, and second information indicating that the driving style is a second style; If the driving style information is the first information, executing the safe lane change control method; If the driving style information is the second information, an efficient lane change control method is executed, and the efficient lane change control method includes: if it is determined that the vehicle can change lanes from the current lane to the target lane, controlling the vehicle to change lanes to the target lane.

5. The vehicle lane change control method according to claim 4, characterized in that: The obtaining of the driving style information of the driver includes: Acquire the gender of the driver, the first information indicates that the driver is female, and the second information indicates that the driver is male; or generating a request for the driver to select a driving style, the driving style comprising a first style and a second style; The driving style information generated when the driver selects the first style or the second style is obtained; if the driver selects the first style, the first information is generated; if the driver selects the second style, the second information is generated.

6. The vehicle lane change control method according to claim 4, characterized in that: The lane change control method further includes: If the driving style information is the first information, a first takeover number is obtained, where the first takeover number is the number of times the driver takes over to change the vehicle to the target lane when it is determined that the vehicle changes lanes to the target lane and runs parallel to the large vehicle; If the first takeover number is greater than a set first number limit, the vehicle is controlled according to the efficient lane change control method.

7. The vehicle lane change control method according to claim 4, characterized in that: The lane change control method further includes: If the driving style information is the second information, a second takeover number is obtained, where the second takeover number is the number of times the driver takes over to make the vehicle drive in the current lane when it is determined that the vehicle can change lanes from the current lane to the target lane and run parallel to the large vehicle after the lane change; If the second takeover number is greater than the set second number limit, the vehicle is controlled according to the safe lane change control method.

8. The vehicle lane change control method according to claim 1, characterized in that: Before determining whether the vehicle can change lanes from the current lane to the target lane, the lane change control method further includes: Acquire a first vehicle speed of a preceding vehicle in the current lane and a second vehicle speed of a preceding vehicle in the target lane; The determining whether the vehicle can change lanes from the current lane to the target lane includes: If the first vehicle speed is less than a first vehicle speed limit and the second vehicle speed is greater than the first vehicle speed, it is determined whether the vehicle can change lanes from a current lane to a target lane.

9. The vehicle lane change control method according to claim 1, characterized in that: The lane change control method further includes: Acquiring path planning information, the path planning information including lane change information indicating that the vehicle needs to change lanes from the current lane to the target lane; If the lane change information is acquired and it is determined that the vehicle can change lanes from the current lane to the target lane, control the vehicle to change lanes to the target lane; If the path planning information is not the lane change information, in the case of a pending lane change, if it is determined that the vehicle can change lanes from the current lane to the target lane, the safe lane change control method is executed.

10. The vehicle lane change control method according to claim 1, characterized in that: The lane change control method further includes: Acquiring path planning information, the path planning information including lane change information indicating that the vehicle needs to change lanes from the current lane to the target lane; If the lane change information is obtained, it is determined that the vehicle can change lanes from the current lane to the target lane, and the vehicle is parallel to the large vehicle after changing lanes to the target lane, a prompt is generated to select lane change or plan a new path; In response to lane change selection information indicating that the driver has selected a lane change, controlling the vehicle to change lanes; In response to the driver selecting the route update selection information for planning a new route, the vehicle is controlled to travel along the new route.

11. The vehicle lane change control method according to claim 1, characterized in that: The lane change control method further includes: Obtaining a distance between another vehicle in a reference lane and the target lane, wherein the reference lane is adjacent to the target lane, the target lane is located between the reference lane and the current lane, and the other vehicle is a vehicle that will run parallel to the vehicle after the vehicle changes lanes; The lateral acceleration of the vehicle when changing lanes is determined according to the distance; wherein the lateral acceleration is different when the distance is different.

12. A vehicle, characterized in that: The method comprises a sensing system, a steering system, a driving system and a lane change control system, wherein the lane change control system is connected to the sensing system, the steering system and the driving system, and the lane change control system comprises a memory, a processor and a program stored in the memory and executable on the processor, and when the processor executes the program, the lane change control method as described in any one of claims 1 to 11 is implemented.

13. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a program, and when the program is executed, the lane change control method according to any one of claims 1 to 11 is implemented.

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