Simulation control method, device, storage medium and electronic device for vehicle lane changing

Abstract

The simulation control method, device, storage medium and electronic device for vehicle lane change provided in the embodiment of the present application relate to the field of intelligent transportation technology. The method can control the target simulated vehicle to travel on the first simulated lane in the simulation area. When it is determined that the simulation area has an intersection in the driving direction of the target simulated vehicle, multiple distance parameters of the target simulated vehicle are determined based on the vehicle parameters of the target simulated vehicle, and the lane change instruction of the target simulated vehicle is determined according to the multiple distance parameters. If the lane change instruction indicates that the target simulated vehicle changes lanes from the first simulated lane to the target simulated lane, the lane change control condition of the target simulated vehicle is obtained. If the target simulated vehicle meets the lane change control condition, the target simulated vehicle is controlled to change lanes from the first simulated lane to the target simulated lane. Since multiple distance parameters are introduced to simulate the vehicle lane change behavior, the difference between the simulation results and the actual application can be reduced, and the accuracy of the simulation results is improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of intelligent transportation technology, and in particular to a simulation control method, device, storage medium and electronic device for vehicle lane changing. Background Art

[0002] Nowadays, with the increasing development of artificial intelligence, artificial intelligence technology is being used more and more widely in life, including in autonomous driving technology. The application of autonomous driving technology on actual roads can ensure the safety of vehicles while ensuring a higher vehicle speed.

[0003] In related technologies, in order to ensure that the autonomous driving technology can maintain better performance in actual applications, simulation experiments can be conducted in traffic simulation software before actual application. When simulating the lane-changing behavior of vehicles before an intersection, the vehicle changes lanes in a fixed way and the simulation model is performed according to the preset lane-changing parameters.

[0004] However, the lane changing behavior and lane changing parameters in the related technology cannot be flexibly adjusted according to the actual situation, and can only simulate the idealized lane changing situation through a fixed model, resulting in a large difference between the simulation results and the actual application, and the accuracy of the simulation results is poor. Summary of the invention

[0005] In order to solve the technical problems existing in the related art, the embodiments of the present application provide a simulation control method, device, storage medium and electronic device for vehicle lane changing, which can provide a simulation solution for controlling vehicle lane changing before an intersection, thereby improving the accuracy of the simulation results of controlling vehicle lane changing.

[0006] To achieve the above purpose, the technical solution of the embodiment of the present application is implemented as follows:

[0007] In a first aspect, an embodiment of the present application provides a simulation control method for a vehicle lane change, the method comprising:

[0008] Controlling the target simulated vehicle to travel on a first simulated lane in a simulation area, wherein the simulation area includes at least two simulated lanes in the same direction;

[0009] When it is determined that there is an intersection in the driving direction of the target simulated vehicle in the simulation area, multiple distance parameters of the target simulated vehicle are determined based on vehicle parameters of the target simulated vehicle, and a lane change instruction of the target simulated vehicle is determined according to the multiple distance parameters; the vehicle parameters are used to indicate the aggressiveness of the corresponding simulated vehicle;

[0010] If the lane-changing instruction instructs the target simulated vehicle to change lanes from the first simulated lane to the target simulated lane, then obtaining a lane-changing control condition of the target simulated vehicle;

[0011] If the target simulated vehicle meets the lane-changing control condition, the target simulated vehicle is controlled to change lanes from the first simulated lane to the target simulated lane.

[0012] In a second aspect, an embodiment of the present application further provides a vehicle lane changing simulation control device, the device comprising:

[0013] A driving control unit, used for controlling the target simulated vehicle to drive on a first simulated lane in a simulation area, wherein the simulation area includes at least two simulated lanes in the same direction;

[0014] an instruction determination unit, for determining a plurality of distance parameters of the target simulated vehicle based on vehicle parameters of the target simulated vehicle when it is determined that the simulation area has an intersection in the driving direction of the target simulated vehicle, and determining a lane change instruction of the target simulated vehicle according to the plurality of distance parameters; the vehicle parameters are used to indicate the aggressiveness of the corresponding simulated vehicle;

[0015] a condition acquisition unit, configured to acquire a lane change control condition of the target simulated vehicle if the lane change instruction instructs the target simulated vehicle to change lanes from the first simulated lane to the target simulated lane;

[0016] The lane-changing control unit is used to control the target simulated vehicle to change lanes from the first simulated lane to the target simulated lane if the target simulated vehicle meets the lane-changing control condition.

[0017] In an optional embodiment, the device further comprises a model building unit, which is used to:

[0018] After controlling the target simulated vehicle to change lanes from the first simulated lane to the target simulated lane, obtaining a simulation result corresponding to the target simulated vehicle;

[0019] A vehicle lane-changing simulation model is established based on the simulation results corresponding to multiple target simulation vehicles.

[0020] In an optional embodiment, the plurality of distance parameters of the target simulated vehicle are inversely correlated with the aggressiveness of the target simulated vehicle.

[0021] In an optional embodiment, the multiple distance parameters include a first distance parameter, a second distance parameter, and a third distance parameter, and the third distance parameter is greater than the second distance parameter, and the second distance parameter is greater than the first distance parameter; the instruction determination unit is specifically used to:

[0022] If the distance between the target simulated vehicle and the intersection is less than the first distance parameter, determining the lane change instruction of the target simulated vehicle as: the target simulated vehicle continues to travel along the first simulated lane;

[0023] If the distance between the target simulated vehicle and the intersection is greater than the first distance parameter and not greater than the third distance parameter, determining whether the first simulated lane is a path simulation lane; the path simulation lane is a simulated lane corresponding to the direction in which the target simulated vehicle turns toward the set intersection;

[0024] If not, determining the lane change instruction of the target simulated vehicle is: changing the target simulated vehicle from the first simulated lane to the target simulated lane; the target simulated lane is any simulated lane selected from the path simulated lanes;

[0025] If so, a lane change instruction for the target simulated vehicle is determined according to the congestion condition of the first simulated lane.

[0026] In an optional embodiment, the instruction determination unit is further configured to:

[0027] If the congestion condition of the first simulated lane does not exceed the set congestion threshold, determining the lane change instruction of the target simulated vehicle as: the target simulated vehicle continues to travel along the first simulated lane;

[0028] If the congestion condition of the first simulated lane exceeds a set congestion threshold, and the distance between the target simulated vehicle and the intersection is not greater than the second distance parameter, determining the lane change instruction of the target simulated vehicle as follows: selecting a simulated lane from other path simulated lanes except the first simulated lane as the target simulated lane, and changing the target simulated vehicle from the first simulated lane to the target simulated lane;

[0029] If the congestion condition of the first simulated lane exceeds the set congestion threshold, and the distance between the target simulated vehicle and the intersection is greater than the second distance parameter, the lane change instruction of the target simulated vehicle is determined as: selecting a simulated lane from the adjacent simulated lanes on both sides of the first simulated lane as the target simulated lane, and changing the target simulated vehicle from the first simulated lane to the target simulated lane.

[0030] In an optional embodiment, the instruction determination unit is further configured to:

[0031] If the distance between the target simulated vehicle and the intersection is greater than the third distance parameter, and the congestion condition of the first simulated lane exceeds the set congestion threshold, the lane change instruction of the target simulated vehicle is determined as: selecting a simulated lane from the adjacent simulated lanes on both sides of the first simulated lane as the target simulated lane, and changing the target simulated vehicle from the first simulated lane to the target simulated lane.

[0032] In an optional embodiment, the lane changing control unit is specifically used for:

[0033] It is determined that the target simulated lane does not terminate within a set distance threshold from the target simulated vehicle.

[0034] In an optional embodiment, the lane-changing control unit is further used for:

[0035] If the distance between the target simulated vehicle and the intersection is not greater than the second distance parameter, and the target simulated vehicle does not meet the lane change control condition, the target simulated vehicle is controlled to decelerate along the first simulated lane until the target simulated vehicle meets the lane change control condition.

[0036] In an optional embodiment, the lane-changing control unit is further used for:

[0037] If the distance between the target simulated vehicle and the intersection is equal to the first distance parameter during the process of controlling the target simulated vehicle to decelerate along the first simulated lane, controlling the target simulated vehicle to stop;

[0038] If the parking time of the target simulated vehicle exceeds a set time threshold, the target simulated vehicle is controlled to continue traveling along the first simulated lane.

[0039] In an optional embodiment, the lane-changing control unit is further used for:

[0040] If a first interval distance between the target simulated vehicle and a previous simulated vehicle in the target simulated lane is greater than a first preset safety distance, and a second interval distance between the target simulated vehicle and a subsequent simulated vehicle in the target simulated lane is greater than a second preset safety distance, the target simulated vehicle is controlled to change lanes from the first simulated lane to the target simulated lane.

[0041] In an optional embodiment, the device further includes a parameter setting unit, configured to:

[0042] Acquiring attribute information of the target simulated vehicle, the attribute information including at least one of the age of the driver, the gender of the driver, the vehicle type, the region where the vehicle is located, and the purpose of travel;

[0043] Based on the attribute information of the target simulated vehicle, vehicle parameters of the target simulated vehicle are set.

[0044] In a third aspect, an embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the simulation control method for vehicle lane changing of the first aspect is implemented.

[0045] In a fourth aspect, an embodiment of the present application further provides an electronic device, comprising a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and when the computer program is executed by the processor, the processor implements the simulation control method for vehicle lane changing of the first aspect.

[0046] The simulation control method, device, storage medium and electronic device for vehicle lane change provided in the embodiment of the present application can control the target simulated vehicle to travel on the first simulated lane in the simulation area. When it is determined that there is an intersection in the simulation area in the driving direction of the target simulated vehicle, multiple distance parameters of the target simulated vehicle are determined based on the vehicle parameters of the target simulated vehicle, and the lane change instruction of the target simulated vehicle is determined according to the multiple distance parameters. If the lane change instruction indicates that the target simulated vehicle changes lanes from the first simulated lane to the target simulated lane, the lane change control condition of the target simulated vehicle is obtained. If the target simulated vehicle meets the lane change control condition, the target simulated vehicle is controlled to change lanes from the first simulated lane to the target simulated lane. Since multiple distance parameters are introduced to simulate the lane change behavior of the vehicle before the intersection, the difference between the simulation results and the actual application can be reduced, the accuracy of the simulation results is improved, and the lane change behavior before the intersection is richer, more diverse and closer to reality. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0048] Figure 1 An application scenario diagram of a vehicle lane changing simulation control method provided in an embodiment of the present application;

[0049] Figure 2 A road schematic diagram of a junction simulation scenario provided in an embodiment of the present application;

[0050] Figure 3 A schematic flow chart of a simulation control method for vehicle lane changing provided in an embodiment of the present application;

[0051] Figure 4 A road schematic diagram of another intersection simulation scenario provided in an embodiment of the present application;

[0052] Figure 5 A flowchart of another vehicle lane changing simulation control method provided in an embodiment of the present application;

[0053] Figure 6 A road schematic diagram of another intersection simulation scenario provided in an embodiment of the present application;

[0054] Figure 7 A flowchart of another vehicle lane changing simulation control method provided in an embodiment of the present application;

[0055] Figure 8 A flowchart of another vehicle lane changing simulation control method provided in an embodiment of the present application;

[0056] Fig. 9 A flowchart of another vehicle lane changing simulation control method provided in an embodiment of the present application;

[0057] Fig.10 A schematic diagram of the structure of a vehicle lane-changing simulation control device provided in an embodiment of the present application;

[0058] Fig.11 A schematic diagram of the structure of another vehicle lane-changing simulation control device provided in an embodiment of the present application;

[0059] Fig.12 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application;

[0060] Fig.13 A schematic diagram of the structure of another electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0061] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0062] It should be noted that the terms "including" and "having" and their variations involved in the documents of this application are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0063] Some of the terms used in the embodiments of the present application are explained below to facilitate understanding by those skilled in the art.

[0064] (1) Micro traffic simulation: Traffic simulation refers to the use of simulation technology to study traffic behavior. It is a technology that tracks and describes the changes in traffic movement over time and space. Micro traffic simulation is a type of traffic simulation. The description of traffic flow is based on a single vehicle as the basic unit. The micro behaviors of vehicles on the road, such as following, overtaking, and lane changing, can be reflected more realistically. Simulation technology is a simulation model technology that uses simulation hardware and simulation software to reflect system behavior or processes through simulation experiments, with the help of certain numerical calculations and problem solving. Road traffic simulation is an important tool for studying complex traffic problems, especially when a system is too complex to be described by a simple and abstract mathematical model. The role of traffic simulation is more prominent. Traffic simulation can clearly assist in the analysis and prediction of the location and causes of traffic congestion, compare and evaluate relevant plans for urban planning, traffic engineering, and traffic management, and try to avoid or prepare for problems before they become reality.

[0065] (2) Aggression level: Before the microscopic traffic simulation, different aggressiveness levels can be set for each simulated vehicle. The higher the aggressiveness of the simulated vehicle, the more aggressive the simulated vehicle is, and the lower the aggressiveness of the simulated vehicle, the more conservative the simulated vehicle is. For example, the aggressiveness of simulated vehicle A is higher than that of simulated vehicle B. Simulated vehicle A and simulated vehicle B are currently driving on the straight lane and see an intersection ahead at the same distance. At this time, if simulated vehicle A and simulated vehicle B both want to change lanes, simulated vehicle A will change lanes earlier than simulated vehicle B, and the lane changing speed of simulated vehicle A is faster. Specifically, due to differences in driver reaction time, familiarity with road conditions, and psychological factors, their driving behaviors will be different. It is assumed that before the simulation starts, each simulated vehicle is assigned a floating point number A between (0,1) to represent the driver's aggressiveness, with 0 representing the most conservative type and 1 representing the most aggressive type. This value does not change with the running of the simulation. Once assigned, the value will remain fixed.

[0066] (3) Forced lane change and free lane change: According to the different lane change intentions, lane change behaviors can generally be divided into forced lane change and free lane change. Forced lane change refers to the lane change behavior that the vehicle must take in order to complete its normal driving purpose, such as the need to drive along a specified path; free lane change refers to the lane change behavior that occurs in order to pursue a faster speed and more free driving space. If the vehicle's current lane is congested, the vehicle can change to another more unobstructed lane.

[0067] (4) Dead-end lanes and non-dead-end lanes: If a lane ends within a set distance, the lane is considered a dead-end lane within this distance, otherwise it is a non-dead-end lane. For example, the distance can be set to 50 meters. When the vehicle is 50 meters away, the lane can be considered a non-dead-end lane, and when the vehicle is within 50 meters, the lane can be considered a dead-end lane.

[0068] The word “exemplary” is used hereinafter to mean “serving as an example, example, or illustration.” Any embodiment described as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments.

[0069] The terms "first" and "second" in this document are used for descriptive purposes only and should not be understood as explicitly or implicitly indicating relative importance or implicitly indicating the number of technical features indicated. Therefore, features defined as "first" and "second" may explicitly or implicitly include one or more of the features, and in the description of the embodiments of this application, unless otherwise specified, "plurality" means two or more.

[0070] The embodiments of the present application also involve artificial intelligence (AI) and machine learning (ML) technologies, and are designed based on computer vision (CV) technology and machine learning in artificial intelligence.

[0071] Artificial intelligence is the theory, method, technology and application system that uses digital computers or machines controlled by digital computers to simulate, extend and expand human intelligence, perceive the environment, acquire knowledge and use knowledge to obtain the best results. In other words, artificial intelligence is a comprehensive technology in computer science that attempts to understand the essence of intelligence and produce a new intelligent machine that can respond in a similar way to human intelligence. Artificial intelligence is to study the design principles and implementation methods of various intelligent machines so that machines have the functions of perception, reasoning and decision-making. Artificial intelligence technology mainly includes computer vision technology, speech processing technology, and machine learning / deep learning.

[0072] With the research and advancement of artificial intelligence technology, artificial intelligence has been studied and applied in many fields, such as common smart homes, image retrieval, video surveillance, video detection, smart speakers, smart marketing, unmanned driving, automatic driving, drones, robots, smart medical care, etc. I believe that with the development of technology, artificial intelligence will be applied in more fields and play an increasingly important role.

[0073] In order to better understand the technical solutions provided in the embodiments of the present application, the following briefly introduces the application scenarios to which the technical solutions provided in the embodiments of the present application are applicable. It should be noted that the application scenarios introduced below are only used to illustrate the embodiments of the present application and are not limited thereto. In specific implementation, the technical solutions provided in the embodiments of the present application can be flexibly applied according to actual needs.

[0074] The vehicle lane changing simulation control method provided in the embodiment of the present application can be applied to Figure 1 See the application scenario shown in Figure 1 As shown, the electronic device 10 may include a database 11 , simulation software 12 , and a simulation result display window 13 .

[0075] In one embodiment, the simulation software 12 may be a micro simulation software.

[0076] The logic algorithm involved in the simulation control method of the vehicle lane changing is embedded in the simulation software 12, so as to control the vehicle to change lanes before the intersection through the simulation software according to the logic algorithm.

[0077] The vehicle information and the driver characteristics corresponding to each vehicle can be stored in the database 11, wherein the vehicle information and the driver characteristics corresponding to each vehicle can be simulated data or can be actual data collected from an actual road according to a data acquisition device and the actual data is stored in the database 11.

[0078] The simulation result display window 13 may display the simulation result in the form of text, or may simulate the simulation result in the form of animation for display.

[0079] By embedding the logic algorithm for controlling the vehicle to change lanes before the intersection in the simulation software, the degree of fit between the simulation results and the actual situation is improved. The logic algorithm can be applied to control the vehicle to change lanes before the intersection, thus realizing the simulation process of the vehicle lane changing behavior before the intersection.

[0080] Figure 2 A schematic diagram of a road simulation scene at an intersection is provided in an embodiment of the present application. The road simulation scene at the intersection includes four simulated vehicles, namely simulated vehicle A, simulated vehicle B, simulated vehicle C and simulated vehicle D, and three simulated lanes, which are the simulated lanes currently traveled by simulated vehicle A and simulated vehicle D, the simulated lane currently traveled by simulated vehicle B, and the simulated lane currently traveled by simulated vehicle C.

[0081] The intersection simulation scene road also includes six intersection turning lanes, among which lane numbered 1 is a dedicated left-turn lane, lane numbered 2 is a shared lane for straight driving and left turning, lanes numbered 3 and 4 are dedicated lanes for straight driving, and lanes numbered 5 and 6 are dedicated right-turn lanes.

[0082] Simulated vehicle A (simulated vehicle D): This vehicle is in the straight lane 3, 200 meters away from the intersection. It needs to switch one lane to the left to reach the straight left turn shared lane 2, and needs to switch two lanes to the right to reach the right turn lane 5. Since 5 and 6 are right turn lanes (storage lanes), the vehicle can turn into lane 5 as long as it reaches lane 4 without crossing other lanes or being disturbed by other straight vehicles. Therefore, simulated vehicle A (simulated vehicle D) only needs to switch one lane to the right to reach the right turn lane. Therefore, when simulated vehicle A (simulated vehicle D) is at the current position, if it needs to turn left, its path simulation lane is 2, if it needs to go straight, it is already in its own path simulation lane, and if it needs to turn right, its path simulation lane is 4.

[0083] Simulated vehicle B: This vehicle is in the shared lane 2 for going straight and turning left, 100 meters away from the intersection. It does not need to change lanes to turn left or go straight. It needs to switch three lanes to the right to reach the dedicated lane 5 for turning right. According to the analysis of simulated vehicle A, simulated vehicle B only needs to switch two lanes to the right to reach the right-turn lane. Therefore, when vehicle B is at the current position, if it needs to turn left or go straight, it is already in its own path simulation lane. If it needs to turn right, its path simulation lane is 4.

[0084] Simulated vehicle C: This vehicle is in the straight lane 4, 50 meters away from the intersection. It needs to switch two lanes to the left to reach the straight left turn shared lane 2, and needs to switch one lane to the right to reach the right turn dedicated lane 5. According to the analysis of simulated vehicle A, simulated vehicle C can reach the right turn lane without switching lanes. Therefore, when simulated vehicle C is at the current position, if it needs to turn left, its path simulation lane is 2, if it needs to go straight, it is already in its own path simulation lane, and if it needs to turn right, it is also already in its own path simulation lane.

[0085] To further illustrate the technical solution provided by the embodiment of the present application, this is described in detail below in conjunction with the accompanying drawings and specific implementation methods. Although the embodiment of the present application provides the method operation steps as shown in the following embodiments or drawings, more or fewer operation steps may be included in the method based on routine or no creative labor. In the steps where there is no necessary causal relationship logically, the execution order of these steps is not limited to the execution order provided by the embodiment of the present application. The method may be executed in the order of the method shown in the embodiment or drawings or in parallel during the actual processing process or when the device is executed.

[0086] Figure 3 The flowchart of a vehicle lane change simulation control method provided by an embodiment of the present application is shown, and the method can be executed by an electronic device. The electronic device can be Figure 1 The electronic device 10 is provided.

[0087] like Figure 3 As shown, the vehicle lane changing simulation control method includes the following steps:

[0088] Step S301, controlling the target simulated vehicle to travel on the first simulated lane in the simulation area.

[0089] The simulation area may include at least two simulation lanes in the same direction. Figure 2 The intersection simulation scene road shown includes three simulated lanes in the same direction, namely simulated lane 2, simulated lane 3 and simulated lane 4. If the target simulated vehicle is vehicle A or vehicle D, the first simulated lane is simulated lane 3. If the target simulated vehicle is vehicle B, the first simulated lane is simulated lane 2. If the target simulated vehicle is vehicle C, the first simulated lane is simulated lane 4.

[0090] Step S302, when it is determined that there is an intersection in the simulation area in the driving direction of the target simulation vehicle, multiple distance parameters of the target simulation vehicle are determined based on the vehicle parameters of the target simulation vehicle, and a lane change instruction of the target simulation vehicle is determined according to the multiple distance parameters.

[0091] Among them, the vehicle parameters are used to indicate the aggressiveness of the corresponding simulated vehicle, and the multiple distance parameters are determined according to the distance between the target simulated vehicle and the intersection, which may include a first distance parameter, a second distance parameter and a third distance parameter, and the third distance parameter is greater than the second distance parameter, and the second distance parameter is greater than the first distance parameter.

[0092] The first distance parameter, the second distance parameter and the third distance parameter are inversely correlated with the aggressiveness of the target simulated vehicle, that is, when the aggressiveness of the target simulated vehicle is higher, the first distance parameter, the second distance parameter and the third distance parameter are respectively smaller; when the aggressiveness of the target simulated vehicle is lower, the first distance parameter, the second distance parameter and the third distance parameter are respectively larger.

[0093] When the distance between the target simulated vehicle and the intersection is less than the first distance parameter, the lane change instruction of the target simulated vehicle can be determined as: the target simulated vehicle continues to travel along the first simulated lane.

[0094] When the distance between the target simulated vehicle and the intersection is greater than the first distance parameter and not greater than the third distance parameter, it can be determined whether the first simulated lane is a path simulation lane. The path simulation lane is the simulated lane corresponding to the direction in which the target simulated vehicle turns toward the set intersection. For example, if the target simulated vehicle is Figure 2 If there is vehicle B in the intersection, and vehicle B needs to turn right at the intersection, that is, the turning direction of vehicle B at the intersection is the right turn direction, then the path simulation lane of vehicle B is simulation lane 4.

[0095] If the first simulated lane is not the path simulated lane, the lane change instruction of the target simulated vehicle is determined as: changing the target simulated vehicle from the first simulated lane to the target simulated lane, wherein the target simulated lane is any simulated lane selected from the path simulated lane.

[0096] If the first simulated lane is a path simulation lane, it is determined whether the congestion condition of the first simulated lane exceeds the set congestion threshold. When the congestion condition of the first simulated lane does not exceed the set congestion threshold, the lane change instruction of the target simulated vehicle can be determined as: the target simulated vehicle continues to travel along the first simulated lane. When the congestion condition of the first simulated lane exceeds the set congestion threshold, and the distance between the target simulated vehicle and the intersection is not greater than the second distance parameter, the lane change instruction of the target simulated vehicle can be determined as: select a simulated lane from other path simulation lanes except the first simulated lane as the target simulated lane, and change the target simulated vehicle from the first simulated lane to the target simulated lane.

[0097] When the congestion condition of the first simulated lane exceeds the set congestion threshold and the distance between the target simulated vehicle and the intersection is greater than the second distance parameter, the lane change instruction of the target simulated vehicle can be determined as: select a simulated lane from the adjacent simulated lanes on both sides of the first simulated lane as the target simulated lane, and change the target simulated vehicle from the first simulated lane to the target simulated lane.

[0098] If the distance between the target simulated vehicle and the intersection is greater than the third distance parameter, and the congestion condition of the first simulated lane exceeds the set congestion threshold, the lane change instruction of the target simulated vehicle is determined as: selecting a simulated lane from the adjacent simulated lanes on both sides of the first simulated lane as the target simulated lane, and changing the target simulated vehicle from the first simulated lane to the target simulated lane.

[0099] Step S303: If the lane change instruction instructs the target simulated vehicle to change lanes from the first simulated lane to the target simulated lane, then the lane change control condition of the target simulated vehicle is obtained.

[0100] If the lane change instruction of the target simulated vehicle indicates that the target simulated vehicle changes lanes from the first simulated lane to the target simulated lane, a first interval distance between the target simulated vehicle and the previous simulated vehicle in the target simulated lane, and a second interval distance between the target simulated vehicle and the next simulated vehicle in the target simulated lane can be obtained. Figure 2 For vehicle B in the simulation, the target simulation lane is simulation lane 3. If vehicle B needs to change lanes from simulation lane 2 to simulation lane 3, it is necessary to obtain the distance between vehicle B and vehicle A, and the distance between vehicle B and vehicle D respectively.

[0101] Step S304: If the target simulated vehicle meets the lane-changing control condition, the target simulated vehicle is controlled to change lanes from the first simulated lane to the target simulated lane.

[0102] If a first interval distance between the target simulated vehicle and the previous simulated vehicle in the target simulated lane is greater than a first preset safety distance, and a second interval distance between the target simulated vehicle and the next simulated vehicle in the target simulated lane is greater than a second preset safety distance, the target simulated vehicle is controlled to change lanes from the first simulated lane to the target simulated lane.

[0103] In one embodiment, if Figure 4 As shown, before controlling the target simulated vehicle to change lanes from the first simulated lane to the target simulated lane, it is also necessary to determine whether the target simulated lane will terminate within a set distance threshold from the target simulated vehicle. If the target simulated lane will not terminate within the set distance threshold from the target simulated vehicle, it can be determined that the target simulated lane is a non-dead end lane, and the target simulated vehicle is controlled to change lanes from the first simulated lane to the target simulated lane. If the target simulated lane will terminate within the set distance threshold from the target simulated vehicle, it can be determined that the target simulated lane is a dead end lane, and the target simulated vehicle continues to travel along the first simulated lane.

[0104] In another embodiment, if the distance between the target simulated vehicle and the intersection is not greater than the second distance parameter and greater than the first distance parameter, it is determined whether the first simulated lane is a path simulation lane. When the first simulated lane is not a path simulation lane, the lane change instruction of the target simulated vehicle is determined to be: change the target simulated vehicle from the first simulated lane to the target simulated lane. Wherein, the target simulated lane is any simulated lane selected from the path simulation lane. Since the lane change instruction instructs the target simulated vehicle to change from the first simulated lane to the target simulated lane, the lane change control condition of the target simulated vehicle is obtained. When the target simulated vehicle does not meet the lane change control condition, the target simulated vehicle can be controlled to decelerate along the first simulated lane until the target simulated vehicle meets the lane change control condition. In addition, in the process of controlling the target simulated vehicle to decelerate along the first simulated lane, if the distance between the target simulated vehicle and the intersection is equal to the first distance parameter, the target simulated vehicle is controlled to stop. When the target simulated vehicle stops for more than the set time threshold, the target simulated vehicle can be controlled to continue driving along the first simulated lane, that is, the lane change operation of controlling the target simulated vehicle to change from the first simulated lane to the target simulated lane is no longer performed.

[0105] In another embodiment, after the target simulated vehicle is controlled to change lanes from the first simulated lane to the target simulated lane, or after the control of the target simulated vehicle changing lanes from the first simulated lane to the target simulated lane is canceled, that is, after the target simulated vehicle completes a lane change judgment, a lane change cooling time can be set, during which the target simulated vehicle does not make the next lane change judgment. Specifically, after the target simulated vehicle is controlled to change lanes from the first simulated lane to the target simulated lane, the lane change instruction of the target simulated vehicle can be re-determined, and a lane change cooling time needs to be waited. After the control of the target simulated vehicle changing lanes from the first simulated lane to the target simulated lane is canceled, the lane change instruction of the target simulated vehicle can also be re-determined, but the lane change cooling time can be canceled, that is, the target simulated vehicle can continue to make the next lane change judgment.

[0106] In some embodiments, before simulating a vehicle lane change, the vehicle parameters of the target simulated vehicle need to be set. The attribute information of the target simulated vehicle can be obtained first, and the attribute information includes at least one of the driver's age, the driver's gender, the vehicle model, the region, and the purpose of travel. Then, based on the attribute information of the target simulated vehicle, the vehicle parameters of the target simulated vehicle are set.

[0107] In other embodiments, the target simulation vehicle may have a set established driving path or a random driving path. When the target simulation vehicle has a set established driving path, the intersection turning direction of the target simulation vehicle has been set, and the target simulation vehicle can determine the corresponding path simulation lane according to the set intersection turning direction. When the target simulation vehicle has a random driving path, an intersection turning direction can be assigned to the target simulation vehicle, and the target simulation vehicle can determine the corresponding path simulation lane according to the intersection turning direction.

[0108] In other embodiments, after controlling the target simulated vehicle to change lanes from the first simulated lane to the target simulated lane, the simulation result corresponding to the target simulated vehicle can be obtained, so that a vehicle lane-changing simulation model can be established based on the simulation results corresponding to the multiple target simulated vehicles. After obtaining the vehicle lane-changing simulation model, the vehicle lane-changing simulation model can be used to analyze and optimize the relevant traffic schemes. For example, the vehicle lane-changing simulation model can be used to test the set duration schemes of the traffic lights at each intersection, and the test results corresponding to the duration schemes of the traffic lights at each intersection can be obtained. Then, based on the obtained test results, the duration scheme of the traffic lights at the target intersection is determined. Specifically, the traffic lights can be set to different durations, and the vehicle lane-changing simulation model can be run, so that the simulation results corresponding to the traffic lights set to different durations can be obtained, and finally, based on the simulation results, the optimal setting duration of the traffic lights that can alleviate traffic congestion can be determined.

[0109] The simulation control method for vehicle lane change provided in the embodiment of the present application can control the target simulated vehicle to travel on the first simulated lane in the simulation area. When it is determined that there is an intersection in the simulation area in the driving direction of the target simulated vehicle, multiple distance parameters of the target simulated vehicle are determined based on the vehicle parameters of the target simulated vehicle, and the lane change instruction of the target simulated vehicle is determined according to the multiple distance parameters. If the lane change instruction indicates that the target simulated vehicle changes lanes from the first simulated lane to the target simulated lane, the lane change control condition of the target simulated vehicle is obtained. If the target simulated vehicle meets the lane change control condition, the target simulated vehicle is controlled to change lanes from the first simulated lane to the target simulated lane. Since multiple distance parameters are introduced to simulate the lane change behavior of the vehicle before the intersection, the difference between the simulation results and the actual application can be reduced, the accuracy of the simulation results is improved, and the lane change behavior before the intersection is richer, more diverse and closer to reality.

[0110] In some embodiments, the vehicle lane changing simulation control method proposed in the present application can be performed according to Figure 5 The process shown in the figure is implemented, and the process can be performed by an electronic device. The electronic device can be Figure 1 The electronic device 10 is provided.

[0111] like Figure 5 As shown, the following steps may be included:

[0112] Step S501, controlling the target simulated vehicle to travel on the first simulated lane in the simulation area.

[0113] The simulation area may include at least two simulation lanes in the same direction.

[0114] Step S502: when it is determined that there is an intersection in the simulation area in the driving direction of the target simulation vehicle, a first distance parameter, a second distance parameter and a third distance parameter of the target simulation vehicle are determined based on the vehicle parameters of the target simulation vehicle.

[0115] Among them, the vehicle parameters are used to indicate the aggressiveness of the corresponding simulated vehicle, the first distance parameter, the second distance parameter and the third distance parameter of the target simulated vehicle are inversely correlated with the aggressiveness of the target simulated vehicle, the third distance parameter is greater than the second distance parameter, and the second distance parameter is greater than the first distance parameter.

[0116] For example, Figure 6 As shown, multiple distance parameters can be determined according to the distance between the target simulation vehicle and the intersection and the vehicle parameters of the target simulation vehicle, namely, the path reaction distance (Route Aware Dist), the restricted free lane change distance (Free Change Dist), and the prohibited lane change distance (No Change Dist). Among them, the first distance parameter is the prohibited lane change distance, the second distance parameter is the restricted free lane change distance, and the third distance parameter is the path reaction distance.

[0117] In one embodiment, the first distance parameter, the second distance parameter, and the third distance parameter of the target simulated vehicle may be a function of the aggressiveness of the target simulated vehicle.

[0118] Step S503, determining whether the distance between the target simulated vehicle and the intersection is greater than a third distance parameter; if not, executing step S504; if yes, executing step S511.

[0119] Step S504, determining whether the distance between the target simulated vehicle and the intersection is greater than a first distance parameter; if not, executing step S505; if yes, executing step S506.

[0120] Step S505: the lane change instruction of the target simulated vehicle is: the target simulated vehicle continues to travel along the first simulated lane.

[0121] First, it is necessary to determine whether the distance between the target simulated vehicle and the intersection is greater than the third distance parameter. If the distance between the target simulated vehicle and the intersection is not greater than the third distance parameter, it is necessary to determine whether the distance between the target simulated vehicle and the intersection is greater than the first distance parameter. If the distance between the target simulated vehicle and the intersection is not greater than the first distance parameter, the lane change instruction of the target simulated vehicle can be determined as: the target simulated vehicle continues to drive along the first simulated lane.

[0122] Step S506, determining whether the first simulation lane is a path simulation lane; if not, executing step S507; if yes, executing step S508.

[0123] Step S507, the lane change instruction of the target simulated vehicle is: changing the target simulated vehicle from the first simulated lane to the target simulated lane; the target simulated lane is any simulated lane selected from the path simulation lanes.

[0124] If the distance between the target simulated vehicle and the intersection is greater than the first distance parameter, it is necessary to determine whether the first simulated lane is a path simulation lane. When the first simulated lane is not a path simulation lane, the lane change instruction of the target simulated vehicle can be determined as: changing the target simulated vehicle from the first simulated lane to the target simulated lane; the target simulated lane is any simulated lane selected from the path simulation lane.

[0125] Step S508, determining whether the congestion condition of the first simulation lane exceeds a set congestion threshold; if not, executing step S505; if yes, executing step S509.

[0126] Step S509, determining whether the distance between the target simulated vehicle and the intersection is greater than a second distance parameter; if not, executing step S507; if yes, executing step S510.

[0127] In step S510, the lane change instruction of the target simulated vehicle is: selecting a simulated lane from adjacent simulated lanes on both sides of the first simulated lane as the target simulated lane, and changing the target simulated vehicle from the first simulated lane to the target simulated lane.

[0128] When the first simulated lane is a path simulation lane, it is necessary to determine whether the congestion condition of the first simulated lane exceeds the set congestion threshold. For example, the set congestion threshold can be set to 5 simulated vehicles. Then, on the first simulated lane, when there are 8 simulated vehicles within the set distance of the target simulated vehicle's driving direction, the first simulated lane can be considered to be relatively congested. When there are only 2 simulated vehicles within the set distance of the target simulated vehicle's driving direction, the first simulated lane can be considered to be relatively unobstructed.

[0129] When the congestion condition of the first simulated lane does not exceed the set congestion threshold, the lane-changing instruction of the target simulated vehicle can be determined as: the target simulated vehicle continues to drive along the first simulated lane. When the congestion condition of the first simulated lane exceeds the set congestion threshold, it is also necessary to determine whether the distance between the target simulated vehicle and the intersection is greater than the second distance parameter. If the distance between the target simulated vehicle and the intersection is not greater than the second distance parameter, the lane-changing instruction of the target simulated vehicle can be determined as: changing the target simulated vehicle from the first simulated lane to the target simulated lane; the target simulated lane is any simulated lane selected from the path simulation lanes.

[0130] If the distance between the target simulated vehicle and the intersection is greater than the second distance parameter, the lane change instruction of the target simulated vehicle can be determined as: selecting a simulated lane from the adjacent simulated lanes on both sides of the first simulated lane as the target simulated lane, and changing the target simulated vehicle from the first simulated lane to the target simulated lane.

[0131] Step S511, determine whether the congestion condition of the first simulation lane exceeds the set congestion threshold; if not, execute step S505; if yes, execute step S510.

[0132] If the distance between the target simulated vehicle and the intersection is greater than the third distance parameter, it is necessary to determine whether the congestion condition of the first simulated lane exceeds the set congestion threshold. When the congestion condition of the first simulated lane does not exceed the set congestion threshold, the lane change instruction of the target simulated vehicle can be determined as: the target simulated vehicle continues to drive along the first simulated lane. When the congestion condition of the first simulated lane exceeds the set congestion threshold, the lane change instruction of the target simulated vehicle can be determined as: select a simulated lane from the adjacent simulated lanes on both sides of the first simulated lane as the target simulated lane, and change the target simulated vehicle from the first simulated lane to the target simulated lane.

[0133] Step S512, determine whether the target simulated vehicle meets the lane change control condition; if not, execute step S513; if yes, execute step S514.

[0134] Step S513, controlling the target simulated vehicle to continue traveling along the first simulated lane.

[0135] Step S514, controlling the target simulated vehicle to change lanes from the first simulated lane to the target simulated lane.

[0136] If the lane-changing instruction of the target simulated vehicle is: changing the target simulated vehicle from the first simulated lane to the target simulated lane, it is necessary to obtain the lane-changing control conditions of the target simulated vehicle, that is, to obtain the first interval distance between the target simulated vehicle and the previous simulated vehicle in the target simulated lane, and the second interval distance between the target simulated vehicle and the next simulated vehicle in the target simulated lane.

[0137] Determine whether the target simulated vehicle meets the lane-changing control condition. If the target simulated vehicle meets the lane-changing control condition, that is, the first interval distance between the target simulated vehicle and the previous simulated vehicle in the target simulated lane is greater than the first preset safety distance, and the second interval distance between the target simulated vehicle and the next simulated vehicle in the target simulated lane is greater than the second preset safety distance, then control the target simulated vehicle to change lanes from the first simulated lane to the target simulated lane. If the target simulated vehicle does not meet the lane-changing control condition, then control the target simulated vehicle to continue driving along the first simulated lane.

[0138] Since this scheme introduces multiple distance parameters related to the vehicle's aggressiveness to simulate the vehicle's lane changing behavior before the intersection, the lane changing behavior before the intersection is richer and more diverse, and closer to the vehicle's lane changing behavior before the intersection in the real world, so that virtual city-level traffic simulation can be realized for autonomous driving. In addition, this scheme can also establish a vehicle lane changing simulation model that is as consistent as possible with real traffic, so that the vehicle lane changing simulation model can be used to analyze and optimize related traffic schemes.

[0139] The following uses a specific application scenario to further explain the simulation control method for vehicle lane changing provided by the embodiment of the present application in detail:

[0140] Assume that the application scenario in this embodiment can be as follows Figure 2 As shown, the simulation area in the application scenario includes three simulation lanes, namely simulation lane 2, simulation lane 3 and simulation lane 4, and the current driving lanes of simulated vehicles A and simulated vehicles D are both simulation lane 3, the current driving lane of simulated vehicle B is simulation lane 2, and the current driving lane of simulated vehicle C is simulation lane 4, and the driving directions of simulated vehicles A, simulated vehicles B, simulated vehicles C and simulated vehicles D are the same.

[0141] When it is determined that there is an intersection in the driving direction of the simulated vehicle A, the simulated vehicle B, the simulated vehicle C and the simulated vehicle D in the simulation area, multiple distance parameters corresponding to the simulated vehicle A, the simulated vehicle B, the simulated vehicle C and the simulated vehicle D, namely the path reaction distance, the restricted free lane change distance and the prohibited lane change distance, can be determined according to the vehicle parameters of the simulated vehicle A, the simulated vehicle B, the simulated vehicle C and the simulated vehicle D. Among them, the restricted free lane change distance is less than the path reaction distance, and the restricted free lane change distance is greater than the prohibited lane change distance.

[0142] Assume that the distance between the simulated vehicle A and the intersection is outside the path reaction distance, the distance between the simulated vehicle B and the intersection is within the path reaction distance and outside the restricted free lane change distance, the distance between the simulated vehicle C and the intersection is within the restricted free lane change distance and outside the prohibited lane change distance, and the distance between the simulated vehicle D and the intersection is within the prohibited lane change distance.

[0143] When the target simulated vehicle is simulated vehicle A, the first simulated lane can be determined to be simulated lane 3. Since the distance between simulated vehicle A and the intersection is outside the path reaction distance, simulated vehicle A can change lanes freely, that is, it can change lanes to obtain a faster speed or a larger vehicle spacing. Specifically, the lane change control method for simulated vehicle A before the intersection can be as follows: Figure 7 The process shown in is implemented. Figure 7 As shown, the following steps may be included:

[0144] Step S701, determine whether the congestion condition of the simulated lane 3 exceeds the set congestion threshold; if not, execute step S702; if yes, execute step S704.

[0145] When the distance between the simulated vehicle A and the intersection is outside the path reaction distance, it can be determined whether the congestion condition of the simulated lane 3 exceeds the set congestion threshold.

[0146] Step S702: Select a simulated lane from the simulated lane 2 and the simulated lane 4 as a target simulated lane.

[0147] Step S703, determine whether to change the simulated vehicle A from the simulated lane 3 to the target simulated lane; if not, execute step S704; if yes, execute step S705.

[0148] When the congestion condition of simulated lane 3 exceeds the set congestion threshold, simulated vehicle A can select a simulated lane from simulated lane 2 and simulated lane 4 as the target simulated lane, and then determine whether to change lanes of simulated vehicle A from simulated lane 3 to the target simulated lane.

[0149] Step S704, controlling the simulated vehicle A to continue traveling along the simulated lane 3.

[0150] If it is determined not to change lanes of the simulated vehicle A from the simulated lane 3 to the target simulated lane, the simulated vehicle A is controlled to continue traveling along the simulated lane 3 .

[0151] Step S705, determine whether the simulated vehicle A meets the lane change control condition; if not, execute step S704; if yes, execute step S706.

[0152] If it is determined that simulated vehicle A will change lanes from simulated lane 3 to the target simulated lane, it is necessary to determine the first interval distance between simulated vehicle A and the previous simulated vehicle in the target simulated lane, and the second interval distance between simulated vehicle A and the next simulated vehicle in the target simulated lane, respectively. If the first interval distance is greater than the first preset safety distance, and the second interval distance is greater than the second preset safety distance, it can be determined that simulated vehicle A meets the lane change control condition; if the first interval distance is not greater than the first preset safety distance, or the second interval distance is not greater than the second preset safety distance, it can be determined that simulated vehicle A does not meet the lane change control condition.

[0153] Step S706, controlling the simulated vehicle A to change lanes from the simulated lane 3 to the target simulated lane.

[0154] If the simulated vehicle A does not meet the lane-changing control condition, the simulated vehicle A is controlled to continue traveling along the simulated lane 3. If the simulated vehicle A meets the lane-changing control condition, the simulated vehicle A can be controlled to change lanes from the simulated lane 3 to the target simulated lane.

[0155] When the target simulated vehicle is simulated vehicle B, the first simulated lane can be determined to be simulated lane 2. Since the distance between simulated vehicle B and the intersection is within the path reaction distance and outside the restricted free lane change distance, when simulated lane 2 is not a path simulation lane, simulated vehicle B can change lanes to the path simulation lane. When simulated lane 2 is a path simulation lane, simulated vehicle B can change lanes freely. Specifically, the lane change control method for simulated vehicle B before the intersection can be as follows: Figure 8 The process shown in is implemented. Figure 8 As shown, the following steps may be included:

[0156] Step S801, determine whether the simulation lane 2 is a path simulation lane; if not, execute step S802; if yes, execute step S805.

[0157] When the distance between simulated vehicle B and the intersection is within the path reaction distance and outside the restricted free lane change distance, it is necessary to first determine whether simulated lane 2 is a path simulation lane. Assuming that simulated vehicle B needs to turn right at the intersection, the path simulation lane of simulated vehicle B is simulated lane 4, and it can be determined that simulated lane 2 is not a path simulation lane. Assuming that simulated vehicle B needs to turn left at the intersection, the path simulation lane of simulated vehicle B is simulated lane 2, and it can be determined that simulated lane 2 is a path simulation lane. Assuming that simulated vehicle B needs to go straight at the intersection, the path simulation lanes of simulated vehicle B are simulated lane 2 and simulated lane 3, and it can be determined that simulated lane 2 is a path simulation lane.

[0158] Step S802, determine whether the simulated vehicle B meets the lane change control condition; if not, execute step S803; if yes, execute step S804.

[0159] Step S803, controlling the simulated vehicle B to continue traveling along the simulated lane 2.

[0160] Step S804, controlling the simulated vehicle B to change lanes from the simulated lane 2 to the path simulation lane.

[0161] If it is determined that the simulated lane 2 is not the path simulation lane, it is necessary to determine whether the simulated vehicle B meets the lane change control condition. When it is determined that the simulated vehicle B does not meet the lane change control condition, the simulated vehicle B is controlled to continue driving along the simulated lane 2. When it is determined that the simulated vehicle B meets the lane change control condition, the simulated vehicle B can be controlled to change lanes from the simulated lane 2 to the path simulation lane.

[0162] Step S805, determine whether the congestion condition of the simulated lane 2 exceeds the set congestion threshold; if not, execute step S803; if yes, execute step S806.

[0163] If it is determined that the simulation lane 2 is not a path simulation lane, it is necessary to determine whether the congestion condition of the simulation lane 2 exceeds a set congestion threshold.

[0164] Step S806: Select a simulated lane from the simulated lane 3 and the simulated lane 4 as the target simulated lane.

[0165] Step S807, determining whether to change the simulated vehicle B from the simulated lane 2 to the target simulated lane; if not, executing step S803; if yes, executing step S808.

[0166] If it is determined that the congestion condition of the simulated lane 2 does not exceed the set congestion threshold, the simulated vehicle B is controlled to continue driving along the simulated lane 2. If it is determined that the congestion condition of the simulated lane 2 exceeds the set congestion threshold, a simulated lane can be selected from the simulated lane 3 and the simulated lane 4 as the target simulated lane, and it is determined whether to change the simulated vehicle B from the simulated lane 2 to the target simulated lane.

[0167] Step S808, determine whether the simulated vehicle B meets the lane change control condition; if not, execute step S803; if yes, execute step S809.

[0168] Step S809, controlling the simulated vehicle B to change lanes from the simulated lane 2 to the target simulated lane.

[0169] If it is determined that the simulated vehicle B is not to be changed from the simulated lane 2 to the target simulated lane, the simulated vehicle B is controlled to continue to travel along the simulated lane 2. If it is determined that the simulated vehicle B is to be changed from the simulated lane 2 to the target simulated lane, it is also necessary to determine whether the simulated vehicle B meets the lane change control condition. When the simulated vehicle B does not meet the lane change control condition, the simulated vehicle B is controlled to continue to travel along the simulated lane 2. When the simulated vehicle B meets the lane change control condition, the simulated vehicle B can be controlled to change from the simulated lane 2 to the target simulated lane.

[0170] When the target simulated vehicle is simulated vehicle C, the first simulated lane can be determined to be simulated lane 4. Since the distance between simulated vehicle C and the intersection is within the restricted free lane change distance and outside the prohibited lane change distance, when simulated lane 4 is not a path simulation lane, simulated vehicle C can change lanes to the path simulation lane. When simulated lane 4 is a path simulation lane, simulated vehicle C can freely change lanes to the path simulation lane. Specifically, the lane change control method for simulated vehicle C before the intersection can be as follows: Fig. 9 The process shown in is implemented. Fig. 9 As shown, the following steps may be included:

[0171] Step S901, determine whether the simulation lane 4 is a path simulation lane; if not, execute step S902; if yes, execute step S905.

[0172] When the distance between the simulated vehicle C and the intersection is within the restricted free lane change distance and outside the prohibited lane change distance, it is necessary to first determine whether simulated lane 4 is a path simulation lane. Assuming that the simulated vehicle C needs to turn left at the intersection, the path simulation lane of the simulated vehicle C is simulated lane 2, and it can be determined that simulated lane 4 is not a path simulation lane. Assuming that the simulated vehicle C needs to turn right at the intersection, the path simulation lane of the simulated vehicle C is simulated lane 4, and it can be determined that simulated lane 4 is a path simulation lane. Assuming that the simulated vehicle C needs to go straight at the intersection, the path simulation lanes of the simulated vehicle C are simulated lane 2, simulated lane 3 and simulated lane 4, and it can be determined that simulated lane 4 is a path simulation lane.

[0173] Step S902, determine whether the simulated vehicle C meets the lane change control condition; if not, execute step S903; if yes, execute step S904.

[0174] Step S903, controlling the simulated vehicle C to continue driving along the simulated lane 4, and controlling the simulated vehicle C to decelerate along the simulated lane 4, until the simulated vehicle C meets the lane change control condition again, and controlling the simulated vehicle C to change lanes from the simulated lane 4 to the path simulation lane.

[0175] Step S904, controlling the simulated vehicle C to change lanes from the simulated lane 4 to the path simulated lane.

[0176] If it is determined that the simulated lane 4 is not the path simulation lane, the simulated vehicle C needs to change lanes to the path simulation lane. At this time, it is necessary to determine whether the simulated vehicle C meets the lane change control conditions.

[0177] When it is determined that the simulated vehicle C does not meet the lane change control condition, the simulated vehicle C is controlled to continue driving along the simulated lane 4, and at the same time, the simulated vehicle C is controlled to decelerate along the simulated lane 4 until the simulated vehicle C meets the lane change control condition again, and the simulated vehicle C is controlled to change lanes from the simulated lane 4 to the path simulation lane. When it is determined that the simulated vehicle C meets the lane change control condition, the simulated vehicle C is controlled to change lanes from the simulated lane 4 to the path simulation lane.

[0178] Step S905, determine whether the congestion condition of the simulated lane 4 exceeds the set congestion threshold; if not, execute step S906; if yes, execute step S907.

[0179] If it is determined that the simulation lane 4 is a path simulation lane, it is necessary to determine whether the congestion condition of the simulation lane 4 exceeds a set congestion threshold.

[0180] Step S906 , controlling the simulated vehicle C to continue traveling along the simulated lane 4 .

[0181] Step S907, determine whether the simulated vehicle C meets the lane change control condition; if not, execute step S906; if yes, execute step S904.

[0182] When the congestion condition of the simulated lane 4 does not exceed the set congestion threshold, the simulated vehicle C is controlled to continue traveling along the simulated lane 4. When the congestion condition of the simulated lane 4 exceeds the set congestion threshold, the simulated vehicle C is controlled to change lanes from the simulated lane 4 to the path simulation lane.

[0183] When the target simulated vehicle is simulated vehicle D, it can be determined that the first simulated lane is simulated lane 3. Since the distance between simulated vehicle D and the intersection is within the prohibited lane change distance, simulated vehicle D is prohibited from changing lanes, and simulated vehicle D is controlled to continue driving along simulated lane 3.

[0184] and Figure 3 The simulation control method for changing lanes of a vehicle shown is based on the same inventive concept, and a simulation control device for changing lanes of a vehicle is also provided in the embodiment of the present application. Since the device is a device corresponding to the simulation control method for changing lanes of a vehicle of the present application, and the principle of solving the problem by the device is similar to that of the method, the implementation of the device can refer to the implementation of the above method, and the repeated parts will not be repeated.

[0185] Fig.10 FIG. 4 shows a schematic diagram of a vehicle lane changing simulation control device provided in an embodiment of the present application. Fig.10As shown, the vehicle lane-changing simulation control device includes a driving control unit 1001 , an instruction determination unit 1002 , a condition acquisition unit 1003 and a lane-changing control unit 1004 .

[0186] The driving control unit 1001 is used to control the target simulated vehicle to drive on the first simulated lane in the simulation area, and the simulation area includes at least two simulated lanes in the same direction;

[0187] The instruction determination unit 1002 is used to determine a plurality of distance parameters of the target simulated vehicle based on the vehicle parameters of the target simulated vehicle when it is determined that there is an intersection in the driving direction of the target simulated vehicle in the simulation area, and determine a lane change instruction of the target simulated vehicle according to the plurality of distance parameters; the vehicle parameters are used to indicate the aggressiveness of the corresponding simulated vehicle;

[0188] The condition acquisition unit 1003 is used to acquire the lane change control condition of the target simulated vehicle if the lane change instruction instructs the target simulated vehicle to change lanes from the first simulated lane to the target simulated lane;

[0189] The lane-changing control unit 1004 is used to control the target simulated vehicle to change lanes from the first simulated lane to the target simulated lane if the target simulated vehicle meets the lane-changing control condition.

[0190] In an optional embodiment, if Fig.11 As shown, the above-mentioned vehicle lane changing simulation control device may further include a model building unit 1101, which is used to:

[0191] After controlling the target simulated vehicle to change lanes from the first simulated lane to the target simulated lane, obtaining a simulation result corresponding to the target simulated vehicle;

[0192] A vehicle lane-changing simulation model is established based on the simulation results corresponding to multiple target simulation vehicles.

[0193] In an optional embodiment, the plurality of distance parameters of the target simulated vehicle are inversely correlated with the aggressiveness of the target simulated vehicle.

[0194] The multiple distance parameters include a first distance parameter, a second distance parameter, and a third distance parameter, and the third distance parameter is greater than the second distance parameter, and the second distance parameter is greater than the first distance parameter; the instruction determination unit 1002 is specifically used to:

[0195] If the distance between the target simulated vehicle and the intersection is less than the first distance parameter, determining the lane change instruction of the target simulated vehicle as follows: the target simulated vehicle continues to travel along the first simulated lane;

[0196] If the distance between the target simulated vehicle and the intersection is greater than the first distance parameter and not greater than the third distance parameter, it is determined whether the first simulated lane is a path simulation lane; the path simulation lane is the simulated lane corresponding to the target simulated vehicle driving in the direction of turning toward the set intersection;

[0197] If not, the lane change instruction of the target simulated vehicle is determined as: changing the target simulated vehicle from the first simulated lane to the target simulated lane; the target simulated lane is any simulated lane selected from the path simulated lanes;

[0198] If so, a lane change instruction for the target simulated vehicle is determined according to the congestion condition of the first simulated lane.

[0199] In an optional embodiment, the instruction determination unit 1002 is further configured to:

[0200] If the congestion condition of the first simulated lane does not exceed the set congestion threshold, the lane change instruction of the target simulated vehicle is determined as: the target simulated vehicle continues to travel along the first simulated lane;

[0201] If the congestion condition of the first simulated lane exceeds the set congestion threshold, and the distance between the target simulated vehicle and the intersection is not greater than the second distance parameter, the lane change instruction of the target simulated vehicle is determined as follows: a simulated lane is selected from other path simulated lanes except the first simulated lane as the target simulated lane, and the target simulated vehicle is changed from the first simulated lane to the target simulated lane;

[0202] If the congestion condition of the first simulated lane exceeds the set congestion threshold, and the distance between the target simulated vehicle and the intersection is greater than the second distance parameter, the lane change instruction of the target simulated vehicle is determined as: selecting a simulated lane from the adjacent simulated lanes on both sides of the first simulated lane as the target simulated lane, and changing the target simulated vehicle from the first simulated lane to the target simulated lane.

[0203] In an optional embodiment, the instruction determination unit 1002 is further configured to:

[0204] If the distance between the target simulated vehicle and the intersection is greater than the third distance parameter, and the congestion condition of the first simulated lane exceeds the set congestion threshold, the lane change instruction of the target simulated vehicle is determined as: selecting a simulated lane from the adjacent simulated lanes on both sides of the first simulated lane as the target simulated lane, and changing the target simulated vehicle from the first simulated lane to the target simulated lane.

[0205] In an optional embodiment, the lane changing unit 1004 is specifically configured to:

[0206] It is determined that the target simulation lane does not terminate within a set distance threshold from the target simulation vehicle.

[0207] In an optional embodiment, the lane changing control unit 1004 is further configured to:

[0208] If the distance between the target simulated vehicle and the intersection is not greater than the second distance parameter, and the target simulated vehicle does not meet the lane change control condition, the target simulated vehicle is controlled to decelerate along the first simulated lane until the target simulated vehicle meets the lane change control condition.

[0209] In an optional embodiment, the lane changing control unit 1004 is further configured to:

[0210] If the distance between the target simulated vehicle and the intersection is equal to the first distance parameter during the process of controlling the target simulated vehicle to decelerate along the first simulated lane, the target simulated vehicle is controlled to stop;

[0211] If the target simulated vehicle stops for longer than a set time threshold, the target simulated vehicle is controlled to continue traveling along the first simulated lane.

[0212] In an optional embodiment, the lane changing control unit 1004 is further configured to:

[0213] If a first interval distance between the target simulated vehicle and the previous simulated vehicle in the target simulated lane is greater than a first preset safety distance, and a second interval distance between the target simulated vehicle and the next simulated vehicle in the target simulated lane is greater than a second preset safety distance, the target simulated vehicle is controlled to change lanes from the first simulated lane to the target simulated lane.

[0214] In an optional embodiment, the above-mentioned vehicle lane-changing simulation control device may further include a parameter setting unit 1102, which is used to:

[0215] Acquire attribute information of the target simulated vehicle, the attribute information including at least one of the age of the driver, the gender of the driver, the vehicle type, the region where the vehicle is located, and the purpose of travel;

[0216] Based on the attribute information of the target simulation vehicle, vehicle parameters of the target simulation vehicle are set.

[0217] Based on the same inventive concept as the above method embodiment and device embodiment, an electronic device is also provided in the embodiment of the present application.

[0218] In one embodiment, the structure of the electronic device can be as follows Fig.12 As shown, it includes a memory 1201 , a communication module 1203 and one or more processors 1202 .

[0219] The memory 1201 is used to store computer programs executed by the processor 1202. The memory 1201 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system and programs required for running the instant messaging function, etc.; the data storage area may store various instant messaging information and operation instruction sets, etc.

[0220] The memory 1201 may be a volatile memory, such as a random-access memory (RAM); the memory 1201 may also be a non-volatile memory, such as a read-only memory, a flash memory, a hard disk drive (HDD) or a solid-state drive (SSD), or the memory 1201 is any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory 1201 may be a combination of the above memories.

[0221] The processor 1202 may include one or more central processing units (CPU) or a digital processing unit, etc. The processor 1202 is used to implement the above-mentioned vehicle lane-changing simulation control method when calling the computer program stored in the memory 1201 .

[0222] The communication module 1203 is used to communicate with terminal devices and other electronic devices.

[0223] The specific connection medium between the memory 1201, the communication module 1203 and the processor 1202 is not limited in the embodiment of the present application. Fig.12 In the embodiment, the memory 1201 and the processor 1202 are connected via a bus 1204. The bus 1204 is connected to the processor 1202 via a bus 1204. Fig.12 The connections between other components are shown in bold lines, and are not intended to be limiting. Bus 1204 can be divided into address bus, data bus, control bus, etc. For ease of representation, Fig.12 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0224] In another embodiment, the structure of the electronic device can be as follows Fig.13As shown, it includes: a radio frequency (RF) circuit 1310, a memory 1320, an input unit 1330, a display unit 1340, a sensor 1350, an audio circuit 1360, a wireless fidelity (WiFi) module 1370, a processor 1380 and other components. Those skilled in the art can understand that Fig.13 The electronic device structure shown in the figure does not constitute a limitation of the electronic device, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0225] Combine the following Fig.13 A detailed introduction to the various components of electronic equipment:

[0226] The RF circuit 1310 may be used for receiving and sending signals during information transmission or communication. In particular, after receiving downlink information from the base station, the information is sent to the processor 1380 for processing. In addition, the uplink data is sent to the base station.

[0227] The memory 1320 can be used to store software programs and modules, such as the program instructions / modules corresponding to the vehicle lane change simulation control method and device in the embodiment of the present application. The processor 1380 executes various functional applications and data processing of the electronic device by running the software programs and modules stored in the memory 1320, such as the vehicle lane change simulation control method provided in the embodiment of the present application. The memory 1320 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, at least one application application, etc.; the data storage area can store data created according to the use of the electronic device, etc. In addition, the memory 1320 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0228] The input unit 1330 may be used to receive numbers or character information input by a user, and to generate key signal input related to user settings and function control of the terminal.

[0229] Optionally, the input unit 1330 may include a touch panel 1331 and other input devices 1332 .

[0230] Among them, the touch panel 1331, also known as a touch screen, can collect the user's touch operations on or near it (such as the user's operation on the touch panel 1331 or near the touch panel 1331 using any suitable object or accessory such as a finger, stylus, etc.), and implement corresponding operations according to a pre-set program, such as the user clicking on the shortcut logo of the function module. Optionally, the touch panel 1331 may include two parts: a touch detection device and a touch controller. Among them, the touch detection device detects the user's touch orientation, detects the signal brought by the touch operation, and transmits the signal to the touch controller; the touch controller receives the touch information from the touch detection device, converts it into contact coordinates, and then sends it to the processor 1380, and can receive and execute commands sent by the processor 1380. In addition, the touch panel 1331 can be implemented in various types such as resistive, capacitive, infrared, and surface acoustic wave.

[0231] Optionally, other input devices 1332 may include, but are not limited to, one or more of a physical keyboard, function keys (such as volume control keys, switch keys, etc.), a trackball, a mouse, a joystick, etc.

[0232] The display unit 1340 can be used to display information input by the user or interface information displayed to the user and various menus of the electronic device. The display unit 1340 is a display system of the terminal device, which is used to present an interface, such as displaying a desktop, an application operation interface, or an operation interface of a live broadcast application.

[0233] The display unit 1340 may include a display panel 1341. Optionally, the display panel 1341 may be configured in the form of a liquid crystal display (LCD), an organic light-emitting diode (OLED), or the like.

[0234] Furthermore, the touch panel 1331 may cover the display panel 1341. When the touch panel 1331 detects a touch operation on or near it, it is transmitted to the processor 1380 to determine the type of touch event. The processor 1380 then provides a corresponding interface output on the display panel 1341 according to the type of touch event.

[0235] Although in Fig.13 In the embodiment, the touch panel 1331 and the display panel 1341 are used as two independent components to implement the input and output functions of the electronic device, but in some embodiments, the touch panel 1331 and the display panel 1341 can be integrated to implement the input and output functions of the terminal.

[0236] The electronic device may also include at least one sensor 1350, such as a light sensor, a motion sensor, and other sensors. Specifically, the light sensor may include an ambient light sensor and a proximity sensor, wherein the ambient light sensor may adjust the brightness of the display panel 1341 according to the brightness of the ambient light, and the proximity sensor may turn off the backlight of the display panel 1341 when the electronic device is moved to the ear. As a type of motion sensor, the accelerometer sensor can detect the magnitude of acceleration in all directions (generally three axes), and can detect the magnitude and direction of gravity when stationary. It can be used for applications that identify the posture of electronic devices (such as horizontal and vertical screen switching, related games, magnetometer posture calibration), vibration recognition related functions (such as pedometers, tapping), etc.; as for other sensors that can be configured in electronic devices, such as gyroscopes, barometers, hygrometers, thermometers, infrared sensors, etc., they will not be repeated here.

[0237] The audio circuit 1360, the speaker 1361, and the microphone 1362 can provide an audio interface between the user and the electronic device. The audio circuit 1360 can transmit the received audio data to the speaker 1361 after converting the received audio data into an electrical signal, which is converted into a sound signal for output; on the other hand, the microphone 1362 converts the collected sound signal into an electrical signal, which is received by the audio circuit 1360 and converted into audio data, and then the audio data is output to the processor 1380 for processing, and then sent to another electronic device through the RF circuit 1310, or the audio data is output to the memory 1320 for further processing.

[0238] WiFi is a short-range wireless transmission technology. Electronic devices can help users send and receive emails, browse web pages, and access streaming media through WiFi modules 1370. It provides users with wireless broadband Internet access. Fig.13 A WiFi module 1370 is shown, but it is understandable that it is not an essential component of the electronic device and can be omitted as needed without changing the essence of the invention.

[0239] The processor 1380 is the control center of the electronic device. It uses various interfaces and lines to connect various parts of the entire electronic device. By running or executing software programs and / or modules stored in the memory 1320, and calling data stored in the memory 1320, it executes various functions of the electronic device and processes data, thereby monitoring the electronic device as a whole. Optionally, the processor 1380 may include one or more processing units; optionally, the processor 1380 may integrate an application processor and a modem processor, wherein the application processor mainly processes software programs such as operating systems, applications, and functional modules within applications, such as the simulation control method for vehicle lane changing provided in the embodiment of the present application. The modem processor mainly processes wireless communications. It is understandable that the above-mentioned modem processor may not be integrated into the processor 1380.

[0240] Understandably, Fig.13 The structure shown is for illustration only. The electronic device may also include Fig.13 More or fewer components as shown, or with Fig.13 Different configurations shown. Fig.13 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0241] According to one aspect of the present application, a computer program product or computer program is provided, which includes computer instructions stored in a computer-readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions so that the computer device executes the simulation control method for vehicle lane change in the above embodiment. The program product can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, - but not limited to - an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of readable storage media (non-exhaustive list) include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0242] The above description is only a specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application.

Claims

1. A simulation control method for vehicle lane changing, characterized in that: The method comprises: Controlling the target simulated vehicle to travel on a first simulated lane in a simulation area, wherein the simulation area includes at least two simulated lanes in the same direction; When it is determined that there is an intersection in the driving direction of the target simulated vehicle in the simulation area, multiple distance parameters of the target simulated vehicle are determined based on vehicle parameters of the target simulated vehicle, and a lane change instruction of the target simulated vehicle is determined according to the multiple distance parameters; the vehicle parameters are used to indicate the aggressiveness of the corresponding simulated vehicle; If the lane-changing instruction instructs the target simulated vehicle to change lanes from the first simulated lane to the target simulated lane, then obtaining a lane-changing control condition of the target simulated vehicle; If the target simulated vehicle meets the lane-changing control condition, controlling the target simulated vehicle to change lanes from the first simulated lane to the target simulated lane; The multiple distance parameters include a first distance parameter and a third distance parameter, and the third distance parameter is greater than the first distance parameter; Then, determining the lane change instruction of the target simulated vehicle according to the multiple distance parameters includes: If the distance between the target simulated vehicle and the intersection is greater than the first distance parameter and not greater than the third distance parameter, then when the first simulated lane is not a path simulation lane, determining the lane change instruction of the target simulated vehicle is: changing the target simulated vehicle from the first simulated lane to the target simulated lane; The path simulation lane is a simulation lane corresponding to the direction in which the target simulation vehicle turns toward a set intersection, and the target simulation lane is any simulation lane selected from the path simulation lanes.

2. The method according to claim 1, characterized in that The method further comprises: After controlling the target simulated vehicle to change lanes from the first simulated lane to the target simulated lane, obtaining a simulation result corresponding to the target simulated vehicle; A vehicle lane-changing simulation model is established based on the simulation results corresponding to multiple target simulation vehicles.

3. The method according to claim 1, characterized in that The plurality of distance parameters of the target simulated vehicle are inversely correlated with the aggressiveness of the target simulated vehicle.

4. The method according to claim 1, characterized in that: The determining of the lane change instruction of the target simulated vehicle according to the multiple distance parameters further includes: If the distance between the target simulated vehicle and the intersection is less than the first distance parameter, determining the lane change instruction of the target simulated vehicle as: the target simulated vehicle continues to travel along the first simulated lane; If the distance between the target simulated vehicle and the intersection is greater than the first distance parameter and not greater than the third distance parameter, then when the first simulated lane is a path simulation lane, a lane change instruction for the target simulated vehicle is determined according to the congestion condition of the first simulated lane.

5. The method according to claim 4, characterized in that The multiple distance parameters further include a second distance parameter, and the third distance parameter is greater than the second distance parameter, and the second distance parameter is greater than the first distance parameter; The determining, according to the congestion condition of the first simulated lane, a lane change instruction of the target simulated vehicle comprises: If the congestion condition of the first simulated lane does not exceed the set congestion threshold, determining the lane change instruction of the target simulated vehicle as: the target simulated vehicle continues to travel along the first simulated lane; If the congestion condition of the first simulated lane exceeds a set congestion threshold, and the distance between the target simulated vehicle and the intersection is not greater than the second distance parameter, determining the lane change instruction of the target simulated vehicle as follows: selecting a simulated lane from other path simulated lanes except the first simulated lane as the target simulated lane, and changing the target simulated vehicle from the first simulated lane to the target simulated lane; If the congestion condition of the first simulated lane exceeds the set congestion threshold, and the distance between the target simulated vehicle and the intersection is greater than the second distance parameter, the lane change instruction of the target simulated vehicle is determined as: selecting a simulated lane from the adjacent simulated lanes on both sides of the first simulated lane as the target simulated lane, and changing the target simulated vehicle from the first simulated lane to the target simulated lane.

6. The method according to claim 4, characterized in that The determining of the lane change instruction of the target simulated vehicle according to the multiple distance parameters further includes: If the distance between the target simulated vehicle and the intersection is greater than the third distance parameter, and the congestion condition of the first simulated lane exceeds the set congestion threshold, the lane change instruction of the target simulated vehicle is determined as: selecting a simulated lane from the adjacent simulated lanes on both sides of the first simulated lane as the target simulated lane, and changing the target simulated vehicle from the first simulated lane to the target simulated lane.

7. The method according to claim 1, characterized in that Before controlling the target simulated vehicle to change lanes from the first simulated lane to the target simulated lane, the method further includes: It is determined that the target simulated lane does not terminate within a set distance threshold from the target simulated vehicle.

8. The method according to claim 5, characterized in that Before controlling the target simulated vehicle to change lanes from the first simulated lane to the target simulated lane, the method further includes: If the distance between the target simulated vehicle and the intersection is not greater than the second distance parameter, and the target simulated vehicle does not meet the lane change control condition, the target simulated vehicle is controlled to decelerate along the first simulated lane until the target simulated vehicle meets the lane change control condition.

9. The method according to claim 8, characterized in that The method further comprises: If the distance between the target simulated vehicle and the intersection is equal to the first distance parameter during the process of controlling the target simulated vehicle to decelerate along the first simulated lane, controlling the target simulated vehicle to stop; If the parking time of the target simulated vehicle exceeds a set time threshold, the target simulated vehicle is controlled to continue traveling along the first simulated lane.

10. The method according to claim 1, characterized in that If the target simulated vehicle satisfies the lane-changing control condition, controlling the target simulated vehicle to change lanes from the first simulated lane to the target simulated lane includes: If a first interval distance between the target simulated vehicle and a previous simulated vehicle in the target simulated lane is greater than a first preset safety distance, and a second interval distance between the target simulated vehicle and a subsequent simulated vehicle in the target simulated lane is greater than a second preset safety distance, the target simulated vehicle is controlled to change lanes from the first simulated lane to the target simulated lane.

11. The method according to claim 1, characterized in that: Before the control target simulated vehicle drives on the first simulated lane in the simulation area, the method further includes: Acquiring attribute information of the target simulated vehicle, the attribute information including at least one of the age of the driver, the gender of the driver, the vehicle type, the region where the vehicle is located, and the purpose of travel; Based on the attribute information of the target simulated vehicle, vehicle parameters of the target simulated vehicle are set.

12. A vehicle lane-changing simulation control device, characterized in that: include: A driving control unit, used for controlling the target simulated vehicle to drive on a first simulated lane in a simulation area, wherein the simulation area includes at least two simulated lanes in the same direction; an instruction determination unit, for determining a plurality of distance parameters of the target simulation vehicle based on vehicle parameters of the target simulation vehicle when it is determined that there is an intersection in the simulation area in the driving direction of the target simulation vehicle, and determining a lane change instruction of the target simulation vehicle according to the plurality of distance parameters; The vehicle parameter is used to indicate the aggressiveness of the corresponding simulated vehicle; a condition acquisition unit, configured to acquire a lane change control condition of the target simulated vehicle if the lane change instruction instructs the target simulated vehicle to change lanes from the first simulated lane to the target simulated lane; A lane-changing control unit, configured to control the target simulated vehicle to change lanes from the first simulated lane to the target simulated lane if the target simulated vehicle satisfies the lane-changing control condition; The multiple distance parameters include a first distance parameter and a third distance parameter, and the third distance parameter is greater than the first distance parameter; Then the instruction determination unit is specifically used for: If the distance between the target simulated vehicle and the intersection is greater than the first distance parameter and not greater than the third distance parameter, then when the first simulated lane is not a path simulation lane, determining the lane change instruction of the target simulated vehicle is: changing the target simulated vehicle from the first simulated lane to the target simulated lane; The path simulation lane is a simulation lane corresponding to the direction in which the target simulation vehicle turns toward a set intersection, and the target simulation lane is any simulation lane selected from the path simulation lanes.

13. A computer-readable storage medium, wherein a computer program is stored in the computer-readable storage medium, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 11 is implemented.

14. An electronic device, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and when the computer program is executed by the processor, the method according to any one of claims 1 to 11 is implemented.

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