Vehicle Lane Changing Method, Device and Vehicle

Abstract

The present application discloses a vehicle lane-changing method, device and vehicle. The method includes: judging whether the vehicle meets the overtaking intention in its own lane according to the first driving speed information of the vehicle itself, the second driving speed information of the vehicle in front in its own lane, and the relative motion relationship between the vehicle itself and the vehicle in front in its own lane; if the vehicle meets the overtaking intention in its own lane, judging whether the vehicle meets the lane-changing intention corresponding to each adjacent lane according to the preset adjacent-lane lane-changing conditions corresponding to each adjacent lane; making a lane-changing decision according to the lane-changing intention judgment results of all adjacent lanes; the preset adjacent-lane lane-changing conditions include at least one of the following: the line attribute of the lane line shared by the own lane and the adjacent lane indicates that crossing is allowed; the difference between the average speed of the vehicle flow in the adjacent lane and the average speed of the vehicle flow in the own lane is greater than the preset vehicle-flow average speed difference threshold; there is no vehicle in front in the adjacent lane within the first preset distance range, or there is a vehicle in front in the adjacent lane within the first preset distance range and the first vehicle speed difference is not less than the first preset vehicle speed difference threshold.

Description

Technical Field

[0001] This application relates to the field of automotive technologies, and more particularly, to a vehicle lane-changing method, apparatus, and vehicle. Background Art

[0002] An autonomous vehicle, also known as a driverless vehicle, is a vehicle that relies on the collaborative operation of artificial intelligence, vision computing, radar, monitoring devices, and the global positioning system to enable a computer to automatically and safely operate a motor vehicle without any active human operation. During the process of vehicle autonomous driving, in order to improve driving efficiency and speed, automatic overtaking and lane-changing are often required, and this process can also be referred to as free lane-changing.

[0003] In related technologies, the method for generating a free lane-changing intention is mainly an end-to-end method. The input end of this method is the environmental signal and the self-vehicle signal collected by sensors, and the output end is the lane-changing decision output, that is, changing lanes to the left, changing lanes to the right, or not changing lanes. What connects the input end and the output end is a neural network model or a machine learning algorithm. However, the end-to-end method requires collecting a large amount of data for training or learning, resulting in a complex algorithm logic and high cost for this method. Summary of the Invention

[0004] This application provides a vehicle lane-changing method, apparatus, and vehicle, which can simplify the vehicle lane-changing algorithm and reduce costs.

[0005] Specific technical solutions are as follows:

[0006] In a first aspect, an embodiment of this application provides a vehicle lane-changing method, and the method includes:

[0007] Based on the first driving speed information of the self-vehicle, the second driving speed information of the vehicle in front in the self-lane, and the relative motion relationship between the self-vehicle and the vehicle in front in the self-lane, determine whether the self-vehicle meets the intention of overtaking in the self-lane;

[0008] When it is determined that the self-vehicle meets the intention of overtaking in the self-lane, respectively determine whether the self-vehicle meets the intention of changing lanes to each adjacent lane according to the preset adjacent-lane lane-changing conditions corresponding to each adjacent lane;

[0009] Make a lane-changing decision based on the judgment results of the intention of changing lanes to all adjacent lanes;

[0010] Among them, the preset adjacent-lane lane-changing conditions include at least one of the following:

[0011] The line attribute of the lane line shared by the self-lane and the adjacent lane indicates that crossing is allowed;

[0012] The difference between the average speed of the vehicle flow in the adjacent lane and the average speed of the vehicle flow in the self-lane is greater than a preset threshold of the difference in average vehicle flow speed;

[0013] There is no vehicle in front on the adjacent lane within the first preset distance range, or, there is a vehicle in front on the adjacent lane within the first preset distance range and the first speed difference is greater than or equal to the first preset speed difference threshold, where the first speed difference is the speed difference between the speed of the vehicle in front on the adjacent lane and the speed of the vehicle in front on the own lane.

[0014] In one implementation, the first driving speed information includes the vehicle's own acceleration or deceleration, the first driving speed information further includes the vehicle's own set speed and the vehicle's own speed, the second driving speed information includes the speed of the vehicle in front on the own lane and the acceleration of the vehicle in front on the own lane, and the relative motion relationship includes the headway between the vehicle and the vehicle in front on the own lane, and the time to collision TTC between the vehicle and the vehicle in front on the own lane;

[0015] Judging whether the vehicle meets the intention of overtaking on the own lane according to the first driving speed information of the vehicle, the second driving speed information of the vehicle in front on the own lane, and the relative motion relationship between the vehicle and the vehicle in front on the own lane, includes:

[0016] Judging whether the vehicle meets the first preset lane change condition on the own lane according to the vehicle's own acceleration or deceleration, where, when the vehicle is in an accelerating state, the first preset lane change condition on the own lane includes that the vehicle's own acceleration is less than the first preset acceleration threshold, and when the vehicle is in a decelerating state, the first preset lane change condition on the own lane includes that the vehicle's own deceleration is greater than the preset deceleration threshold;

[0017] Judging whether the vehicle meets the second preset lane change condition on the own lane according to the vehicle's own set speed and the speed of the vehicle in front on the own lane, where the second preset lane change condition on the own lane includes that the speed of the vehicle in front on the own lane is less than the vehicle's own set speed;

[0018] Judging whether the vehicle meets the third preset lane change condition on the own lane according to at least one of the vehicle's own speed, the speed of the vehicle in front on the own lane, the acceleration of the vehicle in front on the own lane, the headway, and the TTC,

[0019] where the third preset lane change condition on the own lane includes at least one of the following:

[0020] The headway is less than the preset headway threshold,

[0021] The TTC is greater than the preset collision time threshold,

[0022] The second speed difference is less than the second preset speed difference threshold, and the acceleration of the vehicle in front on the own lane is greater than the second preset acceleration threshold, where the second speed difference is the speed difference between the vehicle's own speed and the speed of the vehicle in front on the own lane;

[0023] When it is determined that the host vehicle satisfies the first preset host - lane lane - changing condition, the second preset host - lane lane - changing condition, and the third preset host - lane lane - changing condition and lasts for a first preset duration, it is determined that the host vehicle satisfies the host - lane overtaking intention.

[0024] In one implementation, the historical lane - changing average timing of the host vehicle has a negative correlation with the preset time - interval threshold;

[0025] The preset speed - difference threshold and the second preset acceleration threshold are determined according to the current driving mode of the host vehicle and / or the lane - changing aggressiveness level corresponding to the historical lane - changing record of the host vehicle.

[0026] In one implementation, when the adjacent lane is the target adjacent lane, and the target adjacent lane is a lane allowed for large vehicles to travel based on traffic rules, the preset adjacent - lane lane - changing condition corresponding to the target adjacent lane further includes at least one of the following:

[0027] The average vehicle flow speed of the target adjacent lane is greater than the average vehicle flow speed of another adjacent lane;

[0028] Within a second preset distance range determined on the target adjacent lane with the host vehicle as the reference point, the traffic volume of the target adjacent lane is less than the preset traffic - volume threshold.

[0029] In one implementation, making a lane - changing decision according to the lane - changing intention judgment results of all adjacent lanes includes:

[0030] When there is only one adjacent lane for the host - lane, or when there are two adjacent lanes for the host - lane and the host vehicle satisfies the lane - changing intention of one of the adjacent lanes, the adjacent lane that satisfies the lane - changing intention is determined as the to - be - changed adjacent lane, and the host vehicle changes lanes to the to - be - changed adjacent lane;

[0031] When there are two adjacent lanes for the host - lane and the host vehicle satisfies the lane - changing intention of all adjacent lanes, the to - be - changed adjacent lane is determined according to the preset selection rule, and the host vehicle changes lanes to the to - be - changed adjacent lane;

[0032] When the host vehicle does not satisfy the lane - changing intention of all adjacent lanes, the lane - changing is abandoned.

[0033] In one implementation, the method further includes:

[0034] Starting from judging whether the host vehicle satisfies the host - lane overtaking intention based on the first driving speed information of the host vehicle, the second driving speed information of the vehicle in front in the host - lane, and the relative motion relationship between the host vehicle and the vehicle in front in the host - lane, the host vehicle enters the lane - changing intention waiting stage;

[0035] When the to-be-changed adjacent lane is determined, the vehicle switches from the lane-changing intention waiting stage to the lane-changing intention generating stage, and when the host vehicle successfully changes lanes to the to-be-changed adjacent lane or the lane-changing of the host vehicle fails, the vehicle switches from the lane-changing intention generating stage to the lane-changing intention cooling stage;

[0036] When giving up lane-changing, the vehicle continues to be in the lane-changing intention waiting stage;

[0037] When the duration of the host vehicle in the lane-changing intention cooling stage reaches a preset cooling duration, the vehicle switches from the lane-changing intention cooling stage to the lane-changing intention ending stage;

[0038] When a preset stage-switching condition is satisfied, the vehicle switches from the lane-changing intention ending stage to the lane-changing intention waiting stage.

[0039] In one embodiment, determining whether the host vehicle meets the lane-changing intention corresponding to each adjacent lane according to the preset adjacent-lane lane-changing conditions corresponding to each adjacent lane respectively includes:

[0040] Judging respectively whether the host vehicle meets the preset adjacent-lane lane-changing conditions corresponding to each adjacent lane;

[0041] When the judgment result is that the host vehicle meets the preset adjacent-lane lane-changing conditions corresponding to each adjacent lane and lasts for a second preset duration, it is determined that the host vehicle meets the lane-changing intention corresponding to each adjacent lane.

[0042] In one embodiment, when the target distance is greater than or equal to 0, the target distance has a negative correlation with the first preset vehicle speed difference threshold, where the target distance is the distance between the vehicle in front in the adjacent lane and the vehicle in front in the host vehicle's lane;

[0043] When the target distance is less than 0, the absolute value of the target distance has a positive correlation with the first preset vehicle speed difference threshold.

[0044] In a second aspect, another embodiment of the present application provides a vehicle lane-changing device, and the device includes:

[0045] A first judgment unit, configured to judge whether the host vehicle meets the self-lane overtaking intention according to the first driving speed information of the host vehicle, the second driving speed information of the vehicle in front in the host vehicle's lane, and the relative motion relationship between the host vehicle and the vehicle in front in the host vehicle's lane;

[0046] A second judgment unit, configured to, when it is determined that the host vehicle meets the self-lane overtaking intention, judge whether the host vehicle meets the lane-changing intention corresponding to each adjacent lane according to the preset adjacent-lane lane-changing conditions corresponding to each adjacent lane respectively,

[0047] Among them, the preset adjacent lane lane change conditions include:

[0048] The line attribute of the lane line shared by the own lane and the adjacent lane indicates that crossing is allowed.

[0049] The difference between the average speed of the traffic flow in the adjacent lane and the average speed of the traffic flow in the own lane is greater than the preset average traffic flow speed difference threshold, and there is no vehicle in front in the adjacent lane within the first preset distance range.

[0050] Or, there is a vehicle in front in the adjacent lane within the first preset distance range and the first speed difference is greater than or equal to the first preset speed difference threshold, where the first speed difference is the speed difference between the speed of the vehicle in front in the adjacent lane and the speed of the vehicle in front in the own lane.

[0051] A lane change decision-making unit, configured to make a lane change decision according to the lane change intention judgment results of all adjacent lanes.

[0052] In an implementation manner, the first driving speed information includes the vehicle's own acceleration or deceleration, and the first driving speed information further includes the vehicle's own set speed and the vehicle's own speed. The second driving speed information includes the speed of the vehicle in front in the own lane and the acceleration of the vehicle in front in the own lane. The relative motion relationship includes the headway between the vehicle and the vehicle in front in the own lane, and the time to collision TTC between the vehicle and the vehicle in front in the own lane.

[0053] The first judgment unit includes:

[0054] A first judgment module, configured to judge whether the vehicle meets the first preset own-lane lane change condition according to the vehicle's own acceleration or deceleration. Among them, when the vehicle is in an accelerating state, the first preset own-lane lane change condition includes that the vehicle's own acceleration is less than the first preset acceleration threshold. When the vehicle is in a decelerating state, the first preset own-lane lane change condition includes that the vehicle's own deceleration is greater than the preset deceleration threshold.

[0055] A second judgment module, configured to judge whether the vehicle meets the second preset own-lane lane change condition according to the vehicle's own set speed and the speed of the vehicle in front in the own lane. Among them, the second preset own-lane lane change condition includes that the speed of the vehicle in front in the own lane is less than the vehicle's own set speed.

[0056] A third judgment module, configured to judge whether the vehicle meets the third preset own-lane lane change condition according to at least one of the vehicle's own speed, the speed of the vehicle in front in the own lane, the acceleration of the vehicle in front in the own lane, the headway, and the TTC.

[0057] Among them, the third preset own-lane lane change condition includes at least one of the following:

[0058] The headway of the vehicle is less than a preset headway threshold value.

[0059] The TTC is greater than a preset collision time threshold value.

[0060] The second vehicle speed difference is less than a second preset vehicle speed difference threshold value, and the acceleration of the vehicle in front in the own lane is greater than a second preset acceleration threshold value, where the second vehicle speed difference is the vehicle speed difference between the own vehicle speed and the vehicle speed of the vehicle in front in the own lane.

[0061] A first determination module is configured to determine that the own vehicle meets the overtaking intention in the own lane when it is determined that the own vehicle meets the first preset lane change condition, the second preset lane change condition, and the third preset lane change condition in the own lane and lasts for a first preset duration.

[0062] In one implementation, the historical lane change average timing of the own vehicle has a negative correlation with the preset headway threshold value.

[0063] The preset speed difference threshold value and the second preset acceleration threshold value are determined according to the current driving mode of the own vehicle and / or the lane change aggressiveness level corresponding to the historical lane change record of the own vehicle.

[0064] In one implementation, when the adjacent lane is the target adjacent lane, and the target adjacent lane is a lane allowed for large vehicles to travel based on traffic rules, the preset adjacent lane change condition corresponding to the target adjacent lane further includes at least one of the following:

[0065] The average vehicle flow speed of the target adjacent lane is greater than the average vehicle flow speed of another adjacent lane.

[0066] Within a second preset distance range determined on the target adjacent lane with the own vehicle as the reference point, the traffic flow of the target adjacent lane is less than a preset traffic flow threshold value.

[0067] In one implementation, the lane change decision unit includes:

[0068] A first lane change module is configured to, when there is only one adjacent lane in the own lane, or when there are two adjacent lanes in the own lane and the own vehicle meets the adjacent lane change intention of one of the adjacent lanes, determine the adjacent lane that meets the adjacent lane change intention as the to-be-changed adjacent lane, and change the own vehicle to the to-be-changed adjacent lane.

[0069] A second lane change module is configured to, when there are two adjacent lanes in the own lane and the own vehicle meets the adjacent lane change intention of all adjacent lanes, determine the to-be-changed adjacent lane according to a preset selection rule, and change the own vehicle to the to-be-changed adjacent lane.

[0070] A third lane change module is configured to abandon the lane change when the own vehicle does not meet the adjacent lane change intention of all adjacent lanes.

[0071] In one embodiment, the apparatus further includes:

[0072] A stage entry unit, configured to determine whether the host vehicle satisfies the start of the overtaking intention in the host lane based on the first driving speed information of the host vehicle, the second driving speed information of the vehicle in front in the host lane, and the relative motion relationship between the host vehicle and the vehicle in front in the host lane, and when the host vehicle satisfies the condition, the host vehicle enters the lane change intention waiting stage;

[0073] A first stage switching unit, configured to switch from the lane change intention waiting stage to the lane change intention generating stage when the to-be-changed adjacent lane is determined, and switch from the lane change intention generating stage to the lane change intention cooling stage when the host vehicle successfully changes lanes to the to-be-changed adjacent lane or the lane change of the host vehicle fails;

[0074] A holding unit, configured to continue to be in the lane change intention waiting stage when the lane change is abandoned;

[0075] A second stage switching unit, configured to switch from the lane change intention cooling stage to the lane change intention ending stage when the duration of the host vehicle in the lane change intention cooling stage reaches a preset cooling duration;

[0076] A third stage switching unit, configured to switch from the lane change intention ending stage to the lane change intention waiting stage when a preset stage switching condition is satisfied.

[0077] In one embodiment, the second determination unit includes:

[0078] A fourth determination module, configured to respectively determine whether the host vehicle satisfies the preset adjacent lane change conditions corresponding to each adjacent lane;

[0079] A second determination module, configured to determine that the host vehicle satisfies the adjacent lane change intention corresponding to each adjacent lane when the determination result is that the host vehicle satisfies the preset adjacent lane change conditions corresponding to each adjacent lane and lasts for a second preset duration.

[0080] In one embodiment, when the target distance is greater than or equal to 0, the target distance has a negative correlation with the first preset vehicle speed difference threshold, where the target distance is the distance between the vehicle in front in the adjacent lane and the vehicle in front in the host lane;

[0081] When the target distance is less than 0, the absolute value of the target distance has a positive correlation with the first preset vehicle speed difference threshold.

[0082] In a third aspect, another embodiment of the present application provides a storage medium, on which executable instructions are stored, and when the instructions are executed by a processor, the processor is caused to implement the method according to any one of the embodiments in the first aspect.

[0083] In a fourth aspect, another embodiment of the present application provides a vehicle, which includes:

[0084] One or more processors;

[0085] A storage device for storing one or more programs,

[0086] wherein, when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the method according to any one of the embodiments of the first aspect.

[0087] As can be seen from the above, the lane-changing method, device and vehicle provided by the embodiments of the present application can first determine whether the host vehicle meets the intention of overtaking in the host lane according to the first driving speed information of the host vehicle, the second driving speed information of the vehicle in front in the host lane, and the relative motion relationship between the host vehicle and the vehicle in front in the host lane. When it is determined that the host vehicle meets the intention of overtaking in the host lane, it is determined whether the host vehicle meets the intention of changing lanes to each adjacent lane according to the preset adjacent-lane changing conditions corresponding to each adjacent lane respectively. Finally, a lane-changing decision is made according to the lane-changing intention judgment results of all adjacent lanes. It can be seen that compared with the related art that requires collecting a large amount of data for model training, the embodiments of the present application can directly adopt multiple rules to achieve safe and accurate free lane-changing without model training, thereby simplifying the lane-changing algorithm and reducing costs.

[0088] The technical effects that can be achieved by the embodiments of the present application further include but are not limited to the following points:

[0089] 1. The embodiments of the present application can configure different preset adjacent-lane changing conditions for different adjacent lanes in combination with traffic rules, so as to ensure that there is a high probability of obtaining a greater improvement in driving efficiency when overtaking in an adjacent lane, rather than the current short-term improvement in driving efficiency followed by low future driving efficiency due to factors such as ramp congestion and slow trucks.

[0090] 2. The embodiments of the present application can provide a lane-changing driving experience that meets the driver's preference for lane-changing aggressiveness for the host vehicle driver. For example, the embodiments of the present application can determine the lane-changing aggressiveness level that conforms to the host vehicle driver in combination with the driving mode and / or historical lane-changing records of the host vehicle, so as to configure a more appropriate preset time-distance threshold for the host vehicle through the preset speed difference threshold corresponding to the lane-changing aggressiveness level and the second preset acceleration threshold, and also in combination with the average historical lane-changing time.

[0091] Of course, it is not necessary for any product or method implementing the present application to achieve all the above advantages at the same time. Description of the Drawings

[0092] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the accompanying drawings required in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can also be obtained based on these drawings.

[0093] Figure 1 A flowchart of a vehicle lane-changing method provided by an embodiment of the present application;

[0094] Figure 2 A schematic diagram of vehicle relationships provided by an embodiment of the present application;

[0095] Figure 3 A schematic diagram of the stages of a lane-changing intention decision algorithm provided by an embodiment of the present application;

[0096] Figure 4 A block diagram of the composition of a vehicle lane-changing device provided by an embodiment of the present application. Detailed implementation manners

[0097] The following will clearly and completely describe the technical solutions in the embodiments of the present application in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, rather than all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present application.

[0098] It should be noted that the terms "include" and "have" and any variations thereof in the embodiments of the present application and the accompanying drawings are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products, or devices.

[0099] Figure 1 A flowchart of a vehicle lane-changing method provided by an embodiment of the present application. This method is mainly applied to vehicles and mainly includes:

[0100] S110: Determine whether the host vehicle meets the intention of overtaking in its own lane according to the first driving speed information of the host vehicle, the second driving speed information of the vehicle in front in its own lane, and the relative motion relationship between the host vehicle and the vehicle in front in its own lane.

[0101] Among them, the vehicle in front on the self-lane is the vehicle in front adjacent to the self-vehicle on the self-lane. The first driving speed information includes the acceleration or deceleration of the self-vehicle, and the first driving speed information also includes the set speed of the self-vehicle, the speed of the self-vehicle, etc. The second driving speed information includes the speed of the vehicle in front on the self-lane, the acceleration of the vehicle in front on the self-lane, etc. The relative motion relationship includes the headway between the self-vehicle and the vehicle in front on the self-lane, and the TTC (Time-To-Collision) between the self-vehicle and the vehicle in front on the self-lane. The first driving speed information, the second driving speed information, and the relative motion relationship can be obtained respectively through the self-vehicle signals and / or environmental signals collected by the corresponding sensors of the self-vehicle.

[0102] (A1) Determine whether the self-vehicle meets the first preset self-lane lane-changing condition according to the acceleration or deceleration of the self-vehicle. Among them, when the self-vehicle is in an accelerating state, the first preset self-lane lane-changing condition includes that the acceleration of the self-vehicle is less than the first preset acceleration threshold. When the self-vehicle is in a decelerating state, the first preset self-lane lane-changing condition includes that the deceleration of the self-vehicle is greater than the preset deceleration threshold.

[0103] When the first driving speed information includes the acceleration or deceleration of the self-vehicle, when the self-vehicle is in an accelerating state, determine whether the acceleration of the self-vehicle is less than the first preset acceleration threshold; in the case where the judgment result is less than the first preset acceleration threshold, determine that the self-vehicle meets the first preset self-lane lane-changing condition; in the case where the judgment result is greater than or equal to the first preset acceleration threshold, determine that the self-vehicle does not meet the first preset self-lane lane-changing condition. The first preset acceleration threshold can be determined according to the vehicle dynamics characteristics to ensure the lane-changing comfort. For example, it can be 3m / s 2 。

[0104] When the self-vehicle is in a decelerating state, determine whether the deceleration of the self-vehicle is greater than the preset deceleration threshold; in the case where the judgment result is greater than the preset deceleration threshold, determine that the self-vehicle meets the first preset self-lane lane-changing condition; in the case where the judgment result is less than or equal to the preset deceleration threshold, determine that the self-vehicle does not meet the first preset self-lane lane-changing condition. The first preset deceleration threshold can be determined according to the vehicle dynamics characteristics to ensure the lane-changing comfort. For example, it can be -3m / s 2 。

[0105] (A2) Determine whether the self-vehicle meets the second preset self-lane lane-changing condition according to the set speed of the self-vehicle and the speed of the vehicle in front on the self-lane. Among them, the second preset self-lane lane-changing condition includes that the speed of the vehicle in front on the self-lane is less than the set speed of the self-vehicle.

[0106] When the first driving speed information includes the vehicle's set speed and the second driving speed information includes the speed of the vehicle in front in the same lane, the embodiments of the present application can determine whether the speed of the vehicle in front in the same lane is less than the vehicle's set speed; when the determination result is that the speed of the vehicle in front in the same lane is less than the vehicle's set speed, it is determined that the vehicle meets the second preset same-lane lane-changing condition; when the determination result is that the speed of the vehicle in front in the same lane is greater than or equal to the vehicle's set speed, it is determined that the vehicle does not meet the second preset same-lane lane-changing condition. Herein, the vehicle's set speed is the desired speed set by the driver when turning on the automatic driving function, and the vehicle will try to approach the vehicle's set speed as much as possible in combination with the actual road conditions during the automatic driving process to meet the driver's requirements.

[0107] (A3) Determine whether the vehicle meets the third preset same-lane lane-changing condition according to at least one of the vehicle's speed, the speed of the vehicle in front in the same lane, the acceleration of the vehicle in front in the same lane, the time headway, and the TTC.

[0108] The third preset same-lane lane-changing condition includes at least one of the following: the time headway is less than a preset time headway threshold; the TTC is greater than a preset collision time threshold; the second speed difference is less than a second preset speed difference threshold, and the acceleration of the vehicle in front in the same lane is greater than a second preset acceleration threshold, where the second speed difference is the speed difference between the vehicle's speed and the speed of the vehicle in front in the same lane. Herein, the time headway represents the time difference when the fronts of two vehicles pass the same location. Generally, it can be calculated by dividing the headway between the front and rear vehicles by the speed of the rear vehicle, that is, the time headway between the vehicle and the vehicle in front in the same lane is the headway between the vehicle in front in the same lane and the vehicle divided by the vehicle's speed. The collision time is the time required for the vehicle in front in the same lane and the vehicle to collide.

[0109] In one embodiment, the average historical lane - change timing of the host vehicle is negatively correlated with the preset time - interval threshold. That is to say, the earlier the average historical lane - change timing of the host vehicle is, the larger the preset time - interval threshold is. Namely, the earlier the average historical lane - change timing of the host vehicle is, it indicates that the driver prefers a more aggressive driving experience of lane - changing and overtaking. At this time, a larger preset time - interval threshold can be set to achieve an earlier lane - change action. And / or, the preset speed - difference threshold and the second preset acceleration threshold are determined according to the current driving mode of the host vehicle and / or the lane - change aggressiveness level corresponding to the historical lane - change record of the host vehicle. The driving mode includes modes such as comfort, standard, and sport, and the driving speeds in different driving modes are different. The historical lane - change record includes the average historical lane - change timing, the second vehicle - speed difference at each lane - change, etc. In the embodiments of the present application, the corresponding preset speed - difference threshold and the second preset acceleration threshold can be pre - configured for different lane - change aggressiveness levels according to actual experience. After obtaining the current driving mode of the host vehicle and / or the historical lane - change record of the host vehicle, the corresponding lane - change aggressiveness level can be first determined according to the current driving mode of the host vehicle and / or the historical lane - change record of the host vehicle, and then the preset speed - difference threshold and the second preset acceleration threshold corresponding to this lane - change aggressiveness level can be obtained from the configuration. Among them, the higher the lane - change aggressiveness level is, the smaller the preset speed - difference threshold is, and the larger the second preset acceleration threshold is. For example, the preset speed - difference threshold can be selected as 5 kph, - 5 kph, 15 kph, or - 15 kph, etc., and the second preset acceleration threshold can be selected as 0.3 m / s 2 、 - 0.3 m / s 2 、0.8 m / s 2 or - 0.8 m / s 2 etc.

[0110] (A4) When it is determined that the host vehicle satisfies the first preset host - lane lane - change condition, the second preset host - lane lane - change condition, and the third preset host - lane lane - change condition and lasts for a first preset duration, it is determined that the host vehicle satisfies the host - lane overtaking intention. That is, when the above three preset host - lane lane - change conditions are satisfied and the time can last for the first preset duration, it indicates that the vehicle in front in the host lane has been driving slowly within the first preset duration and has no any tendency to speed up, resulting in the continuous reduction of the driving efficiency of the host vehicle. Therefore, the host vehicle can generate the host - lane overtaking intention.

[0111] S120: When it is determined that the host vehicle satisfies the host - lane overtaking intention, it is respectively determined whether the host vehicle satisfies the lane - change intention corresponding to each adjacent lane according to the preset adjacent - lane lane - change condition corresponding to each adjacent lane.

[0112] Specifically, it is possible to first separately determine whether the host vehicle meets the preset adjacent-lane lane-changing conditions corresponding to each adjacent lane; in the case where the determination result is that the host vehicle meets the preset adjacent-lane lane-changing conditions corresponding to each adjacent lane and continues for a second preset duration, it is determined that the host vehicle meets the adjacent-lane lane-changing intention corresponding to each adjacent lane; in the case where the determination result is that the host vehicle does not meet the preset adjacent-lane lane-changing conditions corresponding to each adjacent lane or the duration does not reach the second preset duration, it is determined that the host vehicle does not meet the adjacent-lane lane-changing intention corresponding to each adjacent lane.

[0113] The preset adjacent-lane lane-changing conditions include at least one of the following: the line attribute of the lane line shared by the host lane and the adjacent lane indicates that crossing is allowed; the difference between the average speed of the traffic flow in the adjacent lane and the average speed of the traffic flow in the host lane is greater than a preset traffic-flow average-speed difference threshold; there is no vehicle in front in the adjacent lane within a first preset distance range, or, there is a vehicle in front in the adjacent lane within the first preset distance range and the first speed difference is greater than or equal to a first preset speed-difference threshold, where the first speed difference is the speed difference between the speed of the vehicle in front in the adjacent lane and the speed of the vehicle in front in the host lane.

[0114] Among them, the line attribute of the lane line shared by the host lane and the adjacent lane may be a white dotted line or a white solid line. Traffic rules stipulate that white dotted lines are allowed to be crossed, while white solid lines are not. The average speed of the traffic flow can be the average speed of the traffic flow at the same moment on a historical date determined based on historical vehicle speeds and traffic volumes, or the average speed of the traffic flow determined by the vehicle speeds and traffic volumes collected in real time by roadside equipment. The first preset distance range is a range obtained by respectively defining a certain distance forward and backward with the position parallel to the host vehicle in the adjacent lane as a reference point. For example, 200 m forward and 100 m backward. The vehicle in front in the adjacent lane refers to the vehicle in front adjacent to the host vehicle in the adjacent lane.

[0115] The preset traffic-flow average-speed difference threshold has a positive correlation with the speed of the vehicle in front in the host lane, that is, the greater the speed of the vehicle in front in the host lane, the greater the preset traffic-flow average-speed difference threshold, so as to ensure that at different vehicle speeds, the average speed of the traffic flow in the adjacent lane has a certain degree of advantage compared with the host lane. When the target distance between the vehicle in front in the adjacent lane and the vehicle in front in the host lane is greater than or equal to 0, the target distance has a negative correlation with the first preset speed-difference threshold; when the target distance is less than 0, the absolute value of the target distance has a positive correlation with the first preset speed-difference threshold. For example, the first preset speed-difference threshold is determined according to the distance between the vehicle in front in the adjacent lane and the vehicle in front in the host lane. The greater the relative distance between the vehicle in front in the adjacent lane and the vehicle in front in the host lane, the smaller the first preset speed-difference threshold. When the distance reaches more than 60 m, the first preset speed-difference threshold can even be negative, and for the case where the distance is less than 0 m, the first preset speed-difference threshold will be greater, so as to ensure that when the vehicle in front in the adjacent lane is at different positions, the improvement of the driving efficiency after the host vehicle changes lanes is maximized. As Figure 2As shown in the figure, the road on which the host vehicle travels includes three lanes. The host vehicle travels in the middle lane (host lane), with adjacent lanes on both sides. The vehicle in front of the host vehicle adjacent to it in the host lane is the leading vehicle in the host lane, and the vehicle in front of the host vehicle adjacent to it in the adjacent lane is the leading vehicle in the adjacent lane, including the leading vehicle in the left lane and the leading vehicle in the right lane. The target distance between the leading vehicle in the left lane and the leading vehicle in the host lane is DL, and the target distance between the leading vehicle in the right lane and the leading vehicle in the host lane is RL.

[0116] In practical applications, in order to reduce traffic accidents, different countries often stipulate that large vehicles (trucks, lorries, etc.) should preferably travel in a certain lane, which may be the leftmost lane or the rightmost lane, and needs to be determined according to the driving habits of each country. Therefore, the lane with more large vehicles generally tends to be slower. In order to ensure that there is a high probability of obtaining a greater improvement in driving efficiency during this adjacent-lane overtaking, rather than obtaining a short-term improvement in driving efficiency and then suffering from low future driving efficiency due to factors such as ramp congestion and slow lorries, the preset adjacent-lane lane-changing conditions corresponding to this adjacent lane can be further restricted. Specifically, when the adjacent lane is the target adjacent lane, and the target adjacent lane is the lane allowed for large vehicles to travel based on traffic rules, the preset adjacent-lane lane-changing conditions corresponding to the target adjacent lane further include at least one of the following: the average speed of the traffic flow in the target adjacent lane is greater than the average speed of the traffic flow in the other adjacent lane, and within the second preset distance range determined on the target adjacent lane with the host vehicle as the reference point, the traffic volume in the target adjacent lane is less than the preset traffic volume threshold. The first preset distance range and the second preset distance range can be the same or different, and can be determined according to the actual situation. The preset traffic volume threshold is also an empirical value.

[0117] S130: Make a lane-changing decision based on the lane-changing intention judgment results of all adjacent lanes.

[0118] The host vehicle may travel in a lane in the edge area or in a lane in the middle area. Therefore, it is necessary to make a lane-changing decision according to different situations:

[0119] (B1) When there is only one adjacent lane for the host lane, or when there are two adjacent lanes for the host lane and the host vehicle meets the lane-changing intention of one of the adjacent lanes, determine the adjacent lane that meets the lane-changing intention as the lane to be changed, and change the host vehicle to the lane to be changed.

[0120] (B2) When there are two adjacent lanes for the host lane and the host vehicle meets the lane-changing intention of all adjacent lanes, determine the lane to be changed according to the preset selection rule, and change the host vehicle to the lane to be changed. When one of the adjacent lanes (such as the right lane) is the lane allowed for large vehicles to travel based on traffic rules, the subsequent driving speed of the host vehicle can choose the other adjacent lane (such as the left lane).

[0121] Embodiments of the present application can be applied to an autonomous driving scenario or a manual driving scenario. When applied to an autonomous driving scenario, after determining the adjacent lane to be changed, the host vehicle can directly change lanes to the adjacent lane to be changed; when applied to a manual driving scenario, after determining the adjacent lane to be changed, a lane change prompt message can be output first, and after the driver agrees to change lanes, the host vehicle is then changed to the adjacent lane to be changed.

[0122] (B3) In the case where the host vehicle does not meet the lane change intention of all adjacent lanes, the lane change is abandoned.

[0123] In summary, during the process of the lane change intention decision-making algorithm for a vehicle, it can include four stages, as Figure 3 shown. These four stages include a lane change intention waiting stage 20, a lane change intention generation stage 22, a lane change intention cooling stage 24, and a lane change intention end stage 26.

[0124] Starting from judging whether the host vehicle meets the overtaking intention of the host lane according to the first driving speed information of the host vehicle, the second driving speed information of the vehicle in front in the host lane, and the relative motion relationship between the host vehicle and the vehicle in front in the host lane, the host vehicle enters the lane change intention waiting stage 20; in the case where the adjacent lane to be changed is determined, the host vehicle switches from the lane change intention waiting stage 20 to the lane change intention generation stage 22, and in the case where the host vehicle successfully changes lanes to the adjacent lane to be changed or the lane change of the host vehicle fails, the host vehicle switches from the lane change intention generation stage 22 to the lane change intention cooling stage 24; in the case of abandoning the lane change, it continues to be in the lane change intention waiting stage 20; when the duration of the host vehicle in the lane change intention cooling stage 24 reaches a preset cooling duration, it switches from the lane change intention cooling stage 24 to the lane change intention end stage 26; when a preset stage switching condition is met, it switches from the lane change intention end stage 26 to the lane change intention waiting stage 20.

[0125] During the lane change intention waiting stage 20, the algorithm continuously captures the opportunity to overtake and change lanes. Once the opportunity to overtake is captured, the host vehicle will generate a lane change intention (including the intention to overtake in its own lane and the intention to change lanes to the adjacent lane) and execute the lane change. Among them, C1 is the condition for generating a lane change intention (including the first preset lane change condition in its own lane, the second preset lane change condition in its own lane, the third preset lane change condition in its own lane, and the preset lane change condition for the adjacent lane), and C2 is the cooling condition for the lane change intention (including successful overtaking and lane change or failed overtaking and lane change). If the lane change process is interrupted and the vehicle returns to the original lane due to sudden environmental danger, the host vehicle will enter the lane change intention cooling stage 24, and after cooling for a period of time, it will enter the lane change intention waiting stage 20 again to start capturing the opportunity to overtake; if the lane change is successful, the host vehicle will also enter the lane change intention cooling stage 24, and after cooling for a period of time, it will enter the lane change intention waiting stage 20 again to start capturing the opportunity to overtake. C3 is the end condition for the lane change intention cooling. Different time threshold conditions are set according to whether the lane change is successful. If the previous lane change is successful, the cooling time is longer; if the previous lane change fails, the cooling time is shorter. When C3 is satisfied, it enters the lane change intention end stage 26. Finally, when the preset stage switching condition is met, it switches from the lane change intention end stage 26 to the lane change intention waiting stage 20. The preset stage switching condition is that the duration in the lane change intention end stage 26 reaches the preset end duration. The preset end duration can be determined according to experience.

[0126] The vehicle lane change method provided by the embodiments of the present application can first determine whether the host vehicle meets the intention to overtake in its own lane according to the first driving speed information of the host vehicle, the second driving speed information of the vehicle in front in its own lane, and the relative motion relationship between the host vehicle and the vehicle in front in its own lane. When it is determined that the host vehicle meets the intention to overtake in its own lane, it respectively determines whether the host vehicle meets the lane change intention corresponding to each adjacent lane according to the preset lane change conditions corresponding to each adjacent lane, and finally makes a lane change decision according to the judgment results of the lane change intentions of all adjacent lanes. It can be seen that compared with the related art that needs to collect a large amount of data for model training, the embodiments of the present application can directly adopt multiple rules to achieve safe and accurate free lane change, thus simplifying the lane change algorithm and reducing the cost.

[0127] Based on the above embodiments, the embodiments of the present application provide a vehicle lane change device, as Figure 4 shown, the device includes:

[0128] A first judgment unit 30, configured to determine whether the host vehicle meets the intention to overtake in its own lane according to the first driving speed information of the host vehicle, the second driving speed information of the vehicle in front in its own lane, and the relative motion relationship between the host vehicle and the vehicle in front in its own lane, where the vehicle in front in its own lane is the vehicle in front adjacent to the host vehicle in its own lane.

[0129] The second determination unit 32 is configured to, when determining that the host vehicle satisfies the intention of overtaking in its own lane, determine whether the host vehicle satisfies the intention of changing lanes to each adjacent lane according to the preset adjacent-lane lane-changing conditions corresponding to each adjacent lane. The preset adjacent-lane lane-changing conditions include: the line attribute of the lane line shared by the host lane and the adjacent lane indicates that crossing is allowed; the difference between the average speed of the traffic flow in the adjacent lane and the average speed of the traffic flow in the host lane is greater than a preset traffic-flow average-speed difference threshold; there is no vehicle in front in the adjacent lane within a first preset distance range; or, there is a vehicle in front in the adjacent lane within the first preset distance range and the first speed difference is greater than or equal to a first preset speed-difference threshold, where the first speed difference is the speed difference between the speed of the vehicle in front in the adjacent lane and the speed of the vehicle in front in the host lane.

[0130] The lane-changing decision-making unit 34 is configured to make a lane-changing decision according to the lane-changing intention determination results of all adjacent lanes.

[0131] In one embodiment, the first driving speed information includes the acceleration or deceleration of the host vehicle, and the first driving speed information further includes the set speed of the host vehicle and the speed of the host vehicle. The second driving speed information includes the speed of the vehicle in front in the host lane and the acceleration of the vehicle in front in the host lane. The relative motion relationship includes the headway between the host vehicle and the vehicle in front in the host lane and the time to collision TTC between the host vehicle and the vehicle in front in the host lane.

[0132] The first determination unit 30 includes:

[0133] The first determination module is configured to determine whether the host vehicle satisfies a first preset host-lane lane-changing condition according to the acceleration or deceleration of the host vehicle. In the case where the host vehicle is in an accelerating state, the first preset host-lane lane-changing condition includes that the acceleration of the host vehicle is less than a first preset acceleration threshold. In the case where the host vehicle is in a decelerating state, the first preset host-lane lane-changing condition includes that the deceleration of the host vehicle is greater than a preset deceleration threshold.

[0134] The second determination module is configured to determine whether the host vehicle satisfies a second preset host-lane lane-changing condition according to the set speed of the host vehicle and the speed of the vehicle in front in the host lane. The second preset host-lane lane-changing condition includes that the speed of the vehicle in front in the host lane is less than the set speed of the host vehicle.

[0135] The third determination module is configured to determine whether the host vehicle satisfies a third preset host-lane lane-changing condition according to at least one of the speed of the host vehicle, the speed of the vehicle in front in the host lane, the acceleration of the vehicle in front in the host lane, the headway, and the TTC.

[0136] Wherein, the third preset host-lane lane-changing condition includes at least one of the following:

[0137] The headway of the vehicle is less than a preset headway threshold value.

[0138] The TTC is greater than a preset collision time threshold value.

[0139] The second vehicle speed difference is less than a second preset vehicle speed difference threshold value, and the acceleration of the vehicle in front in the own lane is greater than a second preset acceleration threshold value, where the second vehicle speed difference is the vehicle speed difference between the own vehicle speed and the vehicle speed of the vehicle in front in the own lane.

[0140] A first determination module, configured to determine that the own vehicle meets the overtaking intention in the own lane when it is determined that the own vehicle meets the first preset lane change condition, the second preset lane change condition, and the third preset lane change condition in the own lane and continues for a first preset duration.

[0141] In one implementation manner, the historical average lane change timing of the own vehicle has a negative correlation with the preset headway threshold value.

[0142] The preset speed difference threshold value and the second preset acceleration threshold value are determined according to the current driving mode of the own vehicle and / or the lane change aggressiveness level corresponding to the historical lane change record of the own vehicle.

[0143] In one implementation manner, when the adjacent lane is a target adjacent lane, and the target adjacent lane is a lane allowed for large vehicles to travel based on traffic rules, the preset adjacent lane change condition corresponding to the target adjacent lane further includes at least one of the following:

[0144] The average vehicle flow speed of the target adjacent lane is greater than the average vehicle flow speed of another adjacent lane.

[0145] Within a second preset distance range determined on the target adjacent lane with the own vehicle as a reference point, the traffic volume of the target adjacent lane is less than a preset traffic volume threshold value.

[0146] In one implementation manner, the lane change decision unit 34 includes:

[0147] A first lane change module, configured to, when there is only one adjacent lane in the own lane, or when there are two adjacent lanes in the own lane and the own vehicle meets the adjacent lane change intention of one of the adjacent lanes, determine the adjacent lane that meets the adjacent lane change intention as the to-be-changed adjacent lane, and change the own vehicle to the to-be-changed adjacent lane.

[0148] A second lane change module, configured to, when there are two adjacent lanes in the own lane and the own vehicle meets the adjacent lane change intention of all adjacent lanes, determine the to-be-changed adjacent lane according to a preset selection rule, and change the own vehicle to the to-be-changed adjacent lane;

[0149] A third lane-changing module, configured to abandon lane-changing when the host vehicle does not meet the lane-changing intentions of all adjacent lanes.

[0150] In one embodiment, the apparatus further includes:

[0151] A phase entry unit, configured to start from determining whether the host vehicle meets the overtaking intention of its own lane according to the first driving speed information of the host vehicle, the second driving speed information of the vehicle in front in its own lane, and the relative motion relationship between the host vehicle and the vehicle in front in its own lane, and the host vehicle enters the lane-changing intention waiting phase.

[0152] A first phase switching unit, configured to switch from the lane-changing intention waiting phase to the lane-changing intention generating phase when the adjacent lane to be changed is determined, and switch from the lane-changing intention generating phase to the lane-changing intention cooling phase when the host vehicle successfully changes lanes to the adjacent lane to be changed or the lane-changing of the host vehicle fails.

[0153] A holding unit, configured to continue to be in the lane-changing intention waiting phase when lane-changing is abandoned.

[0154] A second phase switching unit, configured to switch from the lane-changing intention cooling phase to the lane-changing intention ending phase when the duration of the host vehicle in the lane-changing intention cooling phase reaches a preset cooling duration.

[0155] A third phase switching unit, configured to switch from the lane-changing intention ending phase to the lane-changing intention waiting phase when a preset phase switching condition is met.

[0156] In one embodiment, the second determination unit 32 includes:

[0157] A fourth determination module, configured to respectively determine whether the host vehicle meets the preset adjacent-lane lane-changing conditions corresponding to each adjacent lane.

[0158] A second determination module, configured to determine that the host vehicle meets the adjacent-lane lane-changing intention corresponding to each adjacent lane when the determination result is that the host vehicle meets the preset adjacent-lane lane-changing conditions corresponding to each adjacent lane and lasts for a second preset duration.

[0159] In one embodiment, when the target distance is greater than or equal to 0, the target distance has a negative correlation with the first preset vehicle speed difference threshold, where the target distance is the distance between the vehicle in front in the adjacent lane and the vehicle in front in the host vehicle's own lane;

[0160] When the target distance is less than 0, the absolute value of the target distance has a positive correlation with the first preset vehicle speed difference threshold.

[0161] Based on the above method embodiments, another embodiment of the present application provides a storage medium, on which executable instructions are stored, and when the instructions are executed by a processor, the processor implements the method described in any of the above method embodiments.

[0162] Based on the above method embodiments, another embodiment of the present application provides a vehicle, the vehicle includes: one or more processors;

[0163] a storage device for storing one or more programs,

[0164] wherein, when the one or more programs are executed by the one or more processors, the one or more processors implement the method described in any of the above method embodiments.

[0165] The above system and device embodiments correspond to the method embodiments and have the same technical effects as the method embodiments. For specific descriptions, refer to the method embodiments. The device embodiments are obtained based on the method embodiments. For specific descriptions, refer to the method embodiment part and will not be elaborated here. Those of ordinary skill in the art can understand that the drawings are only schematic diagrams of an embodiment, and the modules or processes in the drawings are not necessarily essential for implementing the present application.

[0166] Those of ordinary skill in the art can understand that the modules in the device in the embodiment can be distributed in the device in the embodiment according to the description in the embodiment, or can be correspondingly changed and located in one or more devices different from the present embodiment. The modules in the above embodiments can be combined into one module, or further split into multiple sub-modules.

[0167] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and are not intended to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A vehicle lane-changing method, characterized in that, The method includes: Based on the first driving speed information of the host vehicle, the second driving speed information of the vehicle in front in the host lane, and the relative motion relationship between the host vehicle and the vehicle in front in the host lane, determining whether the host vehicle meets the overtaking intention in the host lane; When it is determined that the host vehicle meets the overtaking intention in the host lane, respectively determining whether the host vehicle meets the lane-changing intention corresponding to each adjacent lane according to the preset adjacent-lane lane-changing conditions corresponding to each adjacent lane; Making a lane-changing decision based on the lane-changing intention judgment results of all adjacent lanes; Wherein, the preset adjacent-lane lane-changing conditions include at least one of the following: The line attribute of the lane line shared by the host lane and the adjacent lane indicates that crossing is allowed; The difference between the average speed of the vehicle flow in the adjacent lane and the average speed of the vehicle flow in the host lane is greater than a preset vehicle-flow average speed difference threshold; There is no vehicle in front in the adjacent lane within a first preset distance range, or there is a vehicle in front in the adjacent lane within the first preset distance range and the first speed difference is greater than or equal to a first preset speed difference threshold, where the first speed difference is the speed difference between the speed of the vehicle in front in the adjacent lane and the speed of the vehicle in front in the host lane; The first driving speed information includes the host vehicle acceleration or the host vehicle deceleration, the first driving speed information further includes the host vehicle set speed and the host vehicle speed, the second driving speed information includes the speed of the vehicle in front in the host lane and the acceleration of the vehicle in front in the host lane, and the relative motion relationship includes the headway between the host vehicle and the vehicle in front in the host lane, and the time to collision TTC between the host vehicle and the vehicle in front in the host lane; Based on the first driving speed information of the host vehicle, the second driving speed information of the vehicle in front in the host lane, and the relative motion relationship between the host vehicle and the vehicle in front in the host lane, determining whether the host vehicle meets the overtaking intention in the host lane, including: Determining whether the host vehicle meets the first preset host-lane lane-changing condition according to the host vehicle acceleration or the host vehicle deceleration; Determining whether the host vehicle meets the second preset host-lane lane-changing condition according to the host vehicle set speed and the speed of the vehicle in front in the host lane; Determining whether the host vehicle meets the third preset host-lane lane-changing condition according to at least one of the host vehicle speed, the speed of the vehicle in front in the host lane, the acceleration of the vehicle in front in the host lane, the headway, and the TTC; When it is determined that the host vehicle meets the first preset host-lane lane-changing condition, the second preset host-lane lane-changing condition, and the third preset host-lane lane-changing condition and lasts for a first preset duration, determining that the host vehicle meets the overtaking intention in the host lane.

2. The method according to claim 1, wherein When the host vehicle is in an accelerating state, the first preset host-lane lane-changing condition includes that the host vehicle acceleration is less than a first preset acceleration threshold, and when the host vehicle is in a decelerating state, the first preset host-lane lane-changing condition includes that the host vehicle deceleration is greater than a preset deceleration threshold; The second preset host-lane lane-changing condition includes that the speed of the vehicle in front in the host lane is less than the host vehicle set speed; The third preset host-lane lane-changing condition includes at least one of the following: The headway is less than a preset headway threshold; The TTC is greater than a preset collision time threshold; The second vehicle speed difference is less than the second preset vehicle speed difference threshold, and the acceleration of the vehicle in front in the own lane is greater than the second preset acceleration threshold, where the second vehicle speed difference is the vehicle speed difference between the own vehicle speed and the vehicle speed of the vehicle in front in the own lane.

3. The method according to claim 2, characterized in that There is a negative correlation between the historical lane change average timing of the own vehicle and the preset time interval threshold; The second preset vehicle speed difference threshold and the second preset acceleration threshold are determined according to the current driving mode of the own vehicle and / or the lane change aggressiveness level corresponding to the historical lane change record of the own vehicle.

4. The method according to claim 1, characterized in that When the adjacent lane is the target adjacent lane, and the target adjacent lane is the lane allowed for large vehicles to travel based on traffic rules, the preset adjacent lane lane change conditions corresponding to the target adjacent lane further include at least one of the following: The average vehicle flow speed of the target adjacent lane is greater than the average vehicle flow speed of another adjacent lane; Within the second preset distance range determined on the target adjacent lane with the own vehicle as the reference point, the traffic volume of the target adjacent lane is less than the preset traffic volume threshold.

5. The method according to claim 1, wherein Making a lane change decision according to the lane change intention judgment results of all adjacent lanes includes: When there is only one adjacent lane in the own lane, or there are two adjacent lanes in the own lane and the own vehicle meets the lane change intention of one of the adjacent lanes, determining the adjacent lane that meets the lane change intention as the to-be-changed adjacent lane, and changing the lane of the own vehicle to the to-be-changed adjacent lane; When there are two adjacent lanes in the own lane and the own vehicle meets the lane change intentions of all adjacent lanes, determining the to-be-changed adjacent lane according to the preset selection rule, and changing the lane of the own vehicle to the to-be-changed adjacent lane; When the own vehicle does not meet the lane change intentions of all adjacent lanes, giving up the lane change.

6. The method according to claim 5, wherein The method further includes: Starting from judging whether the own vehicle meets the overtaking intention in the own lane according to the first driving speed information of the own vehicle, the second driving speed information of the vehicle in front in the own lane, and the relative motion relationship between the own vehicle and the vehicle in front in the own lane, entering the lane change intention waiting stage; When the to-be-changed adjacent lane is determined, switching from the lane change intention waiting stage to the lane change intention generation stage, and when the own vehicle successfully changes lanes to the to-be-changed adjacent lane or the lane change of the own vehicle fails, switching from the lane change intention generation stage to the lane change intention cooling stage; When giving up the lane change, continuing to be in the lane change intention waiting stage; When the duration of the own vehicle in the lane change intention cooling stage reaches the preset cooling duration, switching from the lane change intention cooling stage to the lane change intention end stage; When the preset stage switching condition is met, switching from the lane change intention end stage to the lane change intention waiting stage.

7. The method according to claim 1, wherein Judging whether the own vehicle meets the lane change intention corresponding to each adjacent lane according to the preset adjacent lane lane change conditions corresponding to each adjacent lane respectively includes: Judging whether the own vehicle meets the preset adjacent lane lane change conditions corresponding to each adjacent lane respectively; When the judgment result is that the own vehicle meets the preset adjacent lane lane change conditions corresponding to each adjacent lane and lasts for the second preset duration, determining that the own vehicle meets the lane change intention corresponding to each adjacent lane.

8. The method according to any one of claims 1-7, characterized in that, When the target distance is greater than or equal to 0, the target distance is negatively correlated with the first preset vehicle speed difference threshold, where the target distance is the distance between the vehicle in the adjacent lane in front and the vehicle in the own lane in front; When the target distance is less than 0, the absolute value of the target distance is positively correlated with the first preset vehicle speed difference threshold.

9. A vehicle lane-changing device, characterized in that, The device includes: A first judgment unit, configured to judge whether the own vehicle meets the intention of overtaking in the own lane according to the first driving speed information of the own vehicle, the second driving speed information of the vehicle in the own lane in front, and the relative motion relationship between the own vehicle and the vehicle in the own lane in front; A second judgment unit, configured to, when it is determined that the own vehicle meets the intention of overtaking in the own lane, judge whether the own vehicle meets the intention of changing lanes to each adjacent lane respectively according to the preset adjacent lane changing conditions corresponding to each adjacent lane, where the preset adjacent lane changing conditions include at least one of the following: The line attribute of the lane line shared by the own lane and the adjacent lane indicates that crossing is allowed, The difference between the average speed of the traffic flow in the adjacent lane and the average speed of the traffic flow in the own lane is greater than the preset traffic flow average speed difference threshold, There is no vehicle in the adjacent lane in front within the first preset distance range, or there is a vehicle in the adjacent lane in front within the first preset distance range and the first vehicle speed difference is greater than or equal to the first preset vehicle speed difference threshold, where the first vehicle speed difference is the vehicle speed difference between the vehicle in the adjacent lane in front and the vehicle in the own lane in front; A lane change decision-making unit, configured to make a lane change decision according to the judgment results of the intention of changing lanes to all adjacent lanes; The first driving speed information includes the acceleration or deceleration of the own vehicle, and the first driving speed information further includes the set vehicle speed and the vehicle speed of the own vehicle, the second driving speed information includes the vehicle speed and the acceleration of the vehicle in the own lane in front, and the relative motion relationship includes the headway time between the own vehicle and the vehicle in the own lane in front, and the time to collision TTC between the own vehicle and the vehicle in the own lane in front; The first judgment unit includes: A first judgment module, configured to judge whether the own vehicle meets the first preset own-lane lane-changing condition according to the acceleration or deceleration of the own vehicle; A second judgment module, configured to judge whether the own vehicle meets the second preset own-lane lane-changing condition according to the set vehicle speed of the own vehicle and the vehicle speed of the vehicle in the own lane in front; A third judgment module, configured to judge whether the own vehicle meets the third preset own-lane lane-changing condition according to at least one of the vehicle speed of the own vehicle, the vehicle speed of the vehicle in the own lane in front, the acceleration of the vehicle in the own lane in front, the headway time, and the TTC; A first determination module, configured to determine that the own vehicle meets the intention of overtaking in the own lane when it is determined that the own vehicle meets the first preset own-lane lane-changing condition, the second preset own-lane lane-changing condition, and the third preset own-lane lane-changing condition and lasts for the first preset duration.

10. A vehicle, characterized in that, The vehicle includes: One or more processors; A storage device, configured to store one or more programs, where when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the method according to any one of claims 1-8.

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