A lane change control method and storage medium for an autonomous vehicle

Abstract

This invention provides a lane-change control method and storage medium for autonomous vehicles. The method includes: when changing lanes, if the distance S between the vehicle and the centerline of the target lane is greater than a preset distance threshold S1, and the straight length L of the target lane is greater than a preset length threshold L1, and there are no obstacles on the diagonal path, then a diagonal flag is established, and the vehicle is controlled to enter a diagonal steering mode; otherwise, the diagonal flag is not established, and the vehicle is controlled to enter a front axle steering mode; wherein, the diagonal steering mode is in which all tires of the vehicle steer according to the target turning angle. Based on IGV vehicles, this invention designs a lane-change control scheme that flexibly and autonomously switches between front axle steering and diagonal steering modes according to actual vehicle conditions. This can improve the efficiency and success rate of lane changes when there are obstacles on the side, while ensuring the safety of lane changes. It has broad and promising application prospects in ports and other fields where autonomous driving is required for vehicles.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving technology, and in particular to a lane change control method and storage medium for autonomous vehicles. Background Technology

[0002] Autonomous vehicles are intelligent vehicles that achieve driverless operation through computer systems. With the increasing popularity of autonomous vehicles, they have found good applications in various fields, especially for the transportation of heavy and large goods, where they are referred to as unmanned trucks.

[0003] As transportation hubs, ports play a crucial role in promoting international trade and regional development. With approximately 90% of global trade carried by sea, operational efficiency is paramount for ports. In the era of rapid development of "Industry 4.0" and "Internet Plus," ports are also undergoing digital and fully automated transformation and upgrading. Today, port operations are moving towards automation, with the increasing number of automated terminals and the accelerating pace of automated operations. This not only adds new vitality to ports but also saves labor costs. In the future, advancements in automation technology will further promote the intelligentization of port operations.

[0004] As ports transition to automation, they are increasingly introducing unmanned trucks for operations. In recent years, to improve vehicle flexibility, some ports have begun to introduce Intelligent Guided Vehicles (IGVs) with four-wheel steering capabilities.

[0005] Traditional unmanned trucks mostly only have a front-wheel steering mode. When the vehicle is changing lanes, if there is a vehicle or other object on the side, the rear of the vehicle is prone to collision (e.g., Figure 1 (See the left-hand diagram). To avoid this situation, the vehicle should limit its maximum turning angle. However, this limitation increases the duration and distance of the lane change, thus affecting the operation of other vehicles in the target lane and reducing overall operational efficiency. Furthermore, if there is an obstacle ahead, limiting the maximum turning angle may cause the vehicle to collide with the obstacle (e.g., ...). Figure 1 (As shown in the diagram on the right), thus preventing the lane change operation from being completed.

[0006] To address the aforementioned problems, this invention provides an efficient and safe lane change control method based on existing IGV technology. Summary of the Invention

[0007] The present invention aims to at least partially solve one of the technical problems in the aforementioned technologies. Therefore, one objective of the present invention is to propose a lane-change control method for autonomous vehicles, which can automatically change lanes according to a diagonal steering mode when road conditions permit, thereby improving the efficiency and success rate of lane changes when there are obstacles on the side, while ensuring the safety of lane changes.

[0008] The second objective of this invention is to provide a computer-readable storage medium on which a program, when executed by a processor, can automatically change lanes in a diagonal steering mode when road conditions permit, thereby improving the efficiency and success rate of lane changes when there are obstacles on the side, while ensuring the safety of lane changes.

[0009] To achieve the above objectives, a first aspect of the present invention proposes a lane change control method for an autonomous vehicle, comprising: when changing lanes, if the distance S between the vehicle and the center line of the target lane is greater than a preset distance threshold S1, and the straight length L of the target lane is greater than a preset length threshold L1, and there are no obstacles on the diagonal path, then a diagonal marker is established, and the vehicle is controlled to enter a diagonal steering mode; otherwise, the diagonal marker is not established, and the vehicle is controlled to enter a front axle steering mode; wherein, the diagonal steering mode is in which both the front and rear wheels of the vehicle steer according to the target turning angle.

[0010] According to an embodiment of the present invention, an autonomous vehicle lane change control method can automatically determine the current road conditions when there is a need to change lanes, and automatically select the diagonal steering mode to change lanes when the road conditions permit, thereby improving the lane change efficiency and success rate of the vehicle, while ensuring the safety of lane changes.

[0011] In addition, the lane change control method for an autonomous vehicle proposed in the above embodiments of the present invention may also have the following additional technical features:

[0012] Also includes:

[0013] After entering the diagonal steering mode, if the distance S between the vehicle and the center line of the target lane is less than the preset distance threshold S3, or the distance between any corner of the vehicle and the boundary of the target lane is less than the preset distance threshold Q3, and the current vehicle speed is less than the preset vehicle speed V4, and the current turning angle is less than the preset turning angle α1, then the diagonal sign position is not valid, and the vehicle is controlled to exit the diagonal steering mode.

[0014] Preferably, after entering the diagonal turning mode, the following actions are performed:

[0015] S1: Determine if the target lane is on the right side of the vehicle; if yes, proceed to S2; otherwise, proceed to S3.

[0016] S2: If the angle β between the vehicle and the center line of the target lane is greater than 0, then the distance between the upper right corner of the vehicle and the right boundary of the target lane is taken as the boundary distance Q; otherwise, the distance between the lower right corner of the vehicle and the right boundary of the target lane is taken as the boundary distance Q; execute S4;

[0017] S3: If the angle β between the vehicle and the center line of the target lane is greater than 0, then the distance between the lower left corner of the vehicle and the left boundary of the target lane is taken as the boundary distance Q; otherwise, the distance between the upper left corner of the vehicle and the left boundary of the target lane is taken as the boundary distance Q, and S4 is executed.

[0018] S4: Calculate the distance S;

[0019] S5: If the distance S is less than the preset distance threshold S1, or the boundary distance Q is less than the preset distance threshold Q1, then execute S6; otherwise, set the target vehicle speed to the preset vehicle speed V1, and return to execute S4.

[0020] S6: If the distance S is less than the preset distance threshold S2, or the boundary distance Q is less than the preset distance threshold Q2, then execute S7; otherwise, set the target vehicle speed to the preset vehicle speed V2, and return to execute S4.

[0021] S7: If the distance S is less than the preset distance threshold S3, or the boundary distance Q is less than the preset distance threshold Q3, then execute S8; otherwise, set the target vehicle speed to the preset vehicle speed V3, and return to execute S4.

[0022] S8: Set both the target speed and target turning angle to 0;

[0023] S9: Determine whether the current vehicle speed is less than the preset vehicle speed V4 and whether the current turning angle is less than the preset turning angle α1;

[0024] If not, return to execute S8; if yes, the diagonal flag is invalid, and control the vehicle to exit the diagonal steering mode.

[0025] Preferably, the preset threshold length L1 = k*S, where k is the vehicle's driving characteristics and S is the distance between the vehicle and the center line of the target lane.

[0026] Preferably, the length of the diagonal path is P = L1 / cos(α); where α is the target turning angle.

[0027] Preferably, the distance threshold S1 is 4m; the distance threshold Q1 is 4m; the distance threshold Q2 is 2m; the distance threshold Q3 is 0.5m; the vehicle speed V1 is 4km / h; the vehicle speed V2 is 2km / h; the vehicle speed V3 is 0.5m / s; the vehicle speed V4 is 0.1m / s; and the turning angle α1 is 2°.

[0028] To achieve the above objectives, a second aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is capable of implementing the steps included in the lane change control method for an autonomous vehicle described above.

[0029] According to an embodiment of the present invention, a computer-readable storage medium on which a program is executed by a vehicle's processor can automatically determine the current road conditions when the vehicle needs to change lanes, and automatically select a diagonal steering mode to change lanes if the road conditions permit, thereby improving the vehicle's lane-changing efficiency and success rate, while ensuring the safety of lane changes. Attached Figure Description

[0030] Figure 1 These are two common collision scenarios that can occur when traditional unmanned trucks use front-wheel steering mode during lane changes;

[0031] Figure 2 This diagram illustrates the two steering modes of the vehicle.

[0032] Figure 3 This is a diagram illustrating the calculation parameters involved in a lane change control method for an autonomous vehicle according to an embodiment of the present invention.

[0033] Figure 4 This is a flowchart illustrating the overall process of a lane change control method for an autonomous vehicle according to an embodiment of the present invention.

[0034] Figure 5 This is a flowchart illustrating the determination process for entering the diagonal steering mode in a lane change control method for an autonomous vehicle according to an embodiment of the present invention.

[0035] Figure 6 This is a flowchart illustrating the oblique steering mode control in a lane change control method for an autonomous vehicle according to an embodiment of the present invention. Detailed Implementation

[0036] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0037] The lane change control method for autonomous vehicles described in this invention can automatically determine the current road conditions when there is a need to change lanes, and automatically select the diagonal steering mode to change lanes when the road conditions permit, thereby improving the lane change efficiency and success rate of the vehicle, while ensuring the safety of lane changes.

[0038] To better understand the above technical solutions, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present invention and to fully convey the scope of the invention to those skilled in the art.

[0039] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0040] This invention provides a lane change control method for an autonomous vehicle, specifically involving the determination of entering a diagonal steering mode, the control of the diagonal steering mode, and the determination and control of exiting the diagonal steering mode. Wherein, as... Figure 2 As shown, the right side illustrates tire steering when the vehicle is controlled using the diagonal steering mode, where all tires of the vehicle steer at the target angle; the left side illustrates tire steering when the vehicle is controlled using the front axle steering mode.

[0041] like Figure 4 As shown in the embodiment, a lane change control method for an autonomous vehicle includes:

[0042] SS1: Preset target turning angle α when the vehicle changes lanes;

[0043] SS2: Determine whether the diagonal steering indicator is active; wherein, the diagonal steering indicator is a sign that the vehicle has entered the diagonal steering mode. When the diagonal steering indicator is active, control the vehicle to enter the diagonal steering mode, and all tires of the vehicle will steer.

[0044] If the diagonal flag is true, then execute SS3; if the diagonal flag is false, then execute SS4.

[0045] SS3: Control the vehicle to steer in the diagonal steering mode and determine in real time whether the exit diagonal steering sign is valid;

[0046] If the exit slant flag is true, then execute SS4; if the exit slant flag is false, then return to execute SS3.

[0047] SS4: Controls the vehicle to steer according to the front axle steering mode.

[0048] Please also refer to Figure 3 In this embodiment, the criterion for determining whether the diagonal flag is active, i.e., the criterion for determining whether to enter the diagonal turning mode, is:

[0049] If the distance S between the vehicle and the center line of the target lane is greater than the preset distance threshold S1, and the straight length L of the target lane is greater than the preset length threshold L1, and there are no obstacles on the diagonal path, then the diagonal marker is established, and the vehicle is controlled to enter the diagonal steering mode; otherwise, the diagonal marker is not established, and the vehicle is controlled to enter the front axle steering mode.

[0050] In this embodiment, the criterion for determining whether the exit diagonal flag is active, i.e., the criterion for determining whether to exit diagonal steering mode, is:

[0051] If the distance S between the vehicle and the center line of the target lane is less than the preset distance threshold S3, or the distance between any corner of the vehicle and the boundary of the target lane is less than the preset distance threshold Q3, and the current vehicle speed is less than the preset vehicle speed V4, and the current turning angle is less than the preset turning angle α1, then the exit diagonal steering flag is established, and the vehicle is controlled to exit the diagonal steering mode.

[0052] In other words, when a vehicle needs to change lanes, it will detect in real time whether the "diagonal sign position" is active. If active, it will enter the diagonal steering mode to control the steering; otherwise, it will enter the front axle steering mode to control the vehicle's steering.

[0053] For some specific implementation methods, please refer to Figure 3 and Figure 5 The specific determination process for entering the diagonal turning mode at the current moment is as follows:

[0054] S01: Check if the "diagonal flag" of the previous moment is true; if true, execute S02; if false, execute S03.

[0055] S02: Check if the "Exit Diagonal Steering Flag" is active; if active, exit diagonal steering mode; if inactive, enter diagonal steering mode.

[0056] S03: Detect whether the distance S between the vehicle and the center line of the target lane is greater than the preset distance threshold S1 (preferably S1 = 3m); if yes, then execute S04; if no, then the "diagonal marker position" is not valid.

[0057] S04: Detect whether the straight length L of the target lane is greater than the preset length threshold L1; if yes, proceed to step S05; if no, the "diagonal marker" is not valid; where L1 is related to the distance S in S03, L1 = k * S (k depends on the driving characteristics of the vehicle, and in this embodiment, k = 3.3) ;

[0058] S05: Detect whether there is an obstacle on the diagonal path; if yes, the "diagonal marker" is not valid; if no, the "diagonal marker" is valid; where the angle between the diagonal path and the vehicle body is equal to the target turning angle α of the vehicle, and the length P of the diagonal path can be calculated from the target turning angle α and L1 in S04, P = L1 / cos(α).

[0059] For some specific implementation methods, please refer to Figure 3 and Figure 6 The specific control process after the vehicle enters the diagonal steering mode, i.e., the control of the diagonal process, includes the following steps:

[0060] S0: Set the vehicle's steering mode to diagonal steering mode, and set the vehicle's target turning angle to a fixed value α; preferably, α is 20°;

[0061] S1: Detect whether the target lane is on the right side of the vehicle; if yes, proceed to S2; if no, proceed to S3.

[0062] S2: If the angle β between the vehicle and the centerline of the target lane is greater than 0, then define the boundary distance Q as the distance between the upper right corner of the vehicle and the right boundary of the target lane; otherwise, define the boundary distance Q as the distance between the lower right corner of the vehicle and the right boundary of the target lane; execute S4.

[0063] S3: If the angle β between the vehicle and the center line of the target lane is greater than 0, then define the boundary distance Q as the distance between the lower left corner of the vehicle and the left boundary of the target lane; otherwise, define the boundary distance Q as the distance between the upper left corner of the vehicle and the left boundary of the target lane, and execute S4.

[0064] S4: Calculate the distance S between the vehicle and the center line of the target lane;

[0065] S5: If the distance S is less than the preset distance threshold S1 (e.g., S1 = 4m), or the boundary distance Q is less than the preset distance threshold Q1 (e.g., Q1 = 4m), then execute S6; otherwise, set the target vehicle speed to the preset vehicle speed V1 (e.g., vehicle speed V1 = 4km / h) and return to execute S4.

[0066] S6: If the distance S is less than the preset distance threshold S2 (e.g., S2 = 2m), or the boundary distance Q is less than the preset distance threshold Q2 (e.g., Q2 = 2m), then execute S7; otherwise, set the target vehicle speed to the preset vehicle speed V2 (e.g., vehicle speed V2 = 2km / h) and return to execute S4.

[0067] S7: If the distance S is less than the preset distance threshold S3 (e.g., S3 = 0.3m), or the boundary distance Q is less than the preset distance threshold Q3 (e.g., Q3 = 0.5m), then execute S8; otherwise, set the target vehicle speed to the preset vehicle speed V3 (e.g., vehicle speed V3 = 0.5m / s), and return to execute S4.

[0068] S8: Set both the target speed and target turning angle to 0;

[0069] S9: Determine whether the vehicle's current actual speed is less than the preset speed V4 (e.g., speed V4 = 0.1 m / s) and whether the current actual turning angle is less than the preset turning angle α1 (e.g., α1 = 2°);

[0070] If not, return to execute S8; if yes, the exit slant flag is established, and control the vehicle to exit slant steering mode.

[0071] Based on the above embodiments, the present invention provides another embodiment:

[0072] A computer-readable storage medium storing a computer program thereon, which, when executed by a processor, can implement the steps included in the lane change control method for an autonomous vehicle as described in the above embodiments. The specific steps are not repeated here.

[0073] This invention provides a lane-changing control method for autonomous vehicles and a computer-readable storage medium. Based on IGV vehicles, it designs a lane-changing control scheme that flexibly and autonomously switches between front axle steering and diagonal steering modes according to actual vehicle conditions. It also provides a method for accurately determining the establishment and exit of diagonal marker positions. Therefore, this invention can improve the efficiency and success rate of lane changing when there are obstacles on the side of the vehicle, while ensuring the safety of lane changing. Furthermore, it has broad and promising application prospects in ports and other fields where autonomous driving is required for vehicles.

[0074] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0075] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0076] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0077] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0078] It should be noted that any reference signs placed between parentheses in the claims should not be construed as limiting the claims. The word "comprising" does not exclude the presence of components or steps not listed in the claims. The word "a" or "an" preceding a component does not exclude the presence of a plurality of such components. The invention can be implemented by means of hardware comprising several different components and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names.

[0079] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0080] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

[0081] In the description of this invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0082] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0083] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0084] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms should not be construed as necessarily referring to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0085] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A lane change control method of an autonomous vehicle, characterized by, The method comprises: When the distance S between the vehicle and the target lane center line is greater than a preset distance threshold S1, and the straight line length L of the target lane is greater than a preset length threshold L1, and there is no obstacle on the diagonal path, the diagonal flag is established, and the vehicle is controlled to enter a diagonal steering mode; otherwise, the diagonal flag is not established, and the vehicle is controlled to enter a front axle steering mode; wherein, the diagonal steering mode is that all tires of the vehicle are steered according to a target steering angle. The method further comprises: after entering the diagonal steering mode, if the distance S between the vehicle and the target lane center line is less than a preset distance threshold S3 or the distance between any corner of the vehicle and the target lane boundary is less than a preset distance threshold Q3, and the current vehicle speed is less than a preset vehicle speed V4 and the current steering angle is less than a preset steering angle α1, the diagonal flag is established, and the vehicle is controlled to exit the diagonal steering mode.

2. The lane change control method of an autonomous vehicle according to claim 1, wherein, After entering the diagonal steering mode, the following steps are performed: Step S1: determining whether the target lane is on the right side of the vehicle; if yes, step S2 is performed; if no, step S3 is performed; Step S2: if the angle β between the vehicle and the target lane center line is greater than 0, the distance between the upper right corner of the vehicle and the right boundary of the target lane is taken as the boundary distance Q; otherwise, the distance between the lower right corner of the vehicle and the right boundary of the target lane is taken as the boundary distance Q; step S4 is performed; Step S3: if the angle β between the vehicle and the target lane center line is greater than 0, the distance between the lower left corner of the vehicle and the left boundary of the target lane is taken as the boundary distance Q; otherwise, the distance between the upper left corner of the vehicle and the left boundary of the target lane is taken as the boundary distance Q; step S4 is performed; Step S4: calculating the distance S; Step S5: if the distance S is less than a preset distance threshold S1 or the boundary distance Q is less than a preset distance threshold Q1, step S6 is performed; otherwise, the target vehicle speed is set to a preset vehicle speed V1, and step S4 is returned; Step S6: if the distance S is less than a preset distance threshold S2 or the boundary distance Q is less than a preset distance threshold Q2, step S7 is performed; otherwise, the target vehicle speed is set to a preset vehicle speed V2, and step S4 is returned; Step S7: if the distance S is less than a preset distance threshold S3 or the boundary distance Q is less than a preset distance threshold Q3, step S8 is performed; otherwise, the target vehicle speed is set to a preset vehicle speed V3, and step S4 is returned; Step S8: setting the target vehicle speed and the target steering angle to 0; Step S9: determining whether the current vehicle speed is less than a preset vehicle speed V4 and the current steering angle is less than a preset steering angle α1; If not, step S8 is returned; if yes, the diagonal flag is established, and the vehicle is controlled to exit the diagonal steering mode.

3. The lane change control method of an autonomous vehicle according to claim 1, wherein, The preset length threshold L1=k*S, wherein k is the driving characteristic of the vehicle, and S is the distance between the vehicle and the target lane center line.

4. The lane change control method of an autonomous vehicle according to claim 1, wherein, The length P of the diagonal path is L1 / cos(α); wherein α is the target steering angle.

5. The lane change control method of an autonomous vehicle according to claim 2, wherein, The preset distance threshold S1 is 4 m; the preset distance threshold Q1 is 4 m; the preset distance threshold Q2 is 2 m; the preset distance threshold Q3 is 0.5 m; the preset vehicle speed V1 is 4 km / h; the preset vehicle speed V2 is 2 km / h; the preset vehicle speed V3 is 0.5 m / s; the preset vehicle speed V4 is 0.1 m / s; and the preset rotation angle a1 is 2°.

6. A computer-readable storage medium having stored thereon a computer program, characterized in that, The program, when executed by a processor, can implement the steps of the lane changing control method of the autonomous vehicle according to any one of claims 1-5.

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