A lane changing control method, system, device and medium in different traffic environments

Abstract

The application provides a lane changing control method, system, device and medium in different traffic environments, the method comprising: acquiring road information, determining a target lane for lane changing according to the road information; determining an acceleration time required for the current vehicle to meet a preset lane changing condition according to the driving state of the current vehicle when the current vehicle does not meet the preset lane changing condition according to the distance between the current vehicle and the front and rear vehicles in the current lane and the longitudinal distance between the current vehicle and the adjacent vehicles in the target lane; predicting a first target position of the current vehicle after completing lane changing according to the acceleration time, and performing an acceleration lane changing action when the first target position meets a preset safe driving position. The application can improve the lane changing success rate and enhance the user experience by actively seeking lane changing opportunities through acceleration.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of assisted driving, and in particular to a lane changing control method, system, device and medium in different traffic environments. BACKGROUND

[0002] The existing assisted driving software system is generally composed of perception, positioning, decision, planning and execution. In the process of automatic lane changing of a vehicle, the decision module determines whether the vehicle should change lanes and in which direction according to the results of perception and positioning. Then the planning module plans a corresponding vehicle driving path according to the instructions of the decision.

[0003] The longitudinal speed control strategy of the traditional scheme only considers whether there is a target vehicle in front and the motion state of the target vehicle, and is a relatively passive lane changing mode waiting for the emergence of a lane changing opportunity. When the target lane has a vehicle that does not meet the safety distance requirement and hinders lane changing, this simple longitudinal speed control strategy will reduce the lane changing success rate and affect the user experience. SUMMARY

[0004] In view of the problems existing in the prior art, the present application provides a lane changing control method, system, device and medium in different traffic environments, which mainly solves the problem that the current lane changing decision is relatively single and difficult to meet the actual application requirements.

[0005] In order to achieve the above-mentioned purpose and other purposes, the technical scheme adopted by the present application is as follows.

[0006] The present application provides a lane changing control method in different traffic environments, comprising:

[0007] obtaining road information and determining a target lane for lane changing according to the road information;

[0008] determining the acceleration time required for the current vehicle to meet the preset lane changing condition according to the driving state of the current vehicle when the current vehicle does not meet the preset lane changing condition according to the distance between the current vehicle and the front and rear vehicles in the current lane and the longitudinal distance between the current vehicle and the adjacent vehicle in the target lane;

[0009] predicting a first target position of the current vehicle after completing lane changing according to the acceleration time, and performing an accelerated lane changing action when the first target position meets the preset safe driving position.

[0010] In an embodiment of the present application, after predicting the first target position of the current vehicle after completing lane changing according to the acceleration time, it further comprises,

[0011] when the target position does not satisfy the preset safe driving position, determining a deceleration time required for the current vehicle to satisfy the preset lane-changing condition according to a driving state of the current vehicle;

[0012] predicting a second target position of the current vehicle after completing lane-changing according to the deceleration time, and performing a deceleration lane-changing action when the second target position satisfies the preset safe driving position.

[0013] In an embodiment of the present application, when the current vehicle satisfies the preset lane-changing condition according to a distance between the current vehicle and front and rear vehicles in the current lane and a longitudinal distance between the current vehicle and a nearby vehicle in the target lane, a required acceleration time of the current vehicle to satisfy the preset lane-changing condition is determined according to a driving state of the current vehicle;

[0014] predicting a first target position of the current vehicle after completing lane-changing according to the acceleration time, and preferentially performing an acceleration lane-changing action when the first target position satisfies the preset safe driving position.

[0015] In an embodiment of the present application, the road information includes: a navigation path, a speed of a vehicle in front of the current lane, obstacle information in front of the current lane, and other traffic participant information in front of the current lane.

[0016] In an embodiment of the present application, determining a target lane for lane-changing according to the road information includes:

[0017] determining a lane to be entered next as the target lane according to the navigation path; or,

[0018] determining a nearby lane as the target lane when an average speed of a vehicle in front of the current lane in a preset time period is lower than a preset speed threshold according to the speed of the vehicle in front of the current lane; or,

[0019] determining a nearby lane as the target lane when there is obstacle information or other traffic participant information in front of the current lane; or,

[0020] selecting a lane with a higher speed limit in the same road as the target lane; or,

[0021] selecting a lane with a higher traffic efficiency in the same lane as the target lane; or,

[0022] selecting a lane on the other side as the target lane when there is a vehicle with a transverse distance less than a preset distance threshold or a vehicle that is cutting in or out in an adjacent lane; or,

[0023] selecting a lane after merging or a lane after diverging as the target lane when there is a merging point or a diverging point in front; or,

[0024] The lane adjacent to the merging lane or the ending lane is taken as the target lane.

[0025] In an embodiment of the present application, after determining the target lane for lane changing according to the road information, the method further comprises:

[0026] Determining a lane changing end point of the current lane according to the target lane and the current speed of the vehicle, and stopping the lane changing if the position of the vehicle exceeds the lane changing end point when the current vehicle performs the lane changing action.

[0027] In an embodiment of the present application, determining the acceleration time required for the current vehicle to meet the preset lane changing condition according to the driving state of the current vehicle comprises:

[0028] Determining the acceleration time of the vehicle to meet the preset lane changing condition according to the preset upper limit of the acceleration of the current vehicle.

[0029] In an embodiment of the present application, the preset lane changing condition comprises that the distance between the current vehicle and the front vehicle is greater than a preset safe following distance, the speed of the current vehicle is less than a preset maximum speed limit, and the lane changing waiting time of the vehicle is less than a preset maximum waiting time.

[0030] In an embodiment of the present application, the calculation of the safe following distance comprises:

[0031] Obtaining the speed of the current vehicle and the speed of the front vehicle,

[0032] Determining a first distance of the current vehicle according to the speed of the current vehicle and a preset minimum distance;

[0033] Determining a distance difference between the current vehicle and the front vehicle within a preset minimum collision time according to the speed of the current vehicle and the speed of the front vehicle;

[0034] Taking the maximum value among the first distance, the distance difference and a preset minimum safe distance of the vehicle as the safe following distance.

[0035] The present application also provides a lane changing control system in different traffic environments, comprising:

[0036] A target lane planning module, configured to obtain road information and determine a target lane for lane changing according to the road information;

[0037] A lane changing time calculation module, configured to determine an acceleration time required for the current vehicle to meet a preset lane changing condition according to the driving state of the current vehicle when the current vehicle does not meet the preset lane changing condition according to the distance between the current vehicle and the front and rear vehicles in the current lane and the longitudinal distance between the current vehicle and the adjacent vehicle in the target lane;

[0038] The lane changing execution module is configured to predict a first target position of the current vehicle after completing lane changing according to the acceleration time, and perform an acceleration lane changing action when the first target position meets a preset safe driving position.

[0039] The application further provides a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the lane changing control method in different traffic environments when executing the computer program.

[0040] The application further provides a computer readable storage medium, which stores a computer program, and the computer program implements the steps of the lane changing control method in different traffic environments when executed by a processor.

[0041] As described above, the lane changing control method, system, device and medium in different traffic environments have the following beneficial effects.

[0042] The application fully considers the vehicles in front of the current lane and in front of and behind the target lane, comprehensively judges whether the current vehicle meets the lane changing condition, considers actively seeking a lane changing opportunity by acceleration when the lane changing condition is not met, and performs acceleration lane changing when the lane changing condition is met and the position after lane changing is safe, thereby enhancing the lane changing success rate and user experience. BRIEF DESCRIPTION OF DRAWINGS

[0043] Figure 1 An optional architecture schematic diagram of the lane changing control system in different traffic environments provided by an embodiment of the application.

[0044] Figure 2 A structure schematic diagram of a terminal provided by an embodiment of the application.

[0045] Figure 3 A flow schematic diagram of the lane changing control method in different traffic environments provided by an embodiment of the application.

[0046] Figure 4 A scene schematic diagram of determining a target lane according to a navigation path provided by an embodiment of the application.

[0047] Figure 5 A scene schematic diagram of vehicle avoiding an object in front provided by an embodiment of the application.

[0048] Figure 6 A scene schematic diagram of different speed limit lanes provided by an embodiment of the application.

[0049] Figure 7 A scene schematic diagram of road congestion provided by an embodiment of the application.

[0050] Figure 8A schematic diagram of a scenario in which a vehicle in a nearby lane cuts in, in an embodiment of the present application.

[0051] Figure 9 A schematic diagram of a scenario in which a road has a merging point, in an embodiment of the present application.

[0052] Figure 10 A schematic diagram of a scenario in which a road terminates, in an embodiment of the present application.

[0053] Figure 11 A schematic diagram of a scenario in which a lane change termination point is determined based on a road topology, in an embodiment of the present application.

[0054] Figure 12 A schematic diagram of a scenario in which a lane change termination point is determined according to a navigation path, in an embodiment of the present application.

[0055] Figure 13 A schematic diagram of a lane change termination point that avoids a merging or diverging point, in an embodiment of the present application.

[0056] Figure 14 A schematic diagram of a lane change termination point in which there is an obstacle in front of a lane, in an embodiment of the present application.

[0057] Figure 15 A schematic diagram of a lane change termination point of a target vehicle, in an embodiment of the present application.

[0058] Figure 16 A schematic diagram of a scenario in which a preset lane change condition is not met, in an embodiment of the present application.

[0059] Figure 17 A schematic diagram of a scenario in which a preset lane change condition is not met, in another embodiment of the present application.

[0060] Figure 18 A schematic diagram of a scenario in which a preset lane change condition is met after acceleration, in an embodiment of the present application.

[0061] Figure 19 A schematic diagram of a scenario in which a preset lane change condition is not met, in another embodiment of the present application.

[0062] Figure 20 A schematic diagram of a scenario in which a preset lane change condition is met after deceleration, in an embodiment of the present application.

[0063] Figure 21 A schematic diagram of a flow of a deceleration lane change control, in an embodiment of the present application.

[0064] Figure 22 A schematic diagram of a flow of a lane change control method in different traffic environments, in another embodiment of the present application.

[0065] Figure 23 A module diagram of a lane change control system in different traffic environments, in an embodiment of the present application.

[0066] Figure 24 Figure 1 is a schematic diagram of the structure of an apparatus according to an embodiment of the present application. DETAILED DESCRIPTION

[0067] The above objects and advantages of the present application will become more apparent by describing in detail the preferred embodiments thereof with reference to the attached drawings in which:

[0068] It is to be understood that the above-mentioned configurations merely show the basic idea of the present application, and thus, in the drawings, only components related to the present application are shown, not the number, shape, and size of components as implemented in practice. The shapes, number, and ratio of components can be changed arbitrarily, and the layout of components can be more complex, in actual implementation.

[0069] With the development of assisted driving systems, especially the automatic lane changing function, there are more and more scenarios for triggering vehicle lane changing, including following the user-set navigation path, selecting a lane with higher traffic efficiency, and avoiding a merging point, etc.

[0070] In the face of different complex scenarios, drivers have different needs for vehicle automatic lane changing strategies, such as accelerating to overtake and change lanes, decelerating to yield and change lanes, etc. Simple lane changing strategies are not enough to meet the requirements of users for intelligent assisted driving systems.

[0071] At the same time, a single lane changing strategy is equivalent to waiting for a suitable lane changing opportunity to appear within a certain time after the decision module triggers lane changing, but it does not actively seek lane changing opportunities through longitudinal speed control. This strategy is prone to lane changing failure, which may result in missing the next ramp, etc., and reduce the use continuity and user experience of the assisted driving system.

[0072] The present application provides a lane changing strategy analysis method that comprehensively considers road environmental factors and target lane traffic factors. This method analyzes factors that affect lane changing strategies, such as slow vehicles in front of the ego lane, road branching points in front, slow vehicles in front of the target lane, fast vehicles behind the target lane, etc. According to the distance, speed, and acceleration of each factor and the ego vehicle, it determines the longitudinal speed control strategy and lane changing opportunity that should be used to complete the lane change under the premise of ensuring safety and compliance. This improves the lane changing success rate and user experience of the assisted driving system.

[0073] The embodiment of the present application provides a lane changing control method, system, device and medium in different traffic environments, which increases the lane changing success rate by actively seeking a lane changing opportunity, and further enhances the user experience. The embodiment of the present application can be applied to various scenarios, including but not limited to cloud technology, artificial intelligence, intelligent transportation, etc. The following describes an exemplary application of the device provided by the embodiment of the present application. The device provided by the embodiment of the present application can be implemented as various types of user terminals such as smartphones, smartwatches, notebook computers, tablet computers, desktop computers, set-top boxes, mobile devices (for example, mobile phones, portable music players, personal digital assistants, dedicated messaging devices, portable game devices), smart voice interaction devices, smart home appliances and vehicle-mounted terminals, and can also be implemented as a server. The following describes an exemplary application when the device is implemented as a server.

[0074] Referring to Figure 1 , Figure 1 is an optional architecture schematic diagram of the lane changing control system in different traffic environments provided by the embodiment of the present application. The terminal 400 (exemplarily showing the terminal 400-1 and the terminal 400-2) is connected to the server 200 through the network 300. The network 300 can be a wide area network or a local area network, or a combination of the two.

[0075] The terminal 400-1 can be a vehicle-mounted terminal installed on a vehicle. The terminal 400-1 runs a client 410-1 for lane changing control in different traffic environments, which is used to analyze the related information of the current road, determine the position, speed and other information of the vehicle in front and the vehicle behind the current vehicle, and upload the information to the server 200 through the network 300.

[0076] The server 200 is used to determine whether the current vehicle meets the lane changing condition according to the information uploaded by the terminal. When the lane changing condition is not met, the server 200 calculates the time required to meet the lane changing condition by acceleration, and further predicts whether the vehicle position after lane changing meets the safety driving demand. The acceleration lane changing strategy is fed back to the terminal 400-1. The terminal 400-1 controls the vehicle to perform the acceleration lane changing action.

[0077] In some embodiments, the server 200 can be a standalone physical server, a server cluster composed of multiple physical servers or a distributed system, and can also be a cloud server providing cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDNs, and basic cloud computing services such as big data and artificial intelligence platforms. The terminal 400 can be a smartphone, a tablet computer, a notebook computer, a desktop computer, a smart speaker, a smart watch, a smart voice interaction device, a smart home appliance and a vehicle-mounted terminal, but is not limited thereto. The terminal and the server can be directly or indirectly connected through wired or wireless communication, which is not limited in the embodiment of the present application.

[0078] In some embodiments, the manager can also directly perform the acceleration lane-changing strategy analysis on the terminal 400-1 according to the road information, so that the terminal 400-1 performs the lane-changing control method in different traffic environments according to the acceleration lane-changing strategy meeting the conditions in the embodiments of the present application. Alternatively, in some embodiments, the terminal 400-1 in the server 400-2 can also be implemented in the form of a server. The above several implementation manners can be selected according to actual conditions, and the embodiments of the present application are not limited. Figure 1

[0079] Referring to FIG. 4, Figure 2 Figure 2 is a structural schematic diagram of the terminal 400-1 provided by the embodiments of the present application, Figure 2 The terminal 400-1 shown in FIG. 4 includes at least one processor 410, a memory 450, at least one network interface 420 and a user interface 430. The various components in the terminal 400-2 are coupled together through a bus system 440. It can be understood that the bus system 440 is used to realize the connection communication between the components. In addition to including a data bus, the bus system 440 also includes a power bus, a control bus and a status signal bus. However, for the purpose of clear illustration, all kinds of buses are marked as the bus system 440 in FIG. 4. Figure 2

[0080] The processor 410 can be an integrated circuit chip with signal processing capability, such as a general-purpose processor, a digital signal processor (DSP), or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, etc., wherein the general-purpose processor can be a microprocessor or any conventional processor.

[0081] The user interface 430 includes one or more output devices 431 that enable presentation of media content, including one or more speakers and / or one or more visual display screens. The user interface 430 also includes one or more input devices 432, including user interface components that facilitate user input, such as a keyboard, a mouse, a microphone, a touch screen display, a camera, other input buttons and controls.

[0082] The memory 450 can be removable, non-removable or a combination thereof. Exemplary hardware devices include solid-state memory, hard disk drives, optical disk drives, etc. The memory 250 optionally includes one or more storage devices physically located in proximity to the processor 410.

[0083] ​​​The memory 450 includes volatile memory or nonvolatile memory, and can include both volatile and nonvolatile memory. The nonvolatile memory can be read only memory (ROM), and the volatile memory can be random access memory (RAM). The memory 450 described in the embodiments of the present application is intended to include any suitable type of memory.

[0084] In some embodiments, the memory 450 is capable of storing data to support various operations, examples of which include programs, modules, and data structures or subsets or supersets thereof, which are exemplarily illustrated below.

[0085] The operating system 451 includes system programs for processing various basic system services and performing hardware-related tasks, such as a framework layer, a core library layer, a driver layer, and the like, for implementing various basic services and processing hardware-based tasks.

[0086] The network communication module 452 is used to reach other computing devices via one or more (wired or wireless) network interfaces 420, exemplary network interfaces 420 including Bluetooth, wireless fidelity (WiFi), and universal serial bus (USB), and the like.

[0087] The presentation module 453 is used to enable presentation of information via one or more output devices 431 associated with the user interface 430 (e.g., a display screen, a speaker, and the like) (e.g., a user interface for operating peripheral devices and displaying content and information).

[0088] The input processing module 454 is used to detect and interpret one or more user inputs or interactions from one or more input devices 432.

[0089] In some embodiments, the device provided by the embodiments of the present application can be implemented in software, Figure 2 The lane change control system 455 in different traffic environments stored in the memory 450 is shown, which can be software in the form of programs and plug-ins, including the following software modules: target lane planning module 4551, lane change time calculation module 4552, and lane change execution module 4553. These modules are logical, and thus can be combined or further split according to the functions implemented.

[0090] The functions of the various modules will be described below.

[0091] In some embodiments, the system provided by the embodiments of the present application can be implemented in a hardware manner. For example, the system provided by the embodiments of the present application can be a processor in the form of a hardware decoding processor programmed to perform the vehicle energy sharing method provided by the embodiments of the present application. For example, the processor in the form of a hardware decoding processor can be implemented by one or more application specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field programmable gate arrays (FPGAs) or other electronic elements.

[0092] In some embodiments, the terminal or server can implement the vehicle energy sharing method provided by the embodiments of the present application by running a computer program. For example, the computer program can be a native program or a software module in an operating system; can be a native application program (APP) that needs to be installed in an operating system to run, such as a social application APP or a message sharing APP; can be a mini program that only needs to be downloaded into a browser environment to run; or can be a mini program or a web client program that can be embedded into any APP. In summary, the above computer program can be any form of application program, module or plug-in.

[0093] Please refer to Figure 3 The present application provides a lane changing control method in different traffic environments, which comprises the following steps.

[0094] In step S300, road information is obtained, and a target lane for lane changing is determined according to the road information.

[0095] In an embodiment, the road information includes a navigation path, a speed of a vehicle in front of a current lane, obstacle information in front of the current lane, and information of other traffic participants in front of the current lane.

[0096] Determining the target lane for lane changing according to the road information comprises:

[0097] According to the navigation path, a lane to be entered next is determined as the target lane; or

[0098] According to the speed of the vehicle in front of the current lane, when an average speed of the vehicle in front of the current lane in a preset time period is lower than a preset speed threshold, a lane adjacent to the current lane is determined as the target lane; or

[0099] If there is an obstacle information or other traffic participant information in front of the current lane, the adjacent lane is selected as the target lane; or

[0100] The lane with higher speed limit in the same road is selected as the target lane; or

[0101] The lane with higher traffic efficiency in the same lane is selected as the target lane; or

[0102] If there is a vehicle with a lateral distance less than a preset distance threshold in the adjacent lane or a vehicle that is cutting in or out, the lane on the other side is selected as the target lane; or

[0103] If there is a merging point or a diverging point in front, the lane after merging or the lane after diverging is selected as the target lane; or

[0104] The lane adjacent to the lane after merging or the lane after terminating is selected as the target lane.

[0105] Please refer to Figure 4 , Figure 4 The scene schematic diagram of determining the target lane according to the navigation path in an embodiment of the present application is shown in the figure. When the navigation path is changed from the current lane to the adjacent lane, the changed lane is selected as the target lane. The target lane is determined according to the navigation path planned by the vehicle in advance.

[0106] Please refer to Figure 5 , Figure 5 The scene schematic diagram of the vehicle avoiding the object in front in an embodiment of the present application is shown in the figure. When there is a stationary, low-speed vehicle, obstacle or other traffic participant (such as a pedestrian, etc.) in front of the current lane, avoidance is needed, and the adjacent available lane can be selected as the target lane for lane changing.

[0107] Please refer to Figure 6 , Figure 6 The scene schematic diagram of different speed limit lanes in an embodiment of the present application is shown in the figure. When the vehicle is driving in a low-speed limit lane, in order to shorten the driving time, the vehicle can be switched to a lane with a higher speed limit.

[0108] Please refer to Figure 7 , Figure 7 The scene schematic diagram of road congestion in an embodiment of the present application is shown in the figure. When the current lane is congested, the vehicle can change lanes to a lane with higher traffic efficiency, and the corresponding lane is selected as the target lane for lane changing.

[0109] Please refer to Figure 8 , Figure 8 The scene schematic diagram of the vehicle cutting in the adjacent lane in an embodiment of the present application is shown in the figure. When the lateral vehicle distance in the adjacent lane is too close or the vehicle is cutting in or out, the corresponding vehicle can be avoided, and the lane on the other side is changed.

[0110] Please refer to Figure 9 , Figure 9 This is a schematic diagram of a scenario in which a road has a merge point in an embodiment of the present application. When there is a merge point or a split point in the road, the vehicle needs to avoid the merging or splitting vehicles, and then the lane change can be performed, taking the changed lane as the target lane.

[0111] Please refer to Figure 10 , Figure 10 This is a schematic diagram of a scenario in which a road terminates in an embodiment of the present application. When the current lane merges or terminates, the merged lane or the lane adjacent to the terminated lane can be taken as the target lane for lane change.

[0112] Figures 4-10 Only a few of the scenarios in which lane change can be triggered are exemplarily given, and the specific lane change triggering scenarios applicable can be determined according to actual application requirements, which are not limited here. When the vehicle is in the above scenarios, it is necessary to detect whether the lane line between the current lane and the target lane supports the vehicle to perform and complete the lane change action within the next few seconds. If it supports, a lane change instruction will be issued, and at this time the path planning module should plan a corresponding lane change path. Focusing on the lane where the ego vehicle is located and the target lane for lane change, the factors affecting the lane change timing include the following categories.

[0113] Please refer to Figure 11 , Figure 11 This is a schematic diagram of a lane change termination point based on road topology in an embodiment of the present application. The terminal in front of the ego lane can be determined as the lane change termination point P end.topo based on the lane topology.

[0114] Please refer to Figure 12 , Figure 12 This is a schematic diagram of a scenario in which the lane change termination point is determined according to the navigation path in an embodiment of the present application. The lane change termination point P end of the ego lane can be determined according to the navigation path.

[0115] Please refer to Figure 13 , Figure 13 This is a schematic diagram of a lane change termination point for avoiding a merge or split point in an embodiment of the present application. The lane change termination point P end.detour of the ego lane can be determined according to the position of the lane merge point or split point.

[0116] Please refer to Figure 14 , Figure 14 This is a schematic diagram of a lane change termination point in which there is an obstacle in front of the lane in an embodiment of the present application. There are vehicles in front of the ego lane (including cut-in and cut-out vehicles), obstacles and other road users. P end.ego represents the vehicle termination point in front of the ego lane, V end.ego represents the vehicle termination point speed in front of the ego lane, and a end.egorepresents the target lane front vehicle termination point acceleration.

[0117] Please refer to Figure 15 , Figure 15 is a schematic diagram of the target lane vehicle lane change termination point in an embodiment of the present application. Figure 15 in P target1 represents the target lane front vehicle lane change termination point, V target1 represents the target lane front vehicle termination point speed, a target1 represents the target lane front vehicle termination point acceleration; P target2 represents the target lane front vehicle lane change termination point, V target2 represents the target lane front vehicle termination point speed, a target2 represents the target lane front vehicle termination point acceleration. To ensure safety, the safe following distance S ego with the vehicle in the target lane should also be ensured when changing lanes S safe .

[0118] In an embodiment, S safe is the comprehensive minimum safety distance requirement S min , the minimum collision time requirement TTC min , the minimum distance requirement TG min , the calculation steps of the safe following distance include:

[0119] obtaining the current vehicle speed and the speed of the front vehicle,

[0120] determining a first distance of the current vehicle according to the current vehicle speed and a preset minimum distance;

[0121] determining a distance difference between the current vehicle and the front vehicle within a preset minimum collision time according to the current vehicle speed and the speed of the front vehicle;

[0122] taking the maximum value of the first distance, the distance difference and a preset vehicle minimum safety distance as the safe following distance.

[0123] Specifically, when the vehicle is in front of the ego vehicle:

[0124] S safe = max(S min , TTC min ×(V-V target ), TG min ×V)

[0125] When the vehicle is behind the ego vehicle:

[0126] S sdfe = max(S min , TTCmin x (V target -V), TG min x V)

[0127] S ego Similarly, the minimum safe distance requirement S min , the minimum collision time requirement TTC min , the minimum distance requirement TG min , which is derived by combining them, and the calculation logic is determined by the ACC function, which is not limited here.

[0128] S target represents the longitudinal distance from the target lane vehicle, and when S target ≥ S safe , the lane change can be immediately executed. Otherwise, the longitudinal control strategy analysis needs to be performed.

[0129] Please refer to Figure 16 , Figure 16 is a schematic diagram of a scenario in which the preset lane change condition is not met in an embodiment of the present application. The vehicle longitudinal distance S target2 of the current vehicle from the target lane vehicle is significantly less than the safe distance S safe2 . Longitudinal control strategy analysis needs to be performed.

[0130] Please refer to Figure 17 , Figure 17 is a schematic diagram of a scenario in which the preset lane change condition is not met in another embodiment of the present application. The vehicle longitudinal distance S target2 of the current vehicle from the target lane vehicle is significantly less than the safe distance S safe2 . Longitudinal control strategy analysis needs to be performed.

[0131] Step S310, when the current vehicle does not meet the preset lane change condition according to the distance of the current vehicle from the front and rear vehicles in the current lane and the longitudinal distance of the current vehicle from the adjacent vehicle in the target lane, determining the acceleration time required for the current vehicle to meet the preset lane change condition according to the driving state of the current vehicle

[0132] In an embodiment, when the current condition does not meet the lane change requirement (i.e., the preset lane change condition), the possibility of accelerating lane change is first analyzed:

[0133] Please refer to Figure 18 , Figure 18 is a schematic diagram of a scenario in which the preset lane change condition is met after acceleration in an embodiment of the present application. If the lane change requirement is to be met after T1 time, then:

[0134] S ego.drien (T1) ≥ S target + S target.driven (T1) + S safe

[0135] S ego.driven is the distance traveled by the ego vehicle target.driven is the distance traveled by the target lane vehicle.

[0136]

[0137] To simplify the motion model, it is assumed that the ego vehicle accelerates to change lanes with uniform acceleration:

[0138]

[0139] At time T0, the motion state of the target vehicle is predicted based on uniform acceleration / deceleration:

[0140]

[0141] According to a limit is the upper limit of the acceleration available to the assisted driving system, the minimum solution of T1 can be obtained:

[0142]

[0143] Step S320, according to the acceleration time, predict the first target position of the current vehicle after changing lanes, when the first target position meets the preset safe driving position, execute the acceleration lane changing action.

[0144] In an embodiment, after the lane changing condition is met, the ego vehicle moves at a uniform speed and starts to execute the lane changing action:

[0145]

[0146] T2-T1 is the time required for the vehicle to execute a single lane changing action.

[0147] Substituting and verifying, when the following conditions are all met, acceleration can be performed to find a lane changing opportunity:

[0148] 1) S ego.driven (T2) < min(S end.topo , S end.navi , S end.detour ) = S end S end.topo , S end.navi , S end.detour are the longitudinal distances of P end.top , P end.navi , P end.detour from the ego vehicle, and P end (as shown in Figure 16 ) is the lane changing termination point, S end (as shown in Figure 16(As shown) is the distance between the vehicle and the lane change termination point at time T0. The vehicle needs to complete the lane change action before passing the lane change termination point.

[0149] 2) When 0 ≤ t ≤ T2, S ego.driven (t)-S end.ego (t)<S front -S ego

[0150]

[0151] S end.ego (like Figure 18 (As shown) represents the distance S traveled from the vehicle in front in the lane. front (like Figure 16 (As shown) is the distance between the vehicle and the vehicle in front in its own lane at time T0. During acceleration and lane changing, the distance between the vehicle and the vehicle in front at any time must not be less than the minimum following distance requirement.

[0152] 3) When 0 ≤ t ≤ T2, V(t) ≤ V limit

[0153] V limit It is the maximum speed that can be passed, which is determined by a combination of static factors such as lane speed limit, road curvature, gradient, and user-set speed. At any time during acceleration, the vehicle speed cannot exceed this.

[0154] 4) T1≤T max T max This is the maximum waiting time for vehicles to change lanes.

[0155] The above judgment logic requires individual judgment for all vehicles in the target lane; any vehicle that fails to meet the requirements is considered unable to accelerate for lane change. This judgment needs to be verified in real-time based on the actual movement status of the vehicle, the preceding vehicle, and the target vehicle during execution. If acceleration fails to change lanes during acceleration, acceleration should be stopped and deceleration performed for lane change. Considering the comfort of the assisted driving system, the acceleration 'a' can be reduced, and the acceleration time 'T' can be extended. Calculate the first target position of the current vehicle in the target lane after completing the lane change, and determine whether the distance between the first target position and the vehicles in front and behind in the target lane meets the preset safety distance 'S'. safe .

[0156] In one embodiment, after predicting the first target position of the current vehicle after completing the lane change based on the acceleration time, the method further includes:

[0157] When the target position does not meet the preset safe driving position, the deceleration time required for the current vehicle to accelerate to meet the preset lane change conditions is determined based on the current driving status of the vehicle.

[0158] According to the deceleration time, a second target position of the current vehicle after completing the lane changing is predicted, and when the second target position meets a preset safe driving position, a deceleration lane changing action is performed.

[0159] Referring to Figure 19 , Figure 19 is a schematic diagram of a scenario in which a preset lane changing condition is not met in another embodiment of the present application. If acceleration lane changing is not feasible, the possibility of deceleration lane changing is analyzed:

[0160] If the lane changing requirement is to be met after T1 time, the following conditions exist:

[0161] S ego.driven (T1)+S safe ≥S target +S target.driven (T1)

[0162]

[0163] To simplify the motion model, it is assumed that the ego vehicle performs acceleration lane changing in uniform deceleration:

[0164]

[0165] At time 0, the target vehicle motion state is predicted based on uniform acceleration / deceleration motion:

[0166]

[0167] According to a limit The minimum solution of T1 can be obtained according to the lower limit of the deceleration available to the auxiliary driving system:

[0168]

[0169] Referring to Figure 20 , Figure 20 is a schematic diagram of a scenario in which a preset lane changing condition is met after deceleration in an embodiment of the present application. After the lane changing condition is met, the ego vehicle moves at a uniform speed and begins to perform the lane changing action:

[0170]

[0171] Substituting and verifying, when the following conditions are all met, the system can perform deceleration to find a lane changing opportunity:

[0172] 1)S ego.driven (T2)<min(S end.topo , S end.navi , S end.detour )

[0173] 2) When 0≤t≤T2, S ego.driven (t)-S end.ego (t)<Sfront -S ego

[0174]

[0175] 3) when 0≤t≤T2, V(t)≤V limin

[0176] 4) T1≤T max

[0177] The above judgment logic needs to be judged separately for all vehicles of the target lane, and any vehicle that does not meet the requirements is considered to be unable to reduce speed and change lanes; the above judgment needs to be checked in real time during execution according to the actual motion state of the ego vehicle, the front vehicle and the target vehicle. If it is found that the speed cannot be reduced during the deceleration process, it is determined that the lane change cannot be completed, and the lane change instruction is rejected. Considering the comfort of the auxiliary driving system, the deceleration a can be reduced and the deceleration time T can be extended.

[0178] If you want to further optimize the traffic efficiency, you can choose not to immediately execute the lane change even if the lane change condition is met, but first judge the possibility of accelerating lane change. If accelerating lane change is possible, compare the speed V1(T1) of the ego vehicle after T1 time with the speed V2(T1) of the ego vehicle after T1 time of direct lane change. When V1(T1)<V2(T1) is established, the accelerating lane change is preferred.

[0179] Please refer to Figure 21 , Figure 21 is a flowchart of the deceleration lane change control in an embodiment of the present application. The deceleration lane change includes the following steps:

[0180] Step S101, obtaining target vehicle information in front of the motor vehicle driving direction;

[0181] Step S102, judging whether there is a target vehicle in front of the motor vehicle, if not, there is a safe lane change space, if yes, go to step S1021;

[0182] Step S1021, determining the current target motion condition according to the target vehicle information;

[0183] Step S1022, determining the deceleration index corresponding to the current target motion condition according to the current target motion condition, and the ego vehicle can maintain a preset safety distance with the target vehicle by decelerating at the deceleration index, and going to step S1023;

[0184] Step S1023, judging whether the deceleration index is greater than or equal to the deceleration activation threshold corresponding to the current target motion condition, if yes, there is a safe lane change space, otherwise it is determined that there is no safe lane change space.

[0185] Referring to Figure 22 , Figure 22 is a flowchart of a lane change control method in different traffic environments in another embodiment of the present application. After a lane change intention is generated, a safety distance is calculated to determine whether there is sufficient safety distance in front and behind, and if so, a lane change path is planned and a lane change action is performed.

[0186] If there is not sufficient safety distance, an acceleration time required to complete acceleration lane change is calculated under the premise of ensuring safety distance, it is determined whether the lane change can be completed before the latest lane change point (i.e., the lane change termination point), if so, it is determined whether the minimum following distance requirement is met, if so, it is determined whether the maximum speed limit is met, if so, it is further determined whether the maximum lane change waiting time limit is met, if any of the above conditions is not met, a deceleration lane change strategy analysis is performed, if all the above conditions are met, an acceleration path is planned and an acceleration action is performed.

[0187] When performing deceleration lane change strategy analysis, a deceleration time required to complete deceleration lane change is calculated under the premise of ensuring safety distance, it is determined whether the lane change can be completed before the latest lane change point (i.e., the lane change termination point), if so, it is determined whether the minimum following distance requirement is met, if so, it is determined whether the maximum speed limit is met, if so, it is further determined whether the maximum lane change waiting time limit is met, if any of the above conditions is not met, the lane change is terminated, and if all the above conditions are met, a deceleration path is planned and a deceleration action is performed.

[0188] In an embodiment, as shown in Figure 23 , a lane change control system in different traffic environments is provided, which includes: a target lane planning module 4551 configured to acquire road information and determine a target lane for lane change according to the road information; a lane change time calculation module 4552 configured to determine an acceleration time required for a current vehicle to meet a preset lane change condition according to a driving state of the current vehicle when the current vehicle does not meet the preset lane change condition according to distances between the current vehicle and front and rear vehicles in a current lane and a longitudinal distance between the current vehicle and a nearby vehicle in the target lane; and a lane change execution module 4553 configured to predict a first target position of the current vehicle after completing lane change according to the acceleration time, and perform an acceleration lane change action when the first target position meets a preset safe driving position.

[0189] In an embodiment, the lane changing execution module 4553 is further configured to, according to the acceleration time, predict a first target position of the current vehicle after completing the lane changing, and when the target position does not satisfy the preset safe driving position, determine a deceleration time required for the current vehicle to satisfy the preset lane changing condition according to the driving state of the current vehicle, and predict a second target position of the current vehicle after completing the lane changing according to the deceleration time, and when the second target position satisfies the preset safe driving position, perform a deceleration lane changing action.

[0190] In an embodiment, the lane changing execution module 4553 is further configured to, according to the distance between the current vehicle and the front and rear vehicles in the current lane and the longitudinal distance between the current vehicle and the adjacent vehicle in the target lane, determine the acceleration time required for the current vehicle to satisfy the preset lane changing condition according to the driving state of the current vehicle when the current vehicle satisfies the preset lane changing condition, and predict a first target position of the current vehicle after completing the lane changing according to the acceleration time, and when the first target position satisfies the preset safe driving position, preferentially perform an acceleration lane changing action.

[0191] In an embodiment, the road information includes: a navigation path, a current lane front vehicle speed, current lane front obstacle information, and current lane front other traffic participant information.

[0192] In an embodiment, the target lane planning module 4551 is further configured to determine a next lane to be driven into as the target lane according to the navigation path, or determine an adjacent lane as the target lane when the average speed of the current lane front vehicle in a preset time period is lower than a preset speed threshold according to the current lane front vehicle speed, or determine an adjacent lane as the target lane when there is obstacle information or other traffic participant information in front of the current lane, or select a lane with a higher speed limit in the same road as the target lane, or select a lane with a higher traffic efficiency in the same lane as the target lane, or select another lane as the target lane when there is a vehicle with a transverse distance less than a preset distance threshold or a vehicle that is cutting in or out in the adjacent lane, or select a lane after merging or a lane after splitting as the target lane when there is a merging point or a splitting point in front, or select a lane after parallel parking or a lane adjacent to the terminal lane as the target lane.

[0193] In an embodiment, the lane changing execution module 4553 is further configured to, after determining the target lane for lane changing according to the road information, determine a lane changing end point of the current lane according to the target lane and the current speed of the vehicle, and stop lane changing when the vehicle position exceeds the lane changing end point when the current vehicle performs a lane changing action.

[0194] In an embodiment, the lane changing time calculation module 4552 is further configured to determine, according to the driving state of the current vehicle, an acceleration time required for the current vehicle to meet the preset lane changing condition, including: determining, according to the preset upper limit of the acceleration of the current vehicle, the acceleration time of the vehicle to accelerate to meet the preset lane changing condition.

[0195] In an embodiment, the preset lane changing condition includes: the distance between the current vehicle and the front vehicle is greater than a preset safe following distance, the speed of the current vehicle is less than a preset maximum speed limit, and the lane changing waiting time of the vehicle is less than a preset maximum waiting time.

[0196] In an embodiment, the calculation of the safe following distance includes: obtaining the speed of the current vehicle and the speed of the front vehicle, determining a first distance of the current vehicle according to the speed of the current vehicle and a preset minimum distance, determining a distance difference between the current vehicle and the front vehicle within a preset minimum collision time according to the speed of the current vehicle and the speed of the front vehicle, and taking the maximum value of the first distance, the distance difference, and a preset minimum safe distance of the vehicle as the safe following distance.

[0197] The lane changing control system in different traffic environments described above can be implemented in the form of a computer program, which can run on a computer device as shown in Figure 24 The computer device includes a memory, a processor, and a computer program stored in the memory and executable on the processor.

[0198] Each module in the lane changing control system in different traffic environments described above can be implemented by software, hardware, or a combination thereof, in whole or in part. Each module described above can be embedded in the memory of the terminal in hardware form or independent of the memory of the terminal, or stored in the memory of the terminal in software form, so as to be called and executed by the processor to perform the operations corresponding to each module. The processor can be a central processing unit (CPU), a microprocessor, a single-chip machine, etc.

[0199] As shown in Figure 24 An internal structure diagram of a computer device in an embodiment is shown. A computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the following steps when executing the computer program: obtaining road information, determining a target lane for lane changing according to the road information; when the current vehicle does not meet the preset lane changing condition according to the distance between the current vehicle and the front and rear vehicles in the current lane and the longitudinal distance between the current vehicle and the adjacent vehicles in the target lane, determining, according to the driving state of the current vehicle, an acceleration time required for the current vehicle to meet the preset lane changing condition; predicting a first target position of the current vehicle after completing lane changing according to the acceleration time, and when the first target position meets a preset safe driving position, performing an acceleration lane changing action.

[0200] In an embodiment, when the processor executes, the method further comprises, when the target position does not satisfy the preset safe driving position, determining a deceleration time required for the current vehicle to satisfy the preset lane-changing condition according to the driving state of the current vehicle; predicting a second target position of the current vehicle after completing the lane-changing according to the deceleration time, and performing the deceleration lane-changing action when the second target position satisfies the preset safe driving position.

[0201] In an embodiment, when the processor executes, the method further comprises, when the current vehicle satisfies the preset lane-changing condition according to the distance between the current vehicle and the front and rear vehicles in the current lane and the longitudinal distance between the current vehicle and the adjacent vehicle in the target lane, determining an acceleration time required for the current vehicle to satisfy the preset lane-changing condition according to the driving state of the current vehicle; predicting a first target position of the current vehicle after completing the lane-changing according to the acceleration time, and preferentially performing the acceleration lane-changing action when the first target position satisfies the preset safe driving position.

[0202] In an embodiment, when the processor executes, the road information comprises: a navigation path, a vehicle speed in front of the current lane, obstacle information in front of the current lane, and other traffic participant information in front of the current lane.

[0203] In an embodiment, when the processor executes, the method of determining the target lane for lane-changing according to the road information comprises: determining the next lane to be entered as the target lane according to the navigation path; or, determining the adjacent lane as the target lane when the average speed of the vehicle in front of the current lane in a preset time period is lower than a preset speed threshold according to the vehicle speed in front of the current lane; or, determining the adjacent lane as the target lane when there is obstacle information or other traffic participant information in front of the current lane; or, selecting a lane with a higher speed limit in the same road as the target lane; or, selecting a lane with a higher traffic efficiency in the same lane as the target lane; or, selecting the other lane as the target lane when there is a vehicle with a transverse distance less than a preset distance threshold or a vehicle that is cutting in or out in the adjacent lane; or, selecting the lane after merging or the lane after splitting as the target lane when there is a merging point or a splitting point in front; or, selecting the lane after parallel parking or the lane adjacent to the end lane as the target lane.

[0204] In an embodiment, when the processor executes, the method further comprises: determining a vehicle lane-changing end point of the current lane according to the target lane and the current speed of the vehicle; and stopping the lane-changing if the vehicle position exceeds the lane-changing end point when the vehicle performs the lane-changing action.

[0205] In an embodiment, when the processor executes, the method further comprises: determining the acceleration time required for the current vehicle to meet the preset lane-changing condition according to a preset upper limit of the acceleration of the current vehicle.

[0206] In an embodiment, when the processor executes, the preset lane-changing condition comprises: the distance between the current vehicle and the front vehicle is greater than a preset safe following distance, the speed of the current vehicle is less than a preset maximum speed limit, and the waiting time of the vehicle for lane-changing is less than a preset maximum waiting time.

[0207] In an embodiment, when the processor executes, the method further comprises: obtaining the speed of the current vehicle and the speed of the front vehicle; determining a first distance of the current vehicle according to the speed of the current vehicle and a preset minimum distance; determining a distance difference between the current vehicle and the front vehicle within a preset minimum collision time according to the speed of the current vehicle and the speed of the front vehicle; and taking the maximum value of the first distance, the distance difference, and a preset minimum safe distance of the vehicle as the safe following distance.

[0208] In an embodiment, the computer device can be used as a server, including but not limited to a stand-alone physical server or a server cluster composed of multiple physical servers. The computer device can also be used as a terminal, including but not limited to a mobile phone, a tablet computer, a personal digital assistant, a smart device, and the like. Figure 24 As shown in the figure, the computer device comprises a processor, a non-volatile storage medium, an internal memory, a display screen, and a network interface connected through a system bus.

[0209] The processor of the computer device is used to provide computing and control capabilities to support the operation of the entire computer device. The non-volatile storage medium of the computer device stores an operating system and a computer program. The computer program can be executed by the processor to implement the lane-changing control method in different traffic environments provided by the above embodiments. The internal memory of the computer device provides a cache running environment for the operating system and the computer program in the non-volatile storage medium. The display interface can display data through the display screen. The display screen can be a touch screen, such as a capacitive screen or an electronic screen, which can generate corresponding instructions by receiving the click operation of the control displayed on the touch screen.

[0210] Those skilled in the art can understand that Figure 24 The structure of the computer device shown in the above figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. A specific computer device can include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0211] In one embodiment, a computer readable storage medium is provided, and a computer program is stored on the computer readable storage medium. The computer program is executed by a processor to implement the following steps: obtaining road information, determining a target lane for lane changing according to the road information; determining an acceleration time required for a current vehicle to meet a preset lane changing condition according to a driving state of the current vehicle when the current vehicle does not meet the preset lane changing condition according to distances between the current vehicle and front and rear vehicles in a current lane and a longitudinal distance between the current vehicle and a nearby vehicle in the target lane; predicting a first target position of the current vehicle after completing lane changing according to the acceleration time, and performing an acceleration lane changing action when the first target position meets a preset safe driving position.

[0212] In one embodiment, the computer program is executed by the processor to implement the following steps after predicting the first target position of the current vehicle after completing lane changing according to the acceleration time: determining a deceleration time required for the current vehicle to meet the preset lane changing condition according to the driving state of the current vehicle when the target position does not meet the preset safe driving position; predicting a second target position of the current vehicle after completing lane changing according to the deceleration time, and performing a deceleration lane changing action when the second target position meets the preset safe driving position.

[0213] In one embodiment, the computer program is executed by the processor to implement the following steps when the current vehicle meets the preset lane changing condition according to distances between the current vehicle and front and rear vehicles in a current lane and a longitudinal distance between the current vehicle and a nearby vehicle in the target lane: determining an acceleration time required for a current vehicle to meet a preset lane changing condition according to a driving state of the current vehicle; predicting a first target position of the current vehicle after completing lane changing according to the acceleration time, and preferentially performing an acceleration lane changing action when the first target position meets a preset safe driving position.

[0214] In one embodiment, the computer program is executed by the processor to implement the following steps: the road information includes a navigation path, a speed of a vehicle in front of a current lane, obstacle information in front of the current lane, and information of other traffic participants in front of the current lane.

[0215] In one embodiment, when the computer program is executed by a processor, the process of determining the target lane for lane changing based on the road information includes: determining the next lane to be entered as the target lane based on the navigation path; or, if the average speed of the vehicles ahead in the current lane is lower than a preset speed threshold within a preset time period based on the speed of the vehicles ahead in the current lane, then using an adjacent lane as the target lane; or, if there is obstacle information or other traffic participant information ahead of the current lane, then using an adjacent lane as the target lane; or, selecting a lane with a higher speed limit on the same road as the target lane; or, selecting a lane with higher traffic efficiency on the same road as the target lane; or, if there are vehicles in adjacent lanes with a lateral distance less than a preset distance threshold or vehicles cutting in or out, then using the other lane as the target lane; or, if there is a merging or diverging point ahead, then using the merged or diverged lane as the target lane; or, using the lane adjacent to the lane after merging or the lane terminating as the target lane.

[0216] In one embodiment, when the computer program is executed by the processor, after determining the target lane for lane changing based on the road information, it further includes: determining the lane change endpoint of the current lane based on the target lane and the vehicle's current speed; if the vehicle position exceeds the lane change endpoint when the current vehicle performs the lane change action, then the lane change is stopped.

[0217] In one embodiment, when the instruction is executed by the processor, the determination of the acceleration time required for the current vehicle to meet the preset lane change conditions based on the current vehicle's driving state includes: determining the acceleration time required for the vehicle to accelerate to meet the preset lane change conditions based on the current vehicle's preset acceleration upper limit.

[0218] In one embodiment, when the instruction is executed by the processor, the preset lane-changing conditions include: the following distance from the vehicle in the current lane is greater than a preset safe following distance, the speed of the current vehicle is less than a preset maximum speed limit, and the waiting time for lane changing is less than a preset maximum waiting time.

[0219] In one embodiment, when the instruction is executed by the processor, the calculation steps for the safe following distance include: acquiring the current vehicle speed and the speed of the vehicle in front; determining a first distance of the current vehicle based on the current vehicle speed and a preset minimum time interval; determining the distance difference between the current vehicle and the vehicle in front within a preset minimum collision time based on the current vehicle speed and the speed of the vehicle in front; and using the maximum value among the first distance, the distance difference, and the preset minimum safe distance as the safe following distance.

[0220] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by a computer program instructing relevant hardware. The program can be stored in a non-volatile computer readable storage medium. When the program is executed, the program can include the processes of the above-mentioned embodiment methods. The storage medium can be a magnetic disc, an optical disc, a read-only memory (ROM), and the like.

[0221] The above embodiments are only illustrative of the principles and effects of the present application, and are not intended to limit the present application. Any person skilled in the art can modify or change the above embodiments without departing from the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by those skilled in the art without departing from the spirit and technical ideas disclosed in the present application should be covered by the claims of the present application.

Claims

1. A lane change control method in different traffic environments, characterized by, The method comprises: acquiring road information, and determining a target lane for lane changing according to the road information; when it is determined that the current vehicle does not meet a preset lane changing condition according to distances between the current vehicle and front and rear vehicles in the current lane and a longitudinal distance between the current vehicle and a nearby vehicle in the target lane, determining an acceleration time required for the current vehicle to meet the preset lane changing condition according to a driving state of the current vehicle; predicting a first target position of the current vehicle after completing lane changing according to the acceleration time, and performing an acceleration lane changing action when the first target position meets a preset safe driving position; after determining the target lane for lane changing according to the road information, the method further comprises: determining a lane changing end point of the current lane according to the target lane and a current speed of the vehicle, and stopping lane changing when the vehicle position exceeds the lane changing end point when the current vehicle performs the lane changing action.

2. The lane change control method in different traffic environments according to claim 1, characterized in that, after predicting the first target position of the current vehicle after completing lane changing according to the acceleration time, the method further comprises: when the target position does not meet the preset safe driving position, determining a deceleration time required for the current vehicle to meet the preset lane changing condition according to the driving state of the current vehicle; predicting a second target position of the current vehicle after completing lane changing according to the deceleration time, and performing a deceleration lane changing action when the second target position meets the preset safe driving position.

3. The lane change control method in different traffic environments according to claim 1, characterized in that, when it is determined that the current vehicle meets the preset lane changing condition according to distances between the current vehicle and front and rear vehicles in the current lane and a longitudinal distance between the current vehicle and a nearby vehicle in the target lane, determining an acceleration time required for the current vehicle to meet the preset lane changing condition according to a driving state of the current vehicle; predicting a first target position of the current vehicle after completing lane changing according to the acceleration time, and preferentially performing an acceleration lane changing action when the first target position meets a preset safe driving position.

4. The lane change control method in different traffic environments according to claim 1, characterized in that, The road information comprises: a navigation path, a speed of a vehicle in front of the current lane, obstacle information in front of the current lane, and other traffic participant information in front of the current lane.

5. The lane change control method in different traffic environments according to claim 4, characterized in that, The method of determining the target lane for lane changing according to the road information comprises: determining a next lane to be entered as the target lane according to the navigation path; or, determining a nearby lane as the target lane when an average speed of a vehicle in front of the current lane within a preset time period is lower than a preset speed threshold according to the speed of the vehicle in front of the current lane; or, determining a nearby lane as the target lane when there is obstacle information or other traffic participant information in front of the current lane; or, selecting a lane with a higher speed limit in the same road as the target lane; or, selecting a lane with a higher traffic efficiency in the same lane as the target lane; or, determining a lane on the other side as the target lane when there is a vehicle with a lateral distance less than a preset distance threshold or a vehicle that is cutting in or out in the adjacent lane; or, determining a lane after merging or a lane after splitting as the target lane when there is a merging point or a splitting point in front; or, determining a lane adjacent to a lane after parallel parking or a lane after terminating as the target lane.

6. The lane change control method in different traffic environments according to claim 1, wherein, The acceleration time required for the current vehicle to meet the preset lane-changing condition is determined according to the driving state of the current vehicle, comprising: The acceleration time of the vehicle to meet the preset lane-changing condition is determined according to the preset upper limit of the acceleration of the current vehicle.

7. The lane change control method in different traffic environments according to any one of claims 1-6, characterized in that, The preset lane-changing condition comprises that the distance between the current vehicle and the vehicle in the current lane is greater than the preset safe following distance, the speed of the current vehicle is less than the preset maximum speed limit, and the lane-changing waiting time of the vehicle is less than the preset maximum waiting time.

8. The lane change control method in different traffic environments according to claim 7, characterized in that, The calculation step of the safe following distance comprises: Obtaining the speed of the current vehicle and the speed of the front vehicle; Determining the first distance of the current vehicle according to the speed of the current vehicle and the preset minimum distance; Determining the distance difference between the current vehicle and the front vehicle within the preset minimum collision time according to the speed of the current vehicle and the speed of the front vehicle; Taking the maximum value of the first distance, the distance difference and the preset minimum safe distance of the vehicle as the safe following distance.

9. A lane change control system in different traffic environments, characterized by, Comprise: A target lane planning module for obtaining road information and determining a target lane for lane changing according to the road information; A lane-changing time calculation module for determining the acceleration time required for the current vehicle to meet the preset lane-changing condition according to the driving state of the current vehicle when the current vehicle does not meet the preset lane-changing condition according to the distance between the current vehicle and the front and rear vehicles in the current lane and the longitudinal distance between the current vehicle and the adjacent vehicle in the target lane; A lane-changing execution module for predicting the first target position of the current vehicle after completing lane changing according to the acceleration time, and executing the acceleration lane-changing action when the first target position meets the preset safe driving position; after determining the target lane for lane changing according to the road information, further comprising: determining the lane-changing endpoint of the current lane according to the target lane and the current speed of the vehicle, and stopping lane changing if the vehicle position exceeds the lane-changing endpoint when the vehicle performs the lane-changing action.

10. A computer device comprising: A memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor executes the computer program to implement the steps of the lane-changing control method in different traffic environments according to any one of claims 1 to 8.

11. A computer readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the lane-changing control method in different traffic environments according to any one of claims 1 to 8.

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