Vehicle lane changing method and related device

Abstract

The application discloses a vehicle lane changing method and related equipment, relates to the field of vehicle control, and mainly aims to solve the problem that there is no better control method for a vehicle with a slow driving speed. The method comprises the following steps: acquiring the driving speed of a vehicle, environment data of a current position and road condition information in real time in the case of an auxiliary driving mode; and actively changing lanes to a slow lane in the case that the driving speed of the vehicle is lower than a preset driving speed and the environment data of the current position and the road condition information meet preset lane changing conditions. The application is used in a vehicle lane changing process.

Description

Technical Field

[0001] This invention relates to the field of vehicle control, and more particularly to a vehicle lane-changing method and related equipment. Background Technology

[0002] In actual driving, novice drivers may hesitate to accelerate, resulting in excessively slow speeds, even below the normal speed limit for traffic flow. During rush hour, if vehicles are traveling at speeds below the normal speed limit, it can easily cause other vehicles to be slowed down and even lead to significant traffic problems, such as traffic jams. Currently, apart from traffic control, there is no better technical solution to this problem. Summary of the Invention

[0003] In view of the above problems, the present invention provides a vehicle lane changing method and related equipment, the main purpose of which is to solve the problem of lacking a better control method for vehicles traveling at too slow speeds.

[0004] To solve at least one of the above-mentioned technical problems, in a first aspect, the present invention provides a vehicle lane-changing method, the method comprising:

[0005] When in assisted driving mode, the vehicle's own speed, current location environmental data and road condition information are obtained in real time;

[0006] When the vehicle's own speed is lower than the preset speed and the environmental data and road condition information of the current location meet the preset lane-changing conditions, the vehicle actively changes lanes to the slow lane.

[0007] Optionally, the preset driving speed is determined based on the maximum speed limit of the lane where the vehicle is currently located.

[0008] Optional,

[0009] The environmental data mentioned above includes road surface slipperiness and visibility.

[0010] The above road condition information is determined based on the number of vehicles within a preset range ahead of the vehicle's own lane and the number of overtaking vehicles in the lanes on both sides within a preset time.

[0011] Optionally, the above methods also include:

[0012] If the road surface slippage is lower than the preset slippage and the visibility is greater than the preset visibility, then the environmental data is determined to meet the preset lane change conditions.

[0013] If it is determined that the number of vehicles in the preset range ahead of the lane in which the vehicle is located is less than the preset number of vehicles and the number of overtaking vehicles in the two lanes within a preset time is greater than the preset number, then the above road condition information is determined to meet the preset lane change conditions.

[0014] Optionally, the above methods also include:

[0015] When the vehicle's own speed is lower than the preset speed and the environmental data and road condition information of the current location meet the preset lane change conditions, the first distance between the vehicle and the nearest vehicle behind it in the slow lane is obtained.

[0016] If the first distance mentioned above is greater than or equal to the preset safe distance, turn on the turn signal and continue to flash for a preset time.

[0017] Optionally, the above methods also include:

[0018] During the aforementioned preset flashing time, the aforementioned first distance is continuously acquired;

[0019] If the first distance is always greater than or equal to the preset safe distance during the preset flashing time, the vehicle will actively change lanes to the slow lane; otherwise, it will remain in the current lane.

[0020] Optionally, the aforementioned preset safety distance is determined based on the vehicle's own speed and length, and the speed of the nearest vehicle approaching from behind in the slow lane.

[0021] Secondly, embodiments of the present invention also provide a vehicle lane-changing device, comprising:

[0022] The acquisition unit is used to acquire the vehicle's own driving speed, environmental data of its current location, and road condition information in real time when the vehicle is in assisted driving mode.

[0023] The execution unit is used to actively change lanes to the slow lane when the vehicle's own speed is lower than the preset speed and the environmental data and road condition information of the current location meet the preset lane-changing conditions.

[0024] To achieve the above objectives, according to a third aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium comprising a stored program, wherein, when the program is executed by a processor, the steps of the vehicle lane-changing method described above are implemented.

[0025] To achieve the above objectives, according to a fourth aspect of the present invention, an electronic device is provided, comprising at least one processor and at least one memory connected to the processor; wherein the processor is configured to invoke program instructions in the memory to execute the steps of the vehicle lane-changing method described above.

[0026] By employing the above technical solution, the vehicle lane-changing method and related equipment provided by this invention address the problem of a lack of better control methods for vehicles traveling at excessively slow speeds. This invention, while in assisted driving mode, acquires real-time data on the vehicle's own speed, current location, environmental conditions, and road conditions. When the vehicle's own speed is lower than a preset speed and the environmental data and road conditions at the current location meet preset lane-changing conditions, the vehicle actively changes lanes to the slower lane. In this solution, with the maturity of autonomous driving and assisted driving technologies, when the vehicle detects that its speed is too low, indicating that the driver is driving too slowly, this solution is activated. Because it is in assisted driving mode, the vehicle can automatically take over driving control. If it determines that the environment and road conditions at the vehicle's current location meet the preset lane-changing conditions, it actively changes lanes to the slower lane, for example, to the right lane. This allows all slower-moving vehicles to travel in a single slower lane, freeing up other lanes for vehicles traveling normally, thereby solving traffic problems such as congestion caused by slow-moving vehicles.

[0027] Accordingly, the vehicle lane changing device, equipment, and computer-readable storage medium provided in the embodiments of the present invention also have the above-mentioned technical effects.

[0028] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and in order to make the above and other objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0029] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0030] Figure 1 A schematic flowchart of a vehicle lane-changing method provided by an embodiment of the present invention is shown;

[0031] Figure 2 This diagram illustrates the composition of a vehicle lane-changing device according to an embodiment of the present invention.

[0032] Figure 3 This diagram illustrates the composition of a vehicle lane-changing electronic device provided in an embodiment of the present invention. Detailed Implementation

[0033] Exemplary embodiments of the invention will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this invention will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

[0034] To address the lack of a better control method for vehicles traveling at excessively slow speeds, embodiments of the present invention provide a vehicle lane-changing method, such as... Figure 1 As shown, the method includes:

[0035] S101. When in assisted driving mode, the vehicle's own speed, current location environmental data and road condition information are obtained in real time.

[0036] For example, with the advancement of technology, the "adaptive cruise control" function has emerged. Through detectors such as millimeter-wave radar and binocular cameras, it can achieve the effect of intelligently assisting in the control of the vehicle. In this solution, when the target vehicle is equipped with and the assisted driving mode is activated, the target vehicle obtains its own driving speed in real time, and obtains environmental data and road condition information of its current location in real time through sensors. Among them, the road condition information can also be obtained from the weather reports issued by the traffic and meteorological departments, thereby providing a data basis for the subsequent judgment process.

[0037] S102. When the vehicle's own speed is lower than the preset speed and the environmental data and road condition information of the current location meet the preset lane-changing conditions, the vehicle actively changes lanes to the slow lane.

[0038] For example, when it is determined that the target vehicle's speed is lower than the preset speed, it indicates that the target vehicle's current speed may be too slow, affecting the normal driving of vehicles behind and even causing traffic jams or accidents. However, it is also necessary to combine the environmental data and road condition information of the target vehicle's current location to determine whether the current environment and road conditions are clear, thereby determining whether the target vehicle's slow speed is due to its own reasons or external factors. If the current environmental data and road condition information both indicate that the current road conditions are clear, it proves that the target vehicle's speed is lower than the preset speed due to its own reasons, and it is necessary to actively change lanes to the slow lane. If the current environmental data and road condition information do not meet the preset lane-changing conditions, it proves that the target vehicle's slow speed may be due to environmental reasons that prevent it from driving fast or the road itself being congested, and in this case, it is not necessary to actively change lanes to the slow lane.

[0039] By employing the above technical solution, the vehicle lane-changing method provided by this invention addresses the lack of a better control method for vehicles traveling at excessively slow speeds. This invention, while in assisted driving mode, acquires real-time data on the vehicle's own speed, current location, environmental conditions, and road conditions. When the vehicle's speed is lower than a preset speed and the environmental and road conditions meet preset lane-changing conditions, the vehicle actively changes lanes to the slower lane. In this solution, with the maturity of autonomous and assisted driving technologies, when a target vehicle detects that its speed is too low, indicating that the driver is driving too slowly, this solution is activated. Because it is in assisted driving mode, the target vehicle can automatically take over driving control. If it is determined that the environment and road conditions at the target vehicle's current location meet the preset lane-changing conditions, the vehicle actively changes lanes to the slower lane, for example, to the right lane. This allows all slower-moving target vehicles to travel in a single slower lane, freeing up other lanes for vehicles traveling at normal speeds, thereby solving traffic problems such as congestion caused by slow-moving vehicles.

[0040] In one embodiment, the preset driving speed is determined based on the maximum speed limit of the lane where the vehicle is currently located.

[0041] For example, the target vehicle uses a GPS or other positioning system to obtain its location on the road in real time and determines the maximum speed limit of the lane it is in. Based on the maximum speed limit of the road segment, it determines the normal driving speed of the target vehicle, i.e., the preset driving speed. If the target vehicle's speed is lower than the preset driving speed, it is considered that the target vehicle's speed is too low, which may affect vehicles behind it. For example, if the maximum speed limit of the lane where the target vehicle is currently located is 80 mph, and the preset driving speed is assumed to be 80-100% of 80 mph, i.e., 64 mph, when the target vehicle's speed is above 64 mph, it is not considered that the target vehicle's speed is too slow. If the target vehicle's speed is below 64 mph, it is considered that the target vehicle's speed is below the preset driving speed, which may affect vehicles behind it.

[0042] In one embodiment,

[0043] The environmental data mentioned above includes road surface slipperiness and visibility.

[0044] The above road condition information is determined based on the number of vehicles within a preset range ahead of the vehicle's own lane and the number of overtaking vehicles in the lanes on both sides within a preset time.

[0045] For example, road surface slippage and visibility can be obtained from real-time data released by departments such as the traffic and meteorological bureau, or they can be determined based on the target vehicle's own sensors. The target vehicle can obtain the number of vehicles in a preset range ahead of its own lane and the number of overtaking vehicles in the lanes on both sides within a preset time through its own cameras, radar sensors, and other devices, or it can obtain this information through a networked system via monitoring equipment on both sides of the road, thus providing a data foundation for the implementation of this method.

[0046] In one embodiment, the above method further includes:

[0047] If the road surface slippage is lower than the preset slippage and the visibility is greater than the preset visibility, then the environmental data is determined to meet the preset lane change conditions.

[0048] If it is determined that the number of vehicles in the preset range ahead of the lane in which the vehicle is located is less than the preset number of vehicles and the number of overtaking vehicles in the two lanes within a preset time is greater than the preset number, then the above road condition information is determined to meet the preset lane change conditions.

[0049] For example, if the obtained road surface slippage is lower than the preset slippage, it proves that the road surface slippage of the lane where the target vehicle is currently located is low. Therefore, the slow speed of the target vehicle is not due to road surface issues. If the visibility is greater than the preset visibility, it proves that the visibility range of the lane where the target vehicle is currently located is good. The slow speed of the target vehicle is not because the user cannot see the road conditions clearly. Therefore, it is determined that the slow speed of the vehicle is due to the target vehicle itself, and the active lane change of this method needs to be executed. If neither the road surface slippage nor the visibility meets the preset lane change conditions, it proves that the slow speed of the target vehicle may be due to the slippery road surface or low visibility, which causes the user of the target vehicle to drive slowly. In this case, there is no need to perform an active lane change, because in this case, the speed of other vehicles will generally also decrease relatively.

[0050] For example, if the number of vehicles in the preset range ahead of the target vehicle's lane is less than the preset number, it proves that there are few vehicles ahead of the target vehicle, allowing it to travel at a normal speed. If a large number of vehicles overtake in both lanes within a certain period of time, it proves that the speed of vehicles in both lanes is higher than that of the target vehicle. In this case, it can be determined that the target vehicle's driving environment is that the road ahead is clear, the speed of vehicles on both sides is higher than that of the target vehicle, and the target vehicle's speed is lower than that of other vehicles, causing the speed of vehicles behind to be too slow, or even to change lanes and overtake. The preset values ​​such as the preset visibility, preset range, preset number of vehicles, and preset time are determined according to the specific situation. For example, if vehicle A obtains that there are only two vehicles in the preset range within 50m ahead, while the preset number of vehicles is five, it proves that the road ahead is open, allowing it to travel at a relatively high speed. If the number of vehicles in both lanes that overtake vehicle A within 30 seconds is five, which is greater than the preset number of three, it can be determined that the road condition information of vehicle A meets the preset lane-changing conditions.

[0051] This solution comprehensively considers natural and road conditions, taking into account the impact of natural weather and surrounding traffic flow on the target vehicle's speed. This allows for a precise determination of whether the target vehicle's slow speed is due to subjective reasons or external objective factors.

[0052] In one embodiment, the above method further includes:

[0053] When the vehicle's own speed is lower than the preset speed and the environmental data and road condition information of the current location meet the preset lane change conditions, the first distance between the vehicle and the nearest vehicle behind it in the slow lane is obtained.

[0054] If the first distance mentioned above is greater than or equal to the preset safe distance, turn on the turn signal and continue to flash for a preset time.

[0055] For example, when it is determined that the target vehicle meets the preset lane-changing conditions, active lane changing is initiated. At this time, the target vehicle first obtains the first distance between itself and the nearest vehicle behind it in the slow lane. Then, it determines whether lane changing is possible by comparing the first distance with the preset safety distance. For example, if vehicle A needs to change lanes to the slow lane, and the distance between vehicle B, the nearest vehicle behind it in the slow lane, and vehicle A is 5 meters, while the preset safety distance is 3 meters, it proves that lane changing is possible. There is sufficient space between the two vehicles to avoid rear-end collisions. At this time, the target vehicle turns on its turn signal and continues to do so for a period of time, giving the following vehicles sufficient reaction time, thereby ensuring the safety of lane changing.

[0056] In one embodiment, the above method further includes:

[0057] During the aforementioned preset flashing time, the aforementioned first distance is continuously acquired;

[0058] If the first distance is always greater than or equal to the preset safe distance during the preset flashing time, the vehicle will actively change lanes to the slow lane; otherwise, it will remain in the current lane.

[0059] For example, assuming the preset flashing time is five seconds, within five seconds, vehicle A continuously acquires the first distance. If the distance between vehicle A and vehicle B remains greater than the preset safe distance within five seconds, an active lane change can be performed. If the distance between vehicle B and vehicle A shrinks to less than the preset safe distance within five seconds, it indicates that there may be a risk of being rear-ended by vehicle B when vehicle A changes lanes to the straight or slow lane. In this case, the lane change is temporarily suspended, thereby ensuring the safety of the lane change.

[0060] In one embodiment, the preset safe distance is determined based on the vehicle's own speed and length, and the speed of the nearest vehicle approaching from behind in the slow lane.

[0061] For example, the preset safety distance is determined based on the speed and length of vehicle A and the speed of vehicle B. For instance, the speed and length of vehicle A affect whether a rear-end collision will occur when changing lanes. The faster vehicle A travels, the easier it is to collide with the vehicle in front, but the greater the distance to vehicle B behind. The longer vehicle A is, the greater the preset safety distance should be. At the same time, the speed of vehicle B also affects whether a rear-end collision will occur when vehicle A changes lanes. The faster vehicle B travels, the easier it is to collide with vehicle A in front. This judgment logic takes into account the setting of the preset safety distance to the greatest extent, thereby ensuring the safety of lane changing.

[0062] It is important to note that in this scheme, before the target vehicle performs an active lane change, it needs to continuously monitor its own speed to ensure that its speed remains below the preset driving speed and does not accelerate within the preset time period before the lane change can be performed. This prevents situations where a vehicle that has slowed down for a short time from being actively changed to the slow lane. For example, if the driver of vehicle A temporarily slows down to drink water, the speed may be lower than the preset driving speed. Assuming the preset time period is 3 minutes, if the driver of vehicle A increases the speed back to above the preset driving speed within 3 minutes, the action of actively changing the vehicle to the slow lane will not be performed.

[0063] Furthermore, as a response to the above Figure 1 In addition to the implementation of the method shown, this embodiment of the invention also provides a vehicle lane-changing device for the above-mentioned... Figure 1The method shown is implemented accordingly. This device embodiment corresponds to the foregoing method embodiment. For ease of reading, this device embodiment will not repeat the details of the foregoing method embodiment, but it should be clear that the device in this embodiment can implement all the contents of the foregoing method embodiment. Figure 2 As shown, the device includes: an acquisition unit 21 and an execution unit 22, wherein...

[0064] The acquisition unit 21 is used to acquire the vehicle's own driving speed, environmental data of its current location, and road condition information in real time when in assisted driving mode;

[0065] The execution unit 22 is used to actively change lanes to the slow lane when the vehicle's own speed is lower than the preset speed and the environmental data and road condition information of the current location meet the preset lane-changing conditions.

[0066] For example, the preset driving speed is determined based on the maximum speed limit of the lane where the vehicle is currently located.

[0067] For example,

[0068] The environmental data mentioned above includes road surface slipperiness and visibility.

[0069] The above road condition information is determined based on the number of vehicles within a preset range ahead of the vehicle's own lane and the number of overtaking vehicles in the lanes on both sides within a preset time.

[0070] For example, the above-mentioned unit is also used for:

[0071] If the road surface slippage is lower than the preset slippage and the visibility is greater than the preset visibility, then the environmental data is determined to meet the preset lane change conditions.

[0072] If it is determined that the number of vehicles in the preset range ahead of the lane in which the vehicle is located is less than the preset number of vehicles and the number of overtaking vehicles in the two lanes within a preset time is greater than the preset number, then the above road condition information is determined to meet the preset lane change conditions.

[0073] For example, the above-mentioned unit is also used for:

[0074] When the vehicle's own speed is lower than the preset speed and the environmental data and road condition information of the current location meet the preset lane change conditions, the first distance between the vehicle and the nearest vehicle behind it in the slow lane is obtained.

[0075] If the first distance mentioned above is greater than or equal to the preset safe distance, turn on the turn signal and continue to flash for a preset time.

[0076] For example, the above-mentioned unit is also used for:

[0077] During the aforementioned preset flashing time, the aforementioned first distance is continuously acquired;

[0078] If the first distance is always greater than or equal to the preset safe distance during the preset flashing time, the vehicle will actively change lanes to the slow lane; otherwise, it will remain in the current lane.

[0079] For example, the aforementioned preset safety distance is determined based on the vehicle's own speed and length, and the speed of the nearest vehicle approaching from behind in the slow lane.

[0080] By employing the above technical solution, the vehicle lane-changing device provided by this invention addresses the lack of a better control method for vehicles traveling at excessively slow speeds. This invention, while in assisted driving mode, acquires real-time data on the vehicle's own speed, current environmental location, and road conditions. When the vehicle's speed is lower than a preset speed and the environmental and road conditions meet preset lane-changing conditions, the device actively changes lanes to the slower lane. In this solution, with the maturity of autonomous and assisted driving technologies, when the vehicle detects that its speed is too low, indicating the driver is driving too slowly, this solution is activated. Because it is in assisted driving mode, the vehicle can automatically take over driving control. If the environment and road conditions at the vehicle's current location meet the preset lane-changing conditions, the device actively changes lanes to the slower lane, for example, to the right lane. This allows all slower-moving vehicles to travel in a single slower lane, freeing up other lanes for vehicles traveling normally, thus solving traffic problems such as congestion caused by slow-moving vehicles.

[0081] The processor contains a kernel, which retrieves the corresponding program unit from memory. One or more kernels can be configured, and by adjusting kernel parameters, a vehicle lane-changing method can be implemented, addressing the problem of lacking a better control method for vehicles traveling at excessively slow speeds.

[0082] This invention provides a computer-readable storage medium including a stored program that, when executed by a processor, implements the vehicle lane-changing method described above.

[0083] This invention provides a processor for running a program, wherein the program executes the vehicle lane-changing method.

[0084] This invention provides an electronic device, which includes at least one processor and at least one memory connected to the processor; wherein the processor is used to call program instructions in the memory to execute the vehicle lane-changing method described above.

[0085] This invention provides an electronic device 30, such as... Figure 3 As shown, the electronic device includes at least one processor 301, and at least one memory 302 and bus 303 connected to the processor; wherein, the processor 301 and the memory 302 communicate with each other through the bus 303; the processor 301 is used to call program instructions in the memory to execute the above-mentioned vehicle lane changing method.

[0086] The smart electronic devices mentioned in this article can be PCs, tablets, mobile phones, etc.

[0087] This application also provides a computer program product, which, when executed on a process management electronic device, is suitable for executing a program that initializes the following method steps:

[0088] When in assisted driving mode, the vehicle's own speed, current location environmental data and road condition information are obtained in real time;

[0089] When the vehicle's own speed is lower than the preset speed and the environmental data and road condition information of the current location meet the preset lane-changing conditions, the vehicle actively changes lanes to the slow lane.

[0090] Furthermore, the aforementioned preset driving speed is determined based on the maximum speed limit of the lane where the vehicle is currently located.

[0091] Furthermore,

[0092] The environmental data mentioned above includes road surface slipperiness and visibility.

[0093] The above road condition information is determined based on the number of vehicles within a preset range ahead of the vehicle's own lane and the number of overtaking vehicles in the lanes on both sides within a preset time.

[0094] Furthermore, the above methods also include:

[0095] If the road surface slippage is lower than the preset slippage and the visibility is greater than the preset visibility, then the environmental data is determined to meet the preset lane change conditions.

[0096] If it is determined that the number of vehicles in the preset range ahead of the lane in which the vehicle is located is less than the preset number of vehicles and the number of overtaking vehicles in the two lanes within a preset time is greater than the preset number, then the above road condition information is determined to meet the preset lane change conditions.

[0097] Furthermore, the above methods also include:

[0098] When the vehicle's own speed is lower than the preset speed and the environmental data and road condition information of the current location meet the preset lane change conditions, the first distance between the vehicle and the nearest vehicle behind it in the slow lane is obtained.

[0099] If the first distance mentioned above is greater than or equal to the preset safe distance, turn on the turn signal and continue to flash for a preset time.

[0100] Furthermore, the above methods also include:

[0101] During the aforementioned preset flashing time, the aforementioned first distance is continuously acquired;

[0102] If the first distance is always greater than or equal to the preset safe distance during the preset flashing time, the vehicle will actively change lanes to the slow lane; otherwise, it will remain in the current lane.

[0103] Furthermore, the aforementioned preset safety distance is determined based on the vehicle's own speed and length, as well as the speed of the nearest vehicle approaching from behind in the slow lane.

[0104] This application is described with reference to flowchart illustrations and / or block diagrams of methods, electronic devices (systems), and computer program products according to embodiments of this application. 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 process management electronic device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable process management electronic device, generate instructions for implementing the process... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0105] In a typical configuration, an electronic device includes one or more processors (CPUs), memory, and a bus. The electronic device may also include input / output interfaces, network interfaces, etc.

[0106] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and memory includes at least one memory chip. Memory is an example of computer-readable media.

[0107] Computer-readable media, including both permanent and non-permanent, removable and non-removable media, can store information using any method or technology. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer-readable storage media for computers include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage electronic devices, or any other non-transferable medium that can be used to store information accessible to a computing electronic device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0108] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or electronic device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or electronic device. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or electronic device that includes that element.

[0109] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable, computer-readable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0110] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A vehicle lane-changing method, used for vehicles, characterized in that, include: When in assisted driving mode, the vehicle's own speed, current location environmental data and road condition information are obtained in real time; The environmental data includes road surface slippage and visibility. The road condition information is determined based on the number of vehicles in a preset range ahead of the vehicle's lane and the number of overtaking vehicles in the lanes on both sides within a preset time. When the vehicle's own speed is lower than the preset speed and the environmental data and road condition information of the current location meet the preset lane-changing conditions, the vehicle actively changes lanes to the slow lane. If the road surface slippage is lower than a preset slippage level and the visibility is greater than a preset visibility level, then the environmental data is determined to meet the preset lane change conditions. If the number of vehicles in a preset range ahead of the lane in which the vehicle is located is less than a preset number of vehicles and the number of overtaking vehicles in both lanes within a preset time is greater than a preset number, then the road condition information is determined to meet the preset lane change conditions. Before the target vehicle performs an active lane change, the vehicle's own speed is continuously monitored to ensure that the vehicle's own speed is always lower than the preset driving speed and does not accelerate within a preset time period before performing the lane change.

2. The method according to claim 1, characterized in that, The preset driving speed is determined based on the maximum speed limit of the lane where the vehicle is currently located.

3. The method according to claim 1, characterized in that, Also includes: When the vehicle's own speed is lower than the preset speed and the environmental data and road condition information of the current location meet the preset lane-changing conditions, the first distance between the vehicle and the nearest vehicle behind it in the slow lane is obtained. If the first distance is greater than or equal to the preset safe distance, turn on the turn signal and continue to flash for a preset time.

4. The method according to claim 3, characterized in that, The active lane change to the slow lane includes: During the preset flashing time, the first distance is continuously acquired; If the first distance is always greater than or equal to the preset safe distance during the preset flashing time, the vehicle actively changes lanes to the slow lane; otherwise, it remains in the current lane.

5. The method according to claim 4, characterized in that, The preset safe distance is determined based on the vehicle's own speed and length, and the speed of the nearest vehicle approaching from behind in the slow lane.

6. A vehicle lane-changing device, characterized in that, The acquisition unit is used to acquire, in real time, the vehicle's own driving speed, environmental data of its current location, and road condition information when in assisted driving mode; the environmental data includes road surface slippage and visibility, and the road condition information is determined based on the number of vehicles in a preset range ahead of the vehicle's own lane and the number of overtaking vehicles in the two lanes within a preset time. The execution unit is used to actively change lanes to the slow lane when the vehicle's own speed is lower than the preset speed and the environmental data and road condition information of the current location meet the preset lane-changing conditions. If the road surface slippage is lower than a preset slippage level and the visibility is greater than a preset visibility level, then the environmental data is determined to meet the preset lane change conditions. If the number of vehicles in a preset range ahead of the lane in which the vehicle is located is less than a preset number of vehicles and the number of overtaking vehicles in both lanes within a preset time is greater than a preset number, then the road condition information is determined to meet the preset lane change conditions. Before the target vehicle performs an active lane change, the vehicle's own speed is continuously monitored to ensure that the vehicle's own speed is always lower than the preset driving speed and does not accelerate within a preset time period before performing the lane change.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein, when the program is executed by a processor, it implements the steps of the vehicle lane-changing method as described in any one of claims 1 to 5.

8. An electronic device, characterized in that, The electronic device includes at least one processor and at least one memory connected to the processor; wherein the processor is configured to invoke program instructions in the memory to execute the steps of the vehicle lane-changing method as described in any one of claims 1 to 5.

Images