Automatic driving lane changing decision method and device, vehicle and computer storage medium

Abstract

The application discloses an automatic driving lane changing decision method and device, a vehicle and a computer storage medium. The automatic driving lane changing decision method comprises the following steps: obtaining a lane changing demand instruction of a user; determining whether a current lane changing gap is greater than or equal to a minimum lane changing gap according to the lane changing demand instruction; and if the current lane changing gap is greater than or equal to the minimum lane changing gap, a lane changing decision result is that lane switching is performed according to the lane changing demand instruction. The automatic driving lane changing decision method, device, vehicle and computer storage medium provided by the application can determine whether the current lane changing gap is greater than or equal to the minimum lane changing gap according to the lane changing demand instruction of the user, and when the current lane changing gap is greater than or equal to the minimum lane changing gap, the lane changing decision result is that lane switching is performed according to the lane changing demand instruction. The lane changing decision can meet the user's expectation under the condition of ensuring safety, and the user's use experience is improved.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving technology, and in particular to an autonomous driving lane-changing decision-making method, device, vehicle, and computer storage medium. Background Technology

[0002] With the increasing popularity of autonomous driving, continuous technological development, massive capital investment, and the accelerating pace of transformation from traditional vehicles to intelligent ones, more and more autonomous driving technology companies are emerging, vying for their respective niche markets. In the passenger vehicle autonomous driving field, which has huge demand, the technology has gradually evolved from the initial L1 level cruise control and lane keeping assist to L2+ level navigation-assisted autonomous driving. Active lane changing is a crucial function; in the same scenario, different systems may exhibit different performance in this function because their lane-changing decision-making logics differ. Lane-changing decision-making involves deciding whether to change lanes and whether it is feasible to do so. Currently, the mainstream methods are rule-based and data-driven. Rule-based methods model common human driving behaviors, while data-driven methods train models using large amounts of real-world driving data. Currently, mass-produced systems generally use rule-based methods for lane-changing decisions, primarily by determining whether the target lane has sufficient space for a lane change. If so, a lane-changing decision is made; otherwise, the current lane is maintained. The problem with this approach is that different systems have different standards for measuring "sufficient lane-changing space." Some systems are very conservative for safety reasons, which may be unacceptable to experienced drivers. Other systems are more aggressive for efficiency, which may cause panic among novice drivers. Therefore, it is difficult for a single system to meet the expectations of users with different driving styles for active lane-changing functionality. Summary of the Invention

[0003] The purpose of this invention is to provide an autonomous driving lane-changing decision-making method, device, vehicle, and computer storage medium, which can make lane-changing decisions that meet user expectations while ensuring safety, thereby improving the user experience.

[0004] To achieve the above objectives, the technical solution of the present invention is implemented as follows:

[0005] In a first aspect, embodiments of the present invention provide an autonomous driving lane-changing decision-making method, the autonomous driving lane-changing decision-making method comprising:

[0006] Obtain the user's lane change request command;

[0007] Based on the lane change request command, determine whether the current lane change gap is greater than or equal to the minimum lane change gap;

[0008] If the current lane change gap is greater than or equal to the minimum lane change gap, the lane change decision result is to switch lanes according to the lane change demand command.

[0009] As one implementation method, after obtaining the user's lane-change request instruction, the process includes:

[0010] Determine if the target lane exists; and

[0011] Determine whether the width of the target lane is greater than 2.5 meters; and

[0012] Determine whether the lane line between the current lane and the target lane is a dashed line;

[0013] If all the conditions are met, then based on the lane change request instruction, determine whether the current lane change gap is greater than or equal to the minimum lane change gap.

[0014] As one implementation method, after obtaining the user's lane-changing request instruction, the method further includes:

[0015] Determine whether there is a vehicle in front or behind the target lane relative to the vehicle's position; and

[0016] Determine whether the vehicle closest to the target lane in front of the vehicle is slowing down.

[0017] As one implementation method, after obtaining the user's lane-changing request instruction, the method further includes:

[0018] Obtain the traffic efficiency of the target lane and the current lane;

[0019] If the traffic efficiency of the target lane is greater than that of the current lane, and the speed difference between the target lane and the current lane remains within 30 kph, determine whether the current lane change gap is greater than or equal to the minimum lane change gap.

[0020] As one implementation method, determining whether the current lane change gap is greater than or equal to the minimum lane change gap based on the lane change request instruction includes:

[0021] Collect the following distance between the two vehicles closest to the target vehicle's position when multiple drivers change lanes to adjacent lanes under different traffic efficiency conditions;

[0022] By reducing the following distance between the two vehicles, the minimum lane-changing gap that the driver can make under different traffic efficiencies can be obtained.

[0023] As one implementation method, the step of collecting the following distance between the two vehicles closest to the vehicle in front and behind when multiple drivers change lanes to adjacent lanes under different traffic efficiencies includes:

[0024] The target lane's travel speed is faster than the current lane but does not exceed 120 kph; and

[0025] The speed difference between the target lane and the current lane shall not exceed 30 kph.

[0026] As one implementation method, after determining whether the current lane change gap is greater than or equal to the minimum lane change gap based on the lane change request instruction, the method includes:

[0027] Determine whether the speed of the nearest following vehicle in the target lane relative to the vehicle's position is greater than the speed of the nearest preceding vehicle in the target lane relative to the vehicle's position, and whether the speed difference exceeds a preset threshold;

[0028] If the speed difference exceeds a preset threshold, the lane-changing decision result is that the lane-changing request instruction will not be executed at present.

[0029] In a second aspect, embodiments of the present invention provide an autonomous driving lane-changing decision-making device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the autonomous driving lane-changing decision-making method as described in the first aspect.

[0030] Thirdly, embodiments of the present invention provide a vehicle that includes the autonomous driving lane-changing decision-making device as described in the second aspect.

[0031] Fourthly, embodiments of the present invention provide a computer storage medium storing a computer program, which, when executed by a processor, implements the steps of the autonomous driving lane-changing decision method as described in the first aspect.

[0032] The present invention provides an autonomous driving lane-changing decision-making method, device, vehicle, and computer storage medium. The autonomous driving lane-changing decision-making method includes: acquiring a user's lane-changing request command; determining, based on the lane-changing request command, whether the current lane-changing gap is greater than or equal to the minimum lane-changing gap; if the current lane-changing gap is greater than or equal to the minimum lane-changing gap, the lane-changing decision result is to switch lanes according to the lane-changing request command. Thus, by determining whether the current lane-changing gap is greater than or equal to the minimum lane-changing gap based on the user's lane-changing request command, and when the current lane-changing gap is greater than or equal to the minimum lane-changing gap, the lane-changing decision result is to switch lanes according to the lane-changing request command. This allows for lane-changing decisions that meet user expectations while ensuring safety, thereby improving the user experience. Attached Figure Description

[0033] Figure 1 A flowchart illustrating an autonomous driving lane-changing decision-making method provided in an embodiment of the present invention;

[0034] Figure 2 An interactive logic diagram of an autonomous driving lane-changing decision-making method provided in an embodiment of the present invention;

[0035] Figure 3 This is a schematic diagram of the structure of an autonomous driving lane-changing decision-making device provided in an embodiment of the present invention. Detailed Implementation

[0036] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus 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 apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, components, features, and elements with the same names in different embodiments of the present invention may have the same meaning or different meanings, the specific meaning of which must be determined by its interpretation in that specific embodiment or further in conjunction with the context of that specific embodiment.

[0037] It should be understood that although the terms first, second, third, etc., may be used herein to describe various information, this information should not be limited to these terms. These terms are used only to distinguish information of the same type from one another. For example, without departing from the scope of this document, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word “if” as used herein may be interpreted as “when…” or “in response to determination”. Furthermore, as used herein, the singular forms “a,” “an,” and “the” are intended to also include the plural forms unless the context indicates otherwise. It should be further understood that the terms “comprising,” “including,” indicate the presence of the stated feature, step, operation, element, component, item, kind, and / or group, but do not exclude the presence, occurrence, or addition of one or more other features, steps, operations, elements, components, items, kinds, and / or groups. The terms “or” and “and / or” as used herein are to be interpreted as inclusive, or mean any one or any combination thereof. Therefore, "A, B, or C" or "A, B, and / or C" means "any one of the following: A; B; C; A and B; A and C; B and C; A, B, and C". Exceptions to this definition will only occur if the combination of elements, functions, steps, or operations is inherently mutually exclusive in some way.

[0038] It should be understood that although the steps in the flowcharts of the embodiments of the present invention are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some of the steps in the figures may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0039] It should be noted that step designations such as S101 and S102 are used in this document for the purpose of more clearly and concisely describing the corresponding content, and do not constitute a substantial limitation on the order. Those skilled in the art may execute S102 first and then S101 in specific implementation, but these should all be within the protection scope of this invention.

[0040] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0041] See Figure 1 This invention provides an autonomous driving lane-changing decision-making method, which can be executed by an autonomous driving lane-changing decision-making device provided in this invention. The autonomous driving lane-changing decision-making device can be implemented in software and / or hardware. The autonomous driving lane-changing decision-making method includes the following steps:

[0042] Step S101: Obtain the user's lane change request instruction;

[0043] Specifically, information exchange between the user and the autonomous driving system is established through voice recognition technology and interaction protocols. To ensure the stability and reliability of the autonomous driving system and avoid system misjudgments, a handshake logic for human-machine interaction needs to be established. This invention employs, for example... Figure 2 The interactive handshake logic shown can be implemented in a specific way. Users can input lane change requests via voice. After receiving the request, if the system determines that it can meet the user's expectations, it will output "Okay, received". Otherwise, it will output "Sorry, for your safety, the lane change cannot be completed at this time".

[0044] In one embodiment, after obtaining the user's lane-change request instruction, the process includes:

[0045] Determine if the target lane exists; and

[0046] Determine whether the width of the target lane is greater than 2.5 meters; and

[0047] Determine whether the lane line between the current lane and the target lane is a dashed line;

[0048] If all the conditions are met, then based on the lane change request instruction, determine whether the current lane change gap is greater than or equal to the minimum lane change gap.

[0049] Here, when the system receives a user's request to change lanes, it first determines whether the static road conditions meet the lane-changing requirements. The static road conditions considered in this embodiment of the invention include:

[0050] a. Does the target lane exist?

[0051] b. Is the width of the target lane greater than 2.5m?

[0052] c. Whether the lane line between the current lane and the target lane is a dashed line.

[0053] If all three conditions a, b, and c are met, the system will determine whether the current lane change gap is greater than or equal to the minimum lane change gap based on the lane change request instruction. Otherwise, the system will directly return that the lane change action cannot be performed.

[0054] In one embodiment, after obtaining the user's lane-change request instruction, the method further includes:

[0055] Determine whether there is a vehicle in front or behind the target lane relative to the vehicle's position; and

[0056] Determine whether the vehicle closest to the target lane in front of the vehicle is slowing down.

[0057] Here, if there is no car in the target lane, or no car in front or behind the vehicle in the target lane, or a slow vehicle in front of the target lane that has been slowing down for a long time, the conventional lane-changing decision system can make a relatively good lane-changing decision. This is not discussed in the embodiments of the present invention. The embodiments of the present invention only discuss the scenario where there is traffic in the target lane.

[0058] In one embodiment, after obtaining the user's lane-change request instruction, the method further includes:

[0059] Obtain the traffic efficiency of the target lane and the current lane;

[0060] If the traffic efficiency of the target lane is greater than that of the current lane, and the speed difference between the target lane and the current lane remains within 30 kph, determine whether the current lane change gap is greater than or equal to the minimum lane change gap.

[0061] Here, it is first required that the traffic efficiency of the target lane is higher than that of the current lane, that is, the traffic speed of the target lane is greater than that of the current lane. In addition, the difference between the traffic speed of the target lane and the traffic speed of the current lane shall be kept within 30kph, otherwise the system will directly return that the lane change action cannot be performed. Wherein, the traffic speed of a lane is the minimum speed among the three same-direction targets that are located in front of the host vehicle in the lane and closest to the host vehicle.

[0062] Step S102: According to the lane change demand instruction, determine whether the current lane change gap is greater than or equal to the minimum lane change gap;

[0063] Specifically, the front vehicle and rear vehicle targets closest to the host vehicle position in the target lane are found according to the relative position relationship, wherein the side target is regarded as the front vehicle target. The current lane change gap gap_real is calculated and compared with the minimum lane change gap gap_min. If gap_real < gap_min, the system will directly return that the lane change action cannot be completed.

[0064] In one embodiment, said determining whether the current lane change gap is greater than or equal to the minimum lane change gap according to the lane change demand instruction comprises:

[0065] Collecting the following distance between the front and rear vehicles closest to the position of said vehicle in the target lane when multiple drivers change lanes to an adjacent lane under different traffic efficiencies;

[0066] Reducing the following distance between the front and rear vehicles to obtain the minimum lane change gap that allows drivers to perform lane change under different traffic efficiencies.

[0067] In specific implementation, 10 drivers with rich driving experience and proficient driving skills can be selected to test the situation of lane changing from a slow lane to an adjacent fast lane (+10kph ~ +30kph) under different traffic efficiencies (for example, 60kph ~ 100kph). Taking the traffic speed of the slow lane as 60kph as an example, the traffic speeds of the fast lane are set to 70kph, 80kph and 90kph respectively, and the following distance between the front and rear vehicles in the target lane is continuously reduced, and the minimum following distance between the front and rear vehicles in the target lane that allows the driver to change lanes under different traffic speeds is recorded. Each group of tests is performed 10 times under the same traffic speed, and the average value is taken. Then the data of ten drivers are integrated to obtain the minimum lane change gaps for changing lanes from slow lanes with different traffic efficiencies to fast lanes with different traffic efficiencies.

[0068] In one embodiment, said collecting the following distance between the front and rear vehicles closest to the position of said vehicle in the target lane when multiple drivers change lanes to an adjacent lane under different traffic efficiencies comprises:

[0069] the traffic speed of the target lane is faster than that of the current lane and does not exceed 120kph; and

[0070] The speed difference between the target lane and the current lane shall not exceed 30 kph.

[0071] Here, because the legal speed limit on highways is 120 kph, the highest speed in adjacent lanes in the test data does not exceed 120 kph. Furthermore, for safety reasons, situations where the speed difference between the target lane and the current lane exceeds 30 kph are not considered in this embodiment of the invention, because active lane changing is an assisted driving function, and ensuring the safety of users and passengers is the primary task.

[0072] In one embodiment, after determining whether the current lane change gap is greater than or equal to the minimum lane change gap based on the lane change request instruction, the process includes:

[0073] Determine whether the speed of the nearest following vehicle in the target lane relative to the vehicle's position is greater than the speed of the nearest preceding vehicle in the target lane relative to the vehicle's position, and whether the speed difference exceeds a preset threshold;

[0074] If the speed difference exceeds a preset threshold, the lane-changing decision result is that the lane-changing request instruction will not be executed at present.

[0075] Here, it is determined whether the speed of the vehicle behind in the target lane exceeds the speed of the vehicle in front, and whether the speed difference between the vehicles exceeds a preset threshold (e.g., 10 kph). If the preset threshold is exceeded, the minimum lane change gap may not be guaranteed, and there may be a risk of collision. The system will then return that the lane change action cannot be completed.

[0076] Step S103: If the current lane change gap is greater than or equal to the minimum lane change gap, the lane change decision result is to switch lanes according to the lane change demand command.

[0077] Specifically, if the current lane change gap is greater than or equal to the minimum lane change gap, the system makes a lane change decision and transmits the lane change decision information, including the position and speed information of the vehicle in front and behind in the target lane, to the downstream motion planning module. The motion planning module plans a reasonable trajectory to drive between the vehicles in front and behind in the target lane, and maintains a relatively safe following distance from both vehicles in front and behind in the target lane.

[0078] In summary, the autonomous driving lane-changing decision-making method provided in the above embodiments determines whether the current lane-changing gap is greater than or equal to the minimum lane-changing gap based on the user's lane-changing request command. When the current lane-changing gap is greater than or equal to the minimum lane-changing gap, the lane-changing decision result is to switch lanes according to the lane-changing request command. This can make lane-changing decisions that meet the user's expectations while ensuring safety, thereby improving the user experience.

[0079] Based on the same inventive concept as the foregoing embodiments, this invention provides an autonomous driving lane-changing decision-making device, such as... Figure 3 As shown, the autonomous driving lane-changing decision-making device includes: a processor 110 and a memory 111 for storing computer programs that can run on the processor 110; wherein, Figure 3 The processor 110 shown in the diagram does not refer to a single processor 110, but rather to the positional relationship of the processor 110 relative to other devices. In practical applications, there can be one or more processors 110; similarly, Figure 3 The memory 111 shown in the diagram has the same meaning, that is, it is only used to indicate the positional relationship of memory 111 relative to other devices. In practical applications, there can be one or more memories 111. When the processor 110 runs the computer program, it implements the autonomous driving lane-changing decision-making method.

[0080] The autonomous driving lane-changing decision-making device may further include at least one network interface 112. The various components in the autonomous driving lane-changing decision-making device are coupled together via a bus system 113. It is understood that the bus system 113 is used to realize communication between these components. In addition to a data bus, the bus system 113 also includes a power bus, a control bus, and a status signal bus. However, for clarity, in... Figure 3 The general designated all buses as Bus System 113.

[0081] The memory 111 can be volatile or non-volatile, or both. Non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), ferromagnetic random access memory (FRAM), flash memory, magnetic surface memory, optical disc, or compact disc read-only memory (CD-ROM); magnetic surface memory can be disk storage or magnetic tape storage. Volatile memory can be random access memory (RAM), used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), SyncLink Dynamic Random Access Memory (SLDRAM), and Direct Rambus Random Access Memory (DRRAM).The memory 111 described in the embodiments of the present invention is intended to include, but is not limited to, these and any other suitable types of memory.

[0082] The memory 111 in this embodiment of the invention is used to store various types of data to support the operation of the autonomous driving lane-changing decision-making device. Examples of this data include: any computer programs used to operate on the autonomous driving lane-changing decision-making device, such as operating systems and applications; contact data; phonebook data; messages; pictures; videos, etc. The operating system includes various system programs, such as a framework layer, core library layer, driver layer, etc., used to implement various basic services and handle hardware-based tasks. Applications can include various applications, such as media players, browsers, etc., used to implement various application services. Here, the program implementing the method of this embodiment of the invention can be included in the application.

[0083] Based on the same inventive concept as the foregoing embodiments, this embodiment also provides a vehicle, which includes the autonomous driving lane-changing decision-making device as described above.

[0084] Based on the same inventive concept as the foregoing embodiments, this embodiment also provides a computer storage medium storing a computer program. The computer storage medium can be a magnetic random access memory (FRAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a flash memory, a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM), etc.; it can also be various devices including one or any combination of the above-mentioned memories, such as mobile phones, computers, tablet devices, personal digital assistants, etc. When the computer program stored in the computer storage medium is executed by a processor, it implements the aforementioned autonomous driving lane-changing decision method. For the specific steps implemented when the computer program is executed by the processor, please refer to [link to relevant documentation]. Figure 1 The description of the illustrated embodiments will not be repeated here.

[0085] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0086] In this document, the terms “including,” “comprising,” or any other variations thereof are intended to cover non-exclusive inclusion, which includes not only the elements listed but also other elements not expressly listed.

[0087] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. An autonomous driving lane-changing decision-making method, characterized in that, The autonomous driving lane-changing decision-making method includes: Obtain the user's lane change request command; Based on the lane change request command, determine whether the current lane change gap is greater than or equal to the minimum lane change gap; If the current lane change gap is greater than or equal to the minimum lane change gap, the lane change decision result is to switch lanes according to the lane change demand command; The step of determining whether the current lane change gap is greater than or equal to the minimum lane change gap based on the lane change request instruction includes: The following distance between the two vehicles closest to each other in the target lane when multiple drivers change lanes to adjacent lanes under different traffic efficiency conditions was collected. Reduce the following distance between the two vehicles in front and behind to obtain the minimum lane-changing gap that the driver can make a lane change under different traffic efficiencies; The method of collecting the following distances between the two closest vehicles in the target lane relative to the vehicle's position when multiple drivers change lanes to adjacent lanes under different traffic efficiencies includes: The target lane's travel speed is faster than the current lane but does not exceed 120 kph; and The speed difference between the target lane and the current lane shall not exceed 30 kph.

2. The autonomous driving lane-changing decision-making method according to claim 1, characterized in that, After obtaining the user's lane-change request instruction, the process includes: Determine if the target lane exists; and Determine whether the width of the target lane is greater than 2.5 meters; and Determine whether the lane line between the current lane and the target lane is a dashed line; If all the conditions are met, then based on the lane change request instruction, determine whether the current lane change gap is greater than or equal to the minimum lane change gap.

3. The autonomous driving lane-changing decision-making method according to claim 2, characterized in that, After obtaining the user's lane-change request instruction, the method further includes: Determine whether there is a vehicle in front or behind the target lane relative to the vehicle's position; and Determine whether the vehicle closest to the target lane in front of the vehicle is slowing down.

4. The autonomous driving lane-changing decision-making method according to claim 1, characterized in that, After obtaining the user's lane-change request instruction, the method further includes: Obtain the traffic efficiency of the target lane and the current lane; If the traffic efficiency of the target lane is greater than that of the current lane, and the speed difference between the target lane and the current lane remains within 30 kph, determine whether the current lane-changing gap is greater than or equal to the minimum lane-changing gap.

5. The autonomous driving lane-changing decision-making method according to claim 1, characterized in that, After determining whether the current lane change gap is greater than or equal to the minimum lane change gap based on the lane change request instruction, the process includes: Determine whether the speed of the nearest following vehicle in the target lane relative to the vehicle's position is greater than the speed of the nearest preceding vehicle in the target lane relative to the vehicle's position, and whether the speed difference exceeds a preset threshold; If the speed difference exceeds a preset threshold, the lane-changing decision result is that the lane-changing request instruction will not be executed at present.

6. An autonomous driving lane-changing decision-making device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the autonomous driving lane-changing decision method as described in any one of claims 1 to 5.

7. A vehicle, characterized in that, The vehicle includes the autonomous driving lane-changing decision-making device as described in claim 6.

8. A computer storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the autonomous driving lane-changing decision method as described in any one of claims 1 to 5.

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