A method and execution module for assisting vehicle lane change

Abstract

The present invention relates to a method and execution module for assisting vehicles in changing lanes. The method comprises the following steps: receiving a lane change request from a requesting vehicle, obtaining a lane change impact area based on the location of the lane change request; a roadside terminal assisting the requesting vehicle in changing lanes, and determining whether there are other non-faulty vehicles in the lane change impact area. If so, the other vehicles are treated as cooperative vehicles, and the location, length, and speed of the cooperative vehicles and the length and speed of the requesting vehicle are obtained; the roadside terminal determines the front-to-back positional relationship between the cooperative vehicle and the requesting vehicle, and determines the type of message based on factors such as the front-to-back positional relationship, vehicle speed, and vehicle location. The present invention replaces human-computer interaction with the logical judgment of the roadside terminal, reduces the delay of collaboration, and can effectively avoid complex vehicle-road conditions caused by different drivers' driving habits. With the help of multiple sensing devices, the perspective and judgment of the roadside terminal can reduce the trouble of blind spots.

Description

Technical Field

[0001] The present invention relates to the field of intelligent connected vehicle technology, and particularly to autonomous driving technology. Background Art

[0002] The rapid development of autonomous driving technology has posed challenges for intelligent connected vehicles in implementing cooperative lane changes. Driver habits, traffic congestion, vehicle speed, and weather factors can create complex traffic conditions. Current technologies propose collaborative lane changes based on human-machine interaction, relying on the driver's commands to respond accordingly. However, this approach suffers from limited vehicle perception, slow human-machine interaction, and complex and unpredictable road conditions.

[0003] For example, the prior art proposes a collaborative lane change safety auxiliary warning method, which includes the following steps: Step S1, the main vehicle HV turns on the turn signal, indicating that the vehicle has the intention to change lanes; Step S2, the main vehicle obtains information about surrounding networked vehicles, and filters out surrounding target vehicles according to their directions, and at the same time establishes a main vehicle edge model based on its own collected information and calibration information; Step S3, calculates the left and right blind spot ranges of the main vehicle based on the vehicle size calibration; Step S4, detects whether the target vehicle enters the blind spot range. If a vehicle enters the blind spot range, a warning reminder is issued to the driver to pay attention to vehicles coming from behind.

[0004] The above scheme uses human-computer interaction to cooperate in lane changes, and then calculates the distance between the main vehicle and other vehicles in the blind spot through the main vehicle's positioning module, and then issues an alarm based on the calculation results. Therefore, the accuracy of the above method is completely dependent on the calculation accuracy of the main vehicle. However, each driver has unique driving habits, which makes it impossible to effectively avoid the complex road conditions caused by different drivers' driving habits. Under such complex conditions, the calculation accuracy of the main vehicle will change. Therefore, the results of the existing technology are too subjective and have a low fault tolerance rate. Summary of the Invention

[0005] One of the purposes of the present invention is to provide a method for assisting vehicles in changing lanes, so as to solve the problem that the existing technology is too subjective and has a low fault tolerance rate; the second purpose is to provide an execution module for requesting vehicles; and the third purpose is to provide an execution module for cooperative vehicles.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0007] A method for assisting a vehicle in changing lanes,

[0008] The roadside terminal receives a lane change request from a requesting vehicle and obtains a lane change impact area based on the location of the lane change request;

[0009] The roadside terminal assists the vehicle in changing lanes, specifically:

[0010] The roadside terminal determines whether there are other vehicles in the lane change area that are not at fault. If so, it treats the other vehicles as cooperative vehicles and sends a cooperation message to the cooperative vehicles. It also obtains the position, length, and speed of the cooperative vehicles and the length and speed of the requesting vehicle.

[0011] The roadside terminal determines the front-to-rear position relationship between the cooperating vehicle and the requesting vehicle;

[0012] When the roadside terminal determines that the cooperative vehicle is behind the requesting vehicle, it performs the following steps:

[0013] When the roadside terminal determines that the distance between the cooperating vehicle and the requesting vehicle is less than the first distance threshold and the speed of the cooperating vehicle is less than or equal to the speed of the requesting vehicle, or when the distance between the cooperating vehicle and the requesting vehicle is greater than or equal to the first distance threshold, the roadside terminal sends an executable lane change message to the requesting vehicle;

[0014] When the roadside terminal determines that the speed of the cooperative vehicle is greater than the speed of the requesting vehicle, the roadside terminal sends a lane change waiting message to the requesting vehicle. In response to the cooperative vehicle overtaking the requesting vehicle, the roadside terminal sends an executable lane change message to the requesting vehicle.

[0015] According to the above technical approach, once the requesting vehicle initiates a lane change request, lane change assistance is provided by the roadside terminal. Based on objective information such as the speed, location, and length of both the requesting and cooperating vehicles, the roadside terminal sends messages to the requesting vehicle indicating whether to execute a lane change or wait for a lane change. The message type is objectively determined and does not depend on factors such as the vehicle's sensor status or the driver's driving habits, resulting in a high fault tolerance rate. Furthermore, there is only a single transmission route between the roadside and the vehicle, effectively reducing the latency of the coordination compared to existing technologies.

[0016] Furthermore, the number of the roadside terminals is at least two, all of which are connected to each other through a computing power sharing program, and one of the roadside terminals is selected to assist the vehicle requesting lane change according to the following logic;

[0017] The logic is specifically as follows:

[0018] When the resource utilization rates of all roadside terminals do not reach the first utilization rate threshold, the main roadside terminal is selected;

[0019] When the resource utilization rate of the master roadside terminal reaches a first utilization rate threshold, and the resource utilization rate of the slave roadside terminal does not reach the first utilization rate threshold, the slave roadside terminal is selected;

[0020] When the resource utilization rates of all roadside terminals are not greater than the first utilization rate threshold, but are less than the second utilization rate threshold, the primary roadside terminal is selected;

[0021] When the resource utilization rate of the main roadside terminal reaches the second utilization rate threshold, and the resource utilization rate of the secondary roadside terminal does not reach the second utilization rate threshold, the secondary roadside terminal is selected;

[0022] wherein the second utilization threshold is greater than the first utilization threshold;

[0023] Resource utilization is obtained through CPU usage and memory usage;

[0024] The main roadside terminal is the roadside terminal with the shortest distance from the lane change request position in the current road section, and the secondary roadside terminal is the roadside terminal other than the main roadside terminal in the current road section.

[0025] According to the above technical means, it is implemented based on computing power sharing. Since the performance of the roadside terminal is consistent with the equipment model, resource allocation and task distribution can be smoother, and there is no problem of calculation failure due to different equipment.

[0026] Further, the roadside terminal determines that the cooperative vehicle is located in front of the requesting vehicle, and the roadside terminal performs the following steps:

[0027] If the roadside terminal determines that the speed of the cooperating vehicle is greater than the speed of the requesting vehicle, and there is no other vehicle behind the requesting vehicle within the lane change impact area, a message to execute the lane change is sent to the requesting vehicle;

[0028] If the roadside terminal determines that the speed of the cooperating vehicle is less than the speed of the requesting vehicle, and there is no other vehicle behind the requesting vehicle in the lane change impact area, a deceleration message is sent to the requesting vehicle until the roadside terminal determines that the speed of the requesting vehicle is less than or equal to the cooperating vehicle, at which point the roadside terminal sends a lane change execution message to the requesting vehicle.

[0029] Furthermore, before the roadside terminal determines whether there are other non-faulty vehicles in the lane change influence area, if the roadside terminal determines that there is a faulty vehicle in front of the requesting vehicle and the faulty vehicle is located in the lane change influence area, the roadside terminal sends a lane change warning message to the requesting vehicle.

[0030] Furthermore, before the roadside terminal determines whether the cooperative vehicle is located in front of the requesting vehicle, if the roadside terminal determines that there is a faulty vehicle in front of the requesting vehicle and the faulty vehicle is located in the lane change impact area, and the roadside terminal determines that the cooperative vehicle is in a cooperative state, the roadside terminal sends a lane change waiting message to the requesting vehicle.

[0031] Furthermore, after the roadside terminal receives the lane change request from the requesting vehicle, the roadside terminal monitors the positions of the requesting vehicle and the cooperating vehicle in real time until the roadside terminal determines that the requesting vehicle completes the lane change. If the distance between the requesting vehicle and the cooperating vehicle is less than a second distance threshold, the roadside terminal sends a collision warning message to the requesting vehicle.

[0032] Furthermore, a set period is built into the roadside terminal, and the roadside terminal updates the range of the lane change impact area within each period, and continues to assist the requesting vehicle in changing lanes based on the updated lane change impact area until the roadside terminal receives a message indicating that the lane change is completed.

[0033] Furthermore, the lane change impact area is: the road section with a length of L in front of the front of the requesting vehicle and the road section with a length of 2L behind the rear of the vehicle are combined as the affected area, where L is the distance traveled by the requesting vehicle when it travels at the current speed for 0.5-1.5S.

[0034] An execution module of a requesting vehicle is programmed to perform the following steps: the requesting vehicle sends a lane change request to a roadside terminal and sends the vehicle length and speed to the roadside terminal;

[0035] When the requesting vehicle receives the executable lane change message, the requesting vehicle performs the lane change action and then closes the lane change request;

[0036] When the requesting vehicle receives the lane change waiting message, the requesting vehicle does not change lanes and maintains driving in the current lane;

[0037] When the requesting vehicle receives the deceleration message, the requesting vehicle performs a deceleration action.

[0038] An execution module of a cooperative vehicle is programmed to perform the following steps: after the cooperative vehicle receives a cooperative message from a roadside terminal, the cooperative vehicle sends the vehicle length, speed and current position to the roadside terminal.

[0039] Beneficial effects of the present invention:

[0040] This invention replaces human-machine interaction with logical judgment by roadside terminals, reducing collaboration latency and effectively avoiding complex road conditions caused by different drivers' driving habits. With the help of multiple sensing devices, the perspective and judgment of roadside terminals can reduce the problem of blind spots.

[0041] The present invention is based on computing power sharing. Because the performance of roadside terminals is consistent with the device model, resource allocation and task issuance can be smoother, reducing the possibility of calculation failures due to device differences. Through computing power sharing, the overall performance of local roadside terminals can be maintained while reducing the performance requirements of individual devices, effectively reducing costs.

[0042] The present invention also adopts dual-threshold pressure control, which can ensure more reasonable load sharing and make full use of each device, so that devices with high resource utilization can share tasks in time and leave buffer space. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 This is a flow chart of Example 1 of the present invention;

[0044] Figure 2 This is a schematic diagram of the implementation of Example 1.

[0045] Among them, 1-cooperating vehicle; 2-requesting vehicle; 3-main roadside terminal; 4-slave roadside terminal. DETAILED DESCRIPTION

[0046] The following will describe the implementation of the technical solution of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for the purpose of illustrating the present invention and are not intended to limit the scope of protection of the present invention.

[0047] It should be noted that the illustrations provided in the following embodiments are merely schematic illustrations of the basic concept of the present invention. Therefore, the illustrations only show components related to the present invention and are not drawn according to the number, shape, and size of components in actual implementation. In actual implementation, the type, quantity, and proportion of each component may be changed arbitrarily, and the component layout may also be more complex.

[0048] Example 1

[0049] This embodiment proposes a method for assisting a vehicle to change lanes, such as Figure 1 As shown in the figure, the main equipment of this solution is the roadside terminal and the vehicle. The roadside terminal includes a roadside perception module, a task scheduling module, a roadside terminal management module, a roadside computing module, a roadside communication module, and a roadside storage unit. The vehicle includes a vehicle-side perception module, a vehicle-side communication module, and a vehicle-side computing module.

[0050] In the vehicle, the vehicle-side perception module is used to collect vehicle camera data, lidar data, CAN data, GPS positioning data and millimeter-wave radar data, so that the roadside terminal can obtain the location information and vehicle status information of each vehicle; the vehicle-side computing module is used to identify lane change requests and process request responses; the vehicle-side communication module is 5G cellular communication, which is used to send and receive messages.

[0051] In the roadside terminal, the roadside perception module collects road vehicle information through camera data and V2X data, including latitude and longitude, vehicle health status and vehicle speed; the roadside terminal management module is used to monitor the resource utilization and connection status of the connected roadside terminal; the task scheduling module is responsible for sending computing tasks to roadside terminals with idle resources and receiving result feedback; the roadside computing module calculates the computing tasks sent by the task module; the roadside communication module is used to communicate with vehicles and other roadside terminals and respond to vehicle lane change requests; the roadside storage unit is used to temporarily store vehicles identified by the perception device and store task programs sent by the task scheduling module.

[0052] In this embodiment, a roadside terminal is used to assist a vehicle requesting a lane change. There are at least two roadside terminals. One of the roadside terminals is selected to assist the vehicle requesting a lane change according to the following logic. The specific logic is as follows:

[0053] When the resource utilization of all roadside terminals does not reach the first utilization threshold, the main roadside terminal is selected; when the resource utilization of the main roadside terminal reaches the first utilization threshold and the resource utilization of the slave roadside terminal does not reach the first utilization threshold, the slave roadside terminal is selected.

[0054] When the resource utilization of all roadside terminals is not greater than the first utilization threshold but less than the second utilization threshold, the main roadside terminal is selected; when the resource utilization of the main roadside terminal reaches the second utilization threshold and the resource utilization of the slave roadside terminal does not reach the second utilization threshold, the slave roadside terminal is selected.

[0055] Among them, the second utilization threshold is greater than the first utilization threshold, the resource utilization is obtained through CPU occupancy and memory usage, the main roadside terminal is the roadside terminal with the shortest distance from the lane change request position in the current road section, and the secondary roadside terminal is other roadside terminals in the current road section except the main roadside terminal.

[0056] In this embodiment, the first utilization threshold and the second utilization threshold are 50% and 90% respectively.

[0057] For example, there are three roadside terminals, and the resource utilization rate of the three is 30%. Then the main roadside terminal is selected. When the resource utilization rate of the main roadside terminal reaches 50% or even higher, the slave roadside terminal is used.

[0058] When the utilization rates of the three are all over 50% but less than 90%, the main road side terminal is selected; when the main road side terminal exceeds 90%, the secondary road side terminal is used.

[0059] Furthermore, assuming that the main road side terminal accounts for 80% of the three devices and the two slave road side terminals account for 30% and 30%, respectively, under dual-threshold control, the main road side terminal accounts for 50% and the slave road side terminals account for 50% and 40%. With this sharing method, the main road side terminal will not suffer equipment operation problems due to sudden excessive pressure, ensuring that the equipment can operate efficiently for a long time.

[0060] After the roadside terminal is selected, the roadside terminal assists the requesting vehicle in changing lanes. The assistance method is as follows:

[0061] S1: The requesting vehicle sends a lane change request to the roadside terminal. The roadside terminal obtains the lane change impact area based on the location of the lane change request. This embodiment uses the vehicle's turn signal as the trigger for the lane change request. For example, when the right turn signal is on, a right lane change request is initiated to the roadside terminal. The lane change impact area is defined as follows: within 1 second, the roadside terminal uses the possible travel distance L at the requesting vehicle's current speed. The vehicle is simplified into a rectangle, and the road section L in front of the vehicle and 2L in rearward of the vehicle constitute the lane change impact area.

[0062] S2: The roadside terminal determines whether there are other vehicles in the lane change impact area based on the position information of the vehicle in the lane. If so, it proceeds to S4. If not, it sends a message to the requesting vehicle to execute the lane change.

[0063] S3: If the roadside terminal determines that there is a faulty vehicle in front of the requesting vehicle and the faulty vehicle is located in the lane change impact area, the roadside terminal sends a lane change warning message to the requesting vehicle.

[0064] S4: The roadside terminal numbers other vehicles in the lane change impact area as cooperative vehicles, sends a cooperative message to the cooperative vehicle, and determines the front and rear position relationship between the cooperative vehicle and the requesting vehicle. If the cooperative vehicle is in front of the requesting vehicle, it enters S5; if it is behind the requesting vehicle, it enters S6.

[0065] S5: If the roadside terminal determines that the cooperating vehicle's speed is greater than the requesting vehicle's speed, and there are no other vehicles behind the requesting vehicle within the lane change impact area, a lane change execution message is sent to the requesting vehicle. If the roadside terminal determines that the cooperating vehicle's speed is less than the requesting vehicle's speed, and there are no other vehicles behind the requesting vehicle within the lane change impact area, a deceleration message is sent to the requesting vehicle. The roadside terminal continues until it determines that the requesting vehicle's speed is less than or equal to the cooperating vehicle, at which point it sends a lane change execution message to the requesting vehicle.

[0066] S6: When the roadside terminal determines that the distance between the cooperating vehicle and the requesting vehicle is less than a first distance threshold and the speed of the cooperating vehicle is less than or equal to the speed of the requesting vehicle, or when the distance between the cooperating vehicle and the requesting vehicle is greater than or equal to the first distance threshold, the roadside terminal sends a lane change enablement message to the requesting vehicle. In this embodiment, the first distance threshold is set to a length of L.

[0067] When the roadside terminal determines that the speed of the cooperative vehicle is greater than the speed of the requesting vehicle, the roadside terminal sends a lane change waiting message to the requesting vehicle. In response to the cooperative vehicle overtaking the requesting vehicle, the roadside terminal sends an executable lane change message to the requesting vehicle.

[0068] After S2, when there is a cooperating vehicle, the roadside terminal monitors the positions of the requesting vehicle and the cooperating vehicle in real time until the roadside terminal determines that the requesting vehicle has completed the lane change (when the requesting vehicle cancels the turn signal, it means that the lane change is completed). If the distance between the requesting vehicle and the cooperating vehicle is less than the second distance threshold, the roadside terminal sends a collision warning message to the requesting vehicle to prompt that the distance between the two vehicles is too close.

[0069] In this embodiment, the roadside terminal continuously obtains the lane change impact area at set periodic intervals until the roadside terminal receives a lane change completion message. At the same time, if a faulty vehicle appears in front of the requesting vehicle within the lane change impact area, and the cooperative vehicle is in a cooperative state (the roadside terminal has sent a cooperative message to the cooperative vehicle), the roadside terminal sends a lane change waiting message to the requesting vehicle, and then continues to obtain the lane change impact area.

[0070] Example 2

[0071] This embodiment proposes an execution module of a requesting vehicle. Based on embodiment 1, the execution module of the requesting vehicle is programmed to perform the following steps: the requesting vehicle sends a lane change request to a roadside terminal and sends the vehicle length and speed to the roadside terminal;

[0072] When the requesting vehicle receives an executable lane change message, the requesting vehicle executes the lane change action and then closes the lane change request; when the requesting vehicle receives a lane change waiting message, the requesting vehicle does not change lanes and remains in the current lane; when the requesting vehicle receives a deceleration message, the requesting vehicle executes the deceleration action.

[0073] Example 3

[0074] This embodiment proposes an execution module for a cooperative vehicle. Based on embodiment 1, the execution module of the cooperative vehicle is programmed to perform the following steps: after the cooperative vehicle receives the cooperative message from the roadside terminal, it sends the vehicle length, speed and current position to the roadside terminal.

[0075] Example 4

[0076] This example is used to illustrate the implementation of this method, based on Example 1 to Example 3, specifically as follows Figure 2 shown.

[0077] Vehicle 2 is about to initiate a lane change to the right. The distance that vehicle 2 may travel in the next 1 second and the distance that vehicle 2 may travel in the next 21 seconds are defined as the lane change influence range. Collaborative vehicle 1 is a collaborative vehicle within the lane change influence range. Roadside terminals 3 and 4 are roadside terminals. Communication between roadside terminals and between vehicles is carried out through the 5G network:

[0078] The specific implementation steps are divided into the following steps:

[0079] 1. Roadside terminals 3 and 4 connect to each other through a computing power sharing program, sharing available resources such as CPU and memory. Roadside terminal 3, which is closest to vehicle 2 (which will initiate the lane change request), serves as the master device, while roadside terminal 4 serves as the slave device. Vehicle and roadside sensing modules provide real-time updates of vehicle location information on the road.

[0080] 2. The trigger condition is to request the turning light of vehicle 2. For example, when the right turning light is on, a lane change request to the roadside terminal is initiated.

[0081] 3. According to the system described in embodiment 2, a roadside terminal 4 is selected to distribute tasks.

[0082] 4. Roadside terminal 4 detects that the vehicle in the lane change impact area is cooperative vehicle 1 and sends a cooperation message to cooperative vehicle 1.

[0083] 5. Determine whether there is a disabled vehicle in front of requesting vehicle 2. If so, issue a lane change risk warning. If an assisting vehicle is already cooperating, send a lane change waiting message to requesting vehicle 2 and continuously update the lane change impact area.

[0084] 6. Calculate the actions that cooperative vehicle 1 and requesting vehicle 2 need to perform based on the vehicle's latitude and longitude, vehicle length, vehicle speed, and vehicle acceleration.

[0085] a) If the speed of cooperative vehicle 1 is greater than that of requesting vehicle 2 within a distance L behind requesting vehicle 2, a lane change waiting message is sent to the requesting vehicle until cooperative vehicle 1 overtakes requesting vehicle 2 and requesting vehicle 2 executes the lane change; if the speed of cooperative vehicle 1 is less than that of requesting vehicle 2, cooperative vehicle 1 is decelerated and requesting vehicle 2 executes the lane change.

[0086] b) If the distance behind the requesting vehicle 2 is greater than L and less than 2L, the cooperative vehicle 1 is instructed to slow down and yield, with the maximum speed being the speed of the requesting vehicle 2, and the requesting vehicle 2 executes the lane change.

[0087] 7. The roadside terminal continuously monitors cooperating vehicle 1 and requesting vehicle 2. It also calculates the distance between requesting vehicle 2 and cooperating vehicle 1. If the distance is less than the second distance threshold, a collision warning is issued. The lane change impact area is repeatedly determined at 100ms intervals, and the presence of cooperating vehicles is monitored until the lane change request is completed.

[0088] The above embodiments are only preferred embodiments for fully illustrating the present invention, and the protection scope of the present invention is not limited thereto. Any equivalent substitution or modification made by those skilled in the art based on the present invention is within the protection scope of the present invention.

Claims

1. A method for assisting a vehicle in changing lanes, characterized by: The method is based on a roadside terminal assisting a vehicle in changing lanes, specifically: The roadside terminal receives a lane change request from a requesting vehicle and obtains a lane change impact area based on the location of the lane change request; The roadside terminal determines whether there are other vehicles in the lane change area that are not at fault. If so, it treats the other vehicles as cooperative vehicles and sends a cooperation message to the cooperative vehicles. It also obtains the position, length, and speed of the cooperative vehicles and the length and speed of the requesting vehicle. The roadside terminal determines the front-to-rear position relationship between the cooperating vehicle and the requesting vehicle; When the roadside terminal determines that the cooperative vehicle is behind the requesting vehicle, it performs the following steps: When the roadside terminal determines that the distance between the cooperating vehicle and the requesting vehicle is less than the first distance threshold and the speed of the cooperating vehicle is less than or equal to the speed of the requesting vehicle, or when the distance between the cooperating vehicle and the requesting vehicle is greater than or equal to the first distance threshold, the roadside terminal sends an executable lane change message to the requesting vehicle; When the roadside terminal determines that the speed of the cooperating vehicle is greater than that of the requesting vehicle, the roadside terminal sends a lane change waiting message to the requesting vehicle. In response to the cooperating vehicle overtaking the requesting vehicle, the roadside terminal sends a lane change execution message to the requesting vehicle. The number of the roadside terminals is at least two, all of which are connected to each other through a computing power sharing program, and one of the roadside terminals is selected to assist the vehicle requesting lane change according to the following logic; The logic is specifically as follows: When the resource utilization rates of all roadside terminals do not reach the first utilization rate threshold, the main roadside terminal is selected; When the resource utilization rate of the master roadside terminal reaches a first utilization rate threshold, and the resource utilization rate of the slave roadside terminal does not reach the first utilization rate threshold, the slave roadside terminal is selected; When the resource utilization rates of all roadside terminals are not greater than the first utilization rate threshold, but are less than the second utilization rate threshold, the primary roadside terminal is selected; When the resource utilization rate of the main roadside terminal reaches the second utilization rate threshold, and the resource utilization rate of the secondary roadside terminal does not reach the second utilization rate threshold, the secondary roadside terminal is selected; wherein the second utilization threshold is greater than the first utilization threshold; Resource utilization is obtained through CPU usage and memory usage; The main roadside terminal is the roadside terminal with the shortest distance from the lane change request position in the current road section, and the secondary roadside terminal is the roadside terminal other than the main roadside terminal in the current road section.

2. The method according to claim 1, wherein: When the roadside terminal determines that the cooperative vehicle is located in front of the requesting vehicle, the roadside terminal performs the following steps: If the roadside terminal determines that the speed of the cooperating vehicle is greater than the speed of the requesting vehicle, and there is no other vehicle behind the requesting vehicle within the lane change impact area, a message to execute the lane change is sent to the requesting vehicle; If the roadside terminal determines that the speed of the cooperating vehicle is less than the speed of the requesting vehicle, and there is no other vehicle behind the requesting vehicle in the lane change impact area, a deceleration message is sent to the requesting vehicle until the roadside terminal determines that the speed of the requesting vehicle is less than or equal to the cooperating vehicle, at which point the roadside terminal sends a lane change execution message to the requesting vehicle.

3. The method according to claim 1, wherein: Before the roadside terminal determines whether there are other non-faulty vehicles in the lane change influence area, if the roadside terminal determines that there is a faulty vehicle in front of the requesting vehicle and the faulty vehicle is located in the lane change influence area, the roadside terminal sends a lane change warning message to the requesting vehicle.

4. The method according to claim 1, wherein: The roadside terminal obtains the health status of other vehicles in the lane change impact area. Before the roadside terminal determines whether the cooperative vehicle is located in front of the requesting vehicle, if the roadside terminal determines that there is a faulty vehicle in front of the requesting vehicle and the faulty vehicle is located in the lane change impact area, and the roadside terminal determines that the cooperative vehicle is in a cooperative state, the roadside terminal sends a lane change waiting message to the requesting vehicle.

5. The method according to claim 1, wherein: After the roadside terminal receives the lane change request from the requesting vehicle, the roadside terminal monitors the positions of the requesting vehicle and the cooperating vehicle in real time until the roadside terminal determines that the requesting vehicle completes the lane change. If the distance between the requesting vehicle and the cooperating vehicle is less than a second distance threshold, the roadside terminal sends a collision warning message to the requesting vehicle.

6. The method according to claim 1, wherein: A set period is built into the roadside terminal. The roadside terminal updates the range of the lane change impact area in each period, and continues to assist the requesting vehicle in changing lanes based on the updated lane change impact area until the roadside terminal receives a message indicating that the lane change is completed.

7. The method according to claim 1, wherein: The lane change impact area is: the road section with a length of L in front of the front of the requesting vehicle and the road section with a length of 2L behind the rear of the vehicle are combined as the affected area, where L is the distance traveled by the requesting vehicle when driving at the current speed for 0.5-1.5 seconds.

8. An execution module for requesting a vehicle, characterized by: The execution module of the requesting vehicle is programmed to perform the following steps: the requesting vehicle sends a lane change request to a roadside terminal and sends the vehicle length and speed to the roadside terminal; When the requesting vehicle receives the executable lane change message, the requesting vehicle performs the lane change action and then closes the lane change request; When the requesting vehicle receives the lane change waiting message, the requesting vehicle does not change lanes and maintains driving in the current lane; When the requesting vehicle receives the deceleration message, the requesting vehicle performs a deceleration action.

9. An execution module for a cooperative vehicle, characterized in that: The execution module of the cooperative vehicle is programmed to perform the following steps: after receiving the cooperative message from the roadside terminal, the cooperative vehicle sends the vehicle length, vehicle speed and current position to the roadside terminal.

Images