Vehicle lane changing method, device and computer equipment

Abstract

The present application discloses a vehicle lane changing method, device and computer equipment. The method can be applied to the field of intelligent driving technology, and specifically may include: determining the distance constraint of the longitudinal moving distance of the lane changing vehicle according to the lane changing safety distance and the vehicle operation information of the candidate vehicle on the target lane at the current moment; determining the first time constraint of the lane changing duration of the lane changing vehicle according to the distance constraint and the vehicle operation information of the lane changing vehicle; controlling the lane changing vehicle to change lanes to the target lane according to the vehicle operation information, distance constraint and first time constraint of the lane changing vehicle. The vehicle lane changing method based on the present application not only considers the lane changing safety distance, but also considers the constraint of the longitudinal moving distance of the lane changing vehicle when changing lanes. While effectively improving the safety of the lane changing vehicle and the driver and passengers, it also limits the longitudinal moving distance when changing lanes, and increases the smoothness of the lane changing vehicle when changing lanes.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving technology, and in particular to a vehicle lane changing method, device and computer equipment. Background Art

[0002] In L2 level assisted driving, the command lane change function corresponding to the command lane change can improve driving efficiency, enhance driving safety, reduce the burden on the driver, improve the driving experience, and adapt to complex road conditions. Therefore, command lane change is an important function in assisted driving, and it is also the only way for L2 level assisted driving to move from low level to high level.

[0003] However, based on the existing command lane changing method, the safety considerations during the lane changing process are rather one-sided and lack reasonable lane changing planning, resulting in the problem that lane changing based on the current command lane changing method cannot guarantee the safety of the driver and passengers. Summary of the invention

[0004] Based on this, it is necessary to provide a vehicle lane changing method, device and computer equipment that can improve the safety during the lane changing process in order to address the above technical problems.

[0005] In a first aspect, the present application provides a vehicle lane changing method, the method comprising:

[0006] According to the lane change safety distance and the vehicle operation information of the candidate vehicle in the target lane at the current moment, the distance constraint condition of the longitudinal moving distance of the lane changing vehicle is determined; wherein the target lane refers to the lane to which the lane changing vehicle needs to change; the longitudinal moving distance refers to the moving distance of the lane changing vehicle along the length direction of the lane from the current moment to the moment when the lane change ends;

[0007] Determining a first time constraint condition of a lane changing time of the lane changing vehicle according to the distance constraint condition and vehicle operation information of the lane changing vehicle;

[0008] The lane-changing vehicle is controlled to change lanes to a target lane according to vehicle operation information of the lane-changing vehicle, a distance constraint condition, and a first time constraint condition.

[0009] In one of the embodiments, the vehicle operation information includes vehicle location information and vehicle travel information;

[0010] Accordingly, according to the lane change safety distance and the vehicle operation information of the candidate vehicle in the target lane at the current moment, the distance constraint condition of the longitudinal moving distance of the lane changing vehicle is determined, including:

[0011] determining the lane-changing feasibility of the lane-changing vehicle according to the vehicle position information of the candidate vehicle and the vehicle position information of the lane-changing vehicle;

[0012] When the lane change feasibility is that the lane change is feasible, a front vehicle and a rear vehicle of the lane changing vehicle are selected from the candidate vehicles according to the vehicle position information of the candidate vehicles; wherein the front vehicle is the vehicle in front that is closest to the lane changing vehicle; and the rear vehicle is the vehicle in the rear that is closest to the lane changing vehicle;

[0013] The distance constraint condition of the longitudinal moving distance of the lane-changing vehicle is determined according to the vehicle operation information of the front vehicle at the current moment, the vehicle operation information of the rear vehicle at the current moment, and the lane-changing safety distance.

[0014] In one embodiment, according to the vehicle operation information of the front vehicle at the current moment, the vehicle operation information of the rear vehicle at the current moment, and the lane change safety distance, the distance constraint condition of the longitudinal moving distance of the lane changing vehicle is determined, including:

[0015] Predicting a first longitudinal movement distance of the front vehicle from the current moment to the lane change end moment according to the vehicle driving information of the front vehicle at the current moment;

[0016] Predicting a second longitudinal movement distance of the rear vehicle from the current moment to the lane change end moment according to the vehicle driving information of the rear vehicle at the current moment;

[0017] Determine a first distance between the front vehicle and the lane-changing vehicle at the current moment, and a second distance between the rear vehicle and the lane-changing vehicle at the current moment, according to the vehicle position information of the front vehicle at the current moment, the vehicle position information of the rear vehicle at the current moment, and the vehicle position information of the lane-changing vehicle at the current moment;

[0018] A distance constraint condition of the longitudinal moving distance of the lane-changing vehicle is determined according to the first longitudinal moving distance, the second longitudinal moving distance, the first spacing, the second spacing, and the lane-changing safety distance.

[0019] In one embodiment, the lane change safety distance includes a front safety distance and a rear safety distance;

[0020] Accordingly, according to the first longitudinal moving distance, the second longitudinal moving distance, the first spacing, the second spacing and the lane changing safety distance, the distance constraint condition of the longitudinal moving distance of the lane changing vehicle is determined, including:

[0021] Determine the maximum moving distance according to the first longitudinal moving distance, the first spacing and the front safety distance;

[0022] Determine the minimum moving distance according to the second longitudinal moving distance, the second spacing and the rear safety distance;

[0023] The maximum moving distance and the minimum moving distance are used as distance constraints for the longitudinal moving distance of the lane-changing vehicle.

[0024] In one embodiment, determining the lane changing feasibility of the lane changing vehicle according to the vehicle position information of the candidate vehicle and the vehicle position information of the lane changing vehicle includes:

[0025] According to the vehicle position information of the candidate vehicle and the vehicle position information of the lane-changing vehicle, determining whether there is a candidate vehicle parallel to the lane-changing vehicle in the target lane;

[0026] If so, the lane change feasibility is determined to be not feasible.

[0027] In one of the embodiments, the vehicle operation information includes vehicle driving information;

[0028] According to the distance constraint condition and the vehicle operation information of the lane-changing vehicle, the first time constraint condition of the lane-changing time of the lane-changing vehicle is determined, including:

[0029] Determining a maximum constraint time according to a maximum moving distance of a longitudinal lane change constraint condition and vehicle speed information in vehicle travel information of the lane changing vehicle;

[0030] Determining a shortest constraint time according to a minimum moving distance of a longitudinal lane change constraint condition and vehicle speed information in vehicle driving information of the lane changing vehicle;

[0031] The longest constraint time and the shortest constraint time are used as the first time constraint conditions for the lane-changing end time of the lane-changing vehicle.

[0032] In one embodiment, according to the vehicle operation information of the lane-changing vehicle, the distance constraint condition and the first time constraint condition, controlling the lane-changing vehicle to change lanes to the target lane includes:

[0033] Determine the speed function and acceleration function of the lane-changing vehicle according to the lateral movement distance and lane-changing duration of the lane-changing vehicle; wherein the lateral movement distance is the movement distance of the lane-changing vehicle along the lane width direction from the current moment to the lane-changing end moment;

[0034] According to the comfort index of the lane-changing vehicle, function constraints are added to the speed function and the acceleration function;

[0035] Based on the maximum function, according to the speed function and the acceleration function after adding the constraint condition, determining a second time constraint condition of the lane changing time of the lane changing vehicle;

[0036] The lane-changing vehicle is controlled to change lanes to a target lane according to vehicle operation information of the lane-changing vehicle, a distance constraint condition, a first time constraint condition, and a second time constraint condition.

[0037] In one embodiment, according to vehicle operation information of the lane-changing vehicle, a distance constraint, a first time constraint, and a second time constraint, controlling the lane-changing vehicle to change lanes to a target lane includes:

[0038] Determine the maximum lane change duration;

[0039] The lane-changing vehicle is controlled to change lanes to a target lane according to a maximum lane-changing time, vehicle operation information of the lane-changing vehicle, a distance constraint, a first time constraint, and a second time constraint.

[0040] In a second aspect, the present application provides a vehicle lane changing method, the device comprising:

[0041] The first determination module is used to determine the distance constraint condition of the longitudinal moving distance of the lane-changing vehicle according to the lane-changing safety distance and the vehicle operation information of the candidate vehicle in the target lane at the current moment; wherein the target lane refers to the lane to which the lane-changing vehicle needs to change; the longitudinal moving distance is the moving distance of the lane-changing vehicle from the current moment to the lane-changing end moment along the lane length direction;

[0042] A second determination module is used to determine a first time constraint condition of a lane changing time of the lane changing vehicle according to the distance constraint condition and vehicle operation information of the lane changing vehicle;

[0043] The control module is used to control the lane-changing vehicle to change lanes to a target lane according to vehicle operation information of the lane-changing vehicle, a distance constraint condition and a first time constraint condition.

[0044] In a third aspect, the present application further provides a computer device, the computer device comprising a memory and a distance constraint condition for determining a longitudinal moving distance of a lane-changing vehicle according to a lane-changing safety distance and vehicle operation information of a candidate vehicle in a target lane at a current moment; wherein the target lane refers to a lane to which the lane-changing vehicle needs to change; the longitudinal moving distance is a moving distance of the lane-changing vehicle from the current moment to the moment when the lane change ends along the length direction of the lane;

[0045] Determining a first time constraint condition of a lane changing time of the lane changing vehicle according to the distance constraint condition and vehicle operation information of the lane changing vehicle;

[0046] The lane-changing vehicle is controlled to change lanes to a target lane according to vehicle operation information of the lane-changing vehicle, a distance constraint condition, and a first time constraint condition.

[0047] In a fourth aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0048] According to the lane change safety distance and the vehicle operation information of the candidate vehicle in the target lane at the current moment, the distance constraint condition of the longitudinal moving distance of the lane changing vehicle is determined; wherein the target lane refers to the lane to which the lane changing vehicle needs to change; the longitudinal moving distance refers to the moving distance of the lane changing vehicle along the length direction of the lane from the current moment to the moment when the lane change ends;

[0049] Determining a first time constraint condition of a lane changing time of the lane changing vehicle according to the distance constraint condition and vehicle operation information of the lane changing vehicle;

[0050] The lane-changing vehicle is controlled to change lanes to a target lane according to vehicle operation information of the lane-changing vehicle, a distance constraint condition, and a first time constraint condition.

[0051] In a fifth aspect, the present application further provides a computer program product, the computer program product comprising a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0052] According to the lane change safety distance and the vehicle operation information of the candidate vehicle in the target lane at the current moment, the distance constraint condition of the longitudinal moving distance of the lane changing vehicle is determined; wherein the target lane refers to the lane to which the lane changing vehicle needs to change; the longitudinal moving distance refers to the moving distance of the lane changing vehicle along the length direction of the lane from the current moment to the moment when the lane change ends;

[0053] Determining a first time constraint condition of a lane changing time of the lane changing vehicle according to the distance constraint condition and vehicle operation information of the lane changing vehicle;

[0054] The lane-changing vehicle is controlled to change lanes to a target lane according to vehicle operation information of the lane-changing vehicle, a distance constraint condition, and a first time constraint condition.

[0055] The above-mentioned vehicle lane changing method, device and computer equipment can determine the distance constraint of the longitudinal moving distance of the lane changing vehicle according to the lane changing safety distance and the vehicle operation information of the candidate vehicle on the target lane at the current moment. According to the distance constraint and the vehicle operation information of the lane changing vehicle, the first time constraint of the lane changing duration of the lane changing vehicle is determined. According to the vehicle operation information, the distance constraint and the first time constraint of the lane changing vehicle, the lane changing vehicle is controlled to change lanes to the target lane. Based on the vehicle lane changing method of the present application, when changing lanes, the lane changing vehicle not only considers the lane changing safety distance, but also considers the constraint of the longitudinal moving distance of the lane changing vehicle when changing lanes. While effectively improving the safety of the lane changing vehicle and the driver and passengers, it also limits the longitudinal moving distance when changing lanes, increases the smoothness of the lane changing vehicle when changing lanes, and avoids the lane changing vehicle being in the lane changing state for a long time (for example, occupying the lane line between the current lane and the target lane for a long time), affecting the normal driving of other vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 A diagram of an application environment of a vehicle lane changing method provided in this embodiment;

[0057] Figure 2 A schematic diagram of a flow chart of a first vehicle lane changing method provided in this embodiment;

[0058] Figure 3 A schematic diagram of a flow chart for determining a distance constraint condition for a longitudinal moving distance of a lane-changing vehicle provided in this embodiment;

[0059] Figure 4 A schematic diagram of the principle of a lane-changing vehicle changing lanes provided in this embodiment;

[0060] Figure 5 A schematic diagram of a flow chart of a second time constraint condition for determining a lane-changing time length of a lane-changing vehicle provided in this embodiment;

[0061] Figure 6 A schematic diagram showing the principle of the lateral movement distance of a lane-changing vehicle provided in this embodiment;

[0062] Figure 7 A schematic diagram of a flow chart of a second vehicle lane changing method provided in this embodiment;

[0063] Figure 8 A structural block diagram of a vehicle lane changing device provided in this embodiment;

[0064] Fig. 9 This is a diagram of the internal structure of the computer device provided in this embodiment. DETAILED DESCRIPTION

[0065] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0066] The path updating method provided in the embodiment of the present application can be applied to the situation of how to control the lane change of a vehicle, and is particularly applicable to the situation of how to realize the automatic lane change of a vehicle. Optionally, the vehicle lane changing method can be executed by the lane changing vehicle, or can be executed by a server. For example, the lane changing vehicle / server can control the lane changing vehicle to change lanes based on the preset vehicle lane changing logic and the vehicle operation information of the target lane. Furthermore, the vehicle lane changing method can also be executed by the interaction between the lane changing vehicle and the server, that is, the method can be applied to the following situations: Figure 1In the application environment shown. Among them, the server 104 determines the distance constraint of the longitudinal moving distance of the lane-changing vehicle 102 according to the lane-changing safety distance and the vehicle operation information of the candidate vehicle on the target lane at the current moment, and then determines the first time constraint of the lane-changing duration of the lane-changing vehicle according to the distance constraint and the vehicle operation information of the lane-changing vehicle. The server 104 controls the lane-changing vehicle 102 to change lanes to the target lane according to the vehicle operation information, the distance constraint and the first time constraint of the lane-changing vehicle 102. Among them, the target lane refers to the lane to which the lane-changing vehicle 102 needs to change; the longitudinal moving distance is the moving distance of the lane-changing vehicle 102 along the length direction of the lane from the current moment to the end moment of the lane change.

[0067] The server 104 may be implemented as an independent server or a server cluster composed of multiple servers. The lane-changing vehicle 102 refers to a vehicle that has a lane-changing requirement, and may be an ordinary vehicle or a vehicle with an automatic driving function.

[0068] In one embodiment, Figure 2 is a flow chart of a vehicle lane changing method provided according to an embodiment of the present application, wherein the method is applied to Figure 1 Taking the server in as an example, the method includes the following steps:

[0069] S201, according to the lane change safety distance and the vehicle operation information of the candidate vehicle in the target lane at the current moment, determine the distance constraint of the longitudinal moving distance of the lane changing vehicle. The target lane refers to the lane to which the lane changing vehicle needs to change; the longitudinal moving distance refers to the moving distance of the lane changing vehicle along the length direction of the lane from the current moment to the end moment of the lane change.

[0070] Among them, the lane changing safety distance refers to the pre-set minimum safety distance from obstacles (for example, surrounding vehicles). It can also be understood that when the distance between the lane changing vehicle and the obstacle is less than the lane changing safety distance, the lane changing vehicle has a safety hazard. The longitudinal moving distance refers to the moving distance of the lane changing vehicle along the length of the lane from the current moment to the end moment of the lane change. The target lane refers to the lane to which the lane changing vehicle needs to change. The candidate vehicle refers to the vehicle located on the target vehicle. The distance constraint refers to the constraint on the longitudinal moving distance, for example, less than a certain distance value, greater than a certain distance value, etc. Vehicle operation information refers to the operation information of the candidate vehicle, including but not limited to vehicle position information and vehicle driving information.

[0071] An optional implementation of this embodiment is: inputting the lane change safety distance and the vehicle operation information of the candidate vehicle in the target lane at the current moment into a trained prediction model, and the prediction model outputs the distance constraint condition of the longitudinal movement distance of the lane changing vehicle. The prediction model can adopt but is not limited to a trained neural network model.

[0072] Another optional implementation of this embodiment is: predict the vehicle position information of the candidate vehicle at the end of the lane change based on the vehicle operation information of the candidate vehicle on the target lane at the current moment. Determine the candidate longitudinal moving distance of the candidate vehicle from the current moment to the end of the lane change based on the vehicle position information of the candidate vehicle at the current moment and the predicted vehicle position information at the end of the lane change, and determine the distance constraint of the longitudinal moving distance of the lane-changing vehicle based on the candidate longitudinal moving distance. For example, select the largest longitudinal moving distance from the candidate longitudinal moving distances as the maximum value of the distance constraint of the longitudinal moving distance of the lane-changing vehicle.

[0073] S202, determining a first time constraint condition for a lane changing duration of the lane changing vehicle according to the distance constraint condition and vehicle operation information of the lane changing vehicle.

[0074] The lane change duration refers to the duration between the current time and the lane change end time of the lane change vehicle. The first time constraint condition refers to the constraint condition used to limit the lane change duration.

[0075] An optional implementation of this embodiment is: inputting the distance constraint and the vehicle operation information of the lane-changing vehicle into the prediction model, and the prediction model outputs the first time constraint of the lane-changing time of the lane-changing vehicle. The prediction model may adopt but is not limited to a trained neural network model.

[0076] Another optional implementation of this embodiment is: determine the longest constraint time according to the maximum moving distance of the longitudinal lane change constraint condition and the speed information in the vehicle driving information of the lane changing vehicle. Determine the shortest constraint time according to the minimum moving distance of the longitudinal lane change constraint condition and the speed information in the vehicle driving information of the lane changing vehicle. Use the longest constraint time and the shortest constraint time as the first time constraint condition for the lane change end time of the lane changing vehicle.

[0077] In this embodiment, an optional implementation method for determining the maximum constraint time based on the maximum moving distance of the longitudinal lane change constraint condition and the speed information in the vehicle driving information of the lane changing vehicle is: taking the ratio of the maximum moving distance to the speed information of the lane changing vehicle as the maximum constraint time.

[0078] In this embodiment, an optional implementation method for determining the shortest constraint time based on the minimum moving distance of the longitudinal lane change constraint condition and the speed information in the vehicle driving information of the lane changing vehicle is: using the ratio of the shortest moving distance to the speed information of the lane changing vehicle as the shortest constraint time.

[0079] S203: Control the lane-changing vehicle to change lanes to a target lane according to the vehicle operation information of the lane-changing vehicle, the distance constraint condition, and the first time constraint condition.

[0080] An optional implementation of this embodiment is: inputting vehicle operation information, distance constraint conditions and first time constraint conditions of the lane-changing vehicle into a control device, and the control device controls the lane-changing vehicle to change lanes to a target lane.

[0081] Another optional implementation of this embodiment is: determining the effective longitudinal moving distance of the lane-changing vehicle according to the distance constraint condition. Determining the effective lane-changing duration of the lane-changing vehicle according to the first time constraint condition. Controlling the lane-changing vehicle to change lanes to the target lane within the effective longitudinal moving distance and the effective lane-changing duration according to the vehicle operation information of the lane-changing vehicle.

[0082] The above-mentioned vehicle lane changing method can determine the distance constraint of the longitudinal moving distance of the lane changing vehicle according to the lane changing safety distance and the vehicle operation information of the candidate vehicle on the target lane at the current moment. According to the distance constraint and the vehicle operation information of the lane changing vehicle, the first time constraint of the lane changing duration of the lane changing vehicle is determined. According to the vehicle operation information, the distance constraint and the first time constraint of the lane changing vehicle, the lane changing vehicle is controlled to change lanes to the target lane. Based on the vehicle lane changing method of the present application, when changing lanes, the lane changing vehicle not only considers the lane changing safety distance, but also considers the constraint of the longitudinal moving distance of the lane changing vehicle when changing lanes. While effectively improving the safety of the lane changing vehicle and the driver and passengers, it also limits the longitudinal moving distance when changing lanes, increases the smoothness of the lane changing vehicle when changing lanes, and avoids the lane changing vehicle being in the lane changing state for a long time (for example, occupying the lane line between the current lane and the target lane for a long time), affecting the normal driving of other vehicles.

[0083] In one embodiment, in order to more accurately determine the distance constraint condition of the longitudinal moving distance of the lane-changing vehicle, such as Figure 3 As shown, in S201, an optional implementation method for determining the distance constraint condition of the longitudinal moving distance of the lane-changing vehicle according to the lane-changing safety distance and the vehicle operation information of the candidate vehicle in the target lane at the current moment includes:

[0084] S301, determining the lane changing feasibility of the lane changing vehicle according to the vehicle position information of the candidate vehicle and the vehicle position information of the lane changing vehicle.

[0085] The vehicle position information refers to the position information of the vehicle. The lane change feasibility refers to the feasibility analysis of whether the lane change is possible.

[0086] Optionally, in this embodiment, the position information of the candidate vehicle and the lane-changing vehicle can be obtained by constructing a coordinate system. Exemplarily, the lane-changing vehicle can be used as the coordinate origin, the length of the lane can be the X direction, the vertical direction to the plane where each vehicle is located and the upward direction can be the Z axis, and the Y axis can be determined by the right-hand rule to establish a coordinate system, thereby obtaining the vehicle position information of the candidate vehicle and the vehicle position information of the lane-changing vehicle.

[0087] During the lane change process, the lane-changing vehicle and the center line of the target lane are getting closer and closer. If there is a vehicle parallel to the lane-changing vehicle on the target lane line at this time, the lateral safety distance between the lane-changing vehicle and the parallel vehicles in the target lane will gradually decrease, and even cause safety risks such as collision. Therefore, based on the principle of safety, the following conclusion can be drawn: during the lane change process, it is forbidden for the lane-changing vehicle to be parallel to a vehicle in the target lane.

[0088] Optionally, in this embodiment, based on the vehicle position information of the candidate vehicle and the vehicle position information of the lane-changing vehicle, it can be determined whether there is a candidate vehicle parallel to the lane-changing vehicle in the target lane. If there is, the lane-changing feasibility is determined to be not feasible. If not, the lane-changing feasibility is determined to be feasible.

[0089] In this embodiment, an optional implementation method for determining whether there is a candidate vehicle parallel to the lane-changing vehicle on the target lane is: determining the longitudinal distance between the candidate vehicle and the lane-changing vehicle (i.e., the distance along the length direction of the lane); if there is a candidate vehicle whose longitudinal distance is less than a set distance threshold, it is determined that there is a candidate vehicle parallel to the lane-changing vehicle on the target lane.

[0090] It should be noted that in order to further ensure safety during the lane changing process, the lane changing vehicle cannot be parallel to other vehicles during the lane changing process. If a parallel situation occurs, the lane changing will be stopped. In other words, the rear vehicle must always be behind the lane changing vehicle, and the front vehicle must always be in front of the lane changing vehicle to meet the lane changing requirements.

[0091] S302, when the lane change feasibility is that the lane change is feasible, select a front vehicle and a rear vehicle of the lane changing vehicle from the candidate vehicles according to the vehicle position information of the candidate vehicles. The front vehicle is the vehicle closest to the lane changing vehicle; the rear vehicle is the vehicle closest to the lane changing vehicle.

[0092] Optionally, in this embodiment, based on the vehicle position information of the candidate vehicles, the candidate vehicle that is located behind the lane-changing vehicle on the target lane and is closest to the lane-changing vehicle is regarded as the rear vehicle; the candidate vehicle that is located in front of the lane-changing vehicle on the target lane and is closest to the lane-changing vehicle is regarded as the front vehicle.

[0093] S303, determining a distance constraint condition for the longitudinal moving distance of the lane-changing vehicle according to the vehicle operation information of the front vehicle at the current moment, the vehicle operation information of the rear vehicle at the current moment, and the lane-changing safety distance.

[0094] Optionally, in this embodiment, Figure 4As shown, the first longitudinal moving distance of the front vehicle from the current moment to the end moment of the lane change can be predicted based on the vehicle driving information of the front vehicle at the current moment. The second longitudinal moving distance of the rear vehicle from the current moment to the end moment of the lane change can be predicted based on the vehicle driving information of the rear vehicle at the current moment. The first spacing between the front vehicle and the lane changing vehicle at the current moment, and the second spacing between the rear vehicle and the lane changing vehicle at the current moment are determined based on the vehicle position information of the front vehicle at the current moment, the vehicle position information of the rear vehicle at the current moment, and the vehicle position information of the lane changing vehicle at the current moment. The distance constraint condition of the longitudinal moving distance of the lane changing vehicle is determined based on the first longitudinal moving distance, the second longitudinal moving distance, the first spacing, the second spacing, and the lane changing safety distance.

[0095] In this embodiment, an optional implementation method of predicting the first longitudinal movement distance of the front vehicle from the current moment to the moment when the lane change ends based on the vehicle driving information of the front vehicle at the current moment is: the first longitudinal movement distance of the front vehicle from the current moment to the moment when the lane change ends can be predicted based on the vehicle speed information and acceleration information of the vehicle driving information of the front vehicle at the current moment. The first longitudinal movement distance can be determined by the following formula (1):

[0096] DF=vf*t+0.5*af*t 2 (1)

[0097] In formula (1), DF represents the first longitudinal moving distance; vf represents the speed information of the vehicle in front; af represents the acceleration information of the vehicle in front; and t represents the time information.

[0098] In this embodiment, an optional implementation method of predicting the second longitudinal movement distance of the rear vehicle from the current moment to the end of the lane change based on the vehicle driving information of the rear vehicle at the current moment is: the second longitudinal movement distance of the rear vehicle from the current moment to the end of the lane change can be predicted based on the vehicle speed information and acceleration information of the vehicle driving information of the rear vehicle at the current moment. The second longitudinal movement distance can be determined by the following formula (2):

[0099] DR=vr*t+0.5*ar*t 2 (2)

[0100] In formula (1), DR represents the second longitudinal moving distance; vr represents the speed information of the vehicle in front; ar represents the acceleration information of the vehicle in front; and t represents the time information.

[0101] Optionally, the lane changing safety distance in the embodiment includes a front safety distance and a rear safety distance. On this basis, an optional implementation method for determining the distance constraint of the longitudinal moving distance of the lane changing vehicle according to the first longitudinal moving distance, the second longitudinal moving distance, the first spacing, the second spacing and the lane changing safety distance is: determine the maximum moving distance according to the first longitudinal moving distance, the first spacing and the front safety distance. Determine the minimum moving distance according to the second longitudinal moving distance, the second spacing and the rear safety distance. Use the maximum moving distance and the minimum moving distance as the distance constraint of the longitudinal moving distance of the lane changing vehicle. Among them, the front safety distance refers to the minimum safety distance between the lane changing vehicle and the vehicle in front. The rear safety distance refers to the minimum safety distance between the lane changing vehicle and the vehicle behind.

[0102] It should be noted that the front safety distance and the rear safety distance may be preset fixed values, or may be determined based on the speed information and deceleration information of the front vehicle and the rear vehicle.

[0103] In this embodiment, the maximum moving distance can be determined according to the first longitudinal moving distance, the first spacing and the front safety distance in combination with formula (3):

[0104] D≤DF_start+DF-DF_gap_min (3)

[0105] In formula (3), D represents the longitudinal moving distance of the lane-changing vehicle; DF represents the first longitudinal moving distance; DF_start represents the first gap; DF_gap_min represents the front safety distance; and DF_start+DF-DF_gap_min is the maximum moving distance.

[0106] In this embodiment, the minimum moving distance can be determined based on the second longitudinal moving distance, the second spacing and the rear safety distance in combination with formula (3):

[0107] D≥DR+DR_gap_min-DR_start (4)

[0108] In formula (4), D represents the longitudinal moving distance of the lane-changing vehicle; DR represents the second longitudinal moving distance; DR_start represents the second gap; DR_gap_min represents the rear safety distance; and DR+DR_gap_min-DR_start is the minimum moving distance.

[0109] In this embodiment, when the lane-changing vehicle changes lanes, the longitudinal moving distance of the lane-changing vehicle must meet the above distance constraint conditions. Only by meeting the above distance constraint conditions can the safety of lane change be guaranteed. It should be noted that if the maximum moving distance is less than or equal to the minimum safety distance, it means that the distance between the front vehicle and the rear vehicle is too close, which poses a safety hazard. In this case, the lane-changing vehicle cannot change lanes.

[0110] In this embodiment, the first longitudinal moving distance of the front vehicle from the current moment to the moment when the lane change ends is predicted based on the vehicle driving information of the front vehicle at the current moment. The second longitudinal moving distance of the rear vehicle from the current moment to the moment when the lane change ends is predicted based on the vehicle driving information of the rear vehicle at the current moment. The first spacing between the front vehicle and the lane changing vehicle at the current moment, and the second spacing between the rear vehicle and the lane changing vehicle at the current moment are determined based on the vehicle position information of the front vehicle at the current moment, the vehicle position information of the rear vehicle at the current moment, and the vehicle position information of the lane changing vehicle at the current moment. Based on the first longitudinal moving distance, the second longitudinal moving distance, the first spacing, the second spacing, and the lane changing safety distance, the distance constraint of the longitudinal moving distance of the lane changing vehicle is more accurately determined. In this embodiment, when determining the longitudinal moving distance of the lane-changing vehicle, not only the front safety distance and the rear safety distance are taken into consideration, but also the predicted first longitudinal moving distance and the second longitudinal moving distance, as well as the first spacing and the second spacing at the current moment are taken into consideration. Based on the distance constraint conditions of this embodiment, the lane-changing vehicle can change to the target lane "wherever possible", which increases the smoothness of the lane-changing vehicle when changing lanes and ensures safety when changing lanes.

[0111] In one embodiment, in order to meet the comfort requirements of the lane-changing vehicle during the lane-changing process, Figure 5 As shown, an optional implementation of S203 includes:

[0112] S501, determining a speed function and an acceleration function of the lane-changing vehicle according to a lateral moving distance and a lane-changing duration of the lane-changing vehicle.

[0113] Among them, Figure 6 As shown in FIG. 1 , the lateral movement distance is the movement distance of the lane-changing vehicle from the current moment to the lane-changing end moment along the lane width direction. The speed function of the lane-changing vehicle refers to the correlation function between the lateral movement distance, the lane-changing duration, and the vehicle speed.

[0114] Optionally, the acceleration function of the lane-changing vehicle in this embodiment includes an acceleration function and a jerk function.

[0115] In this embodiment, the correlation expression of the lateral lane changing curve of the lane changing vehicle can be determined according to the lateral moving distance and lane changing time of the lane changing vehicle, and then the speed function and acceleration function of the lane changing vehicle can be determined according to the correlation expression.

[0116] In this embodiment, the correlation expression of the lateral lane-changing curve of the lane-changing vehicle is shown in formula (5):

[0117]

[0118] In formula (5), R represents the lateral moving distance; T represents the lane changing time; y represents the expression of the lateral lane changing curve; It means to take a derivative of the expression; It means to take the second derivative of the expression; Denotes the third derivative of the expression.

[0119] According to the above-mentioned correlation expression of the lateral lane-changing curve, the expression of the speed function of the lane-changing vehicle can be determined by the following formula (6):

[0120] V lat_max =2R / T (6)

[0121] Among them, V in formula (6) lat_max represents the speed function of the lane-changing vehicle; R represents the lateral movement distance; T represents the lane-changing time.

[0122] The acceleration function of the lane-changing vehicle can be expressed by the following formula (7):

[0123] a lat_max =2πR / T 2 (7)

[0124] In formula (7), a lat_max represents the acceleration function of the lane-changing vehicle; R represents the lateral movement distance; T represents the lane-changing time.

[0125] The jerk function of the lane-changing vehicle can be expressed by the following formula (8):

[0126] jerk lat_max =(4Rπ 2 ) / T 3 (8)

[0127] In formula (8), jerk lat_max represents the acceleration function; R represents the lateral moving distance; T represents the lane change time.

[0128] S502: adding function constraints to the speed function and the acceleration function according to the comfort index of the lane-changing vehicle.

[0129] Optionally, the acceleration function also includes a jerk function. After adding the function constraint condition, the expressions of the velocity function, the acceleration function and the jerk function are expressed by formula (9):

[0130]

[0131] In formula (9), V lat_max represents the speed function of the lane-changing vehicle; a lat_max represents the acceleration function of the lane-changing vehicle; jerk lat_max represents the acceleration function; R represents the lateral moving distance; T represents the lane change time.

[0132] S503, based on the maximum function, according to the speed function and the acceleration function after adding the constraint condition, determine the second time constraint condition of the lane changing time length of the lane changing vehicle.

[0133] The maximum function refers to a maximum value selection function. The second time constraint condition refers to a constraint condition for the lane change duration determined based on the comfort during the lane change process.

[0134] Optionally, during the lane changing process, the second time constraint of the lane changing time of the lane changing vehicle can be determined based on the maximum function and the speed function and acceleration function after adding the constraint condition. The second time constraint of the lane changing time of the lane changing vehicle can be expressed by the following formula (10):

[0135]

[0136] In formula (10), T represents the lane change time; V lat_max represents the speed function of the lane-changing vehicle; a lat_max represents the acceleration function of the lane-changing vehicle; jerk lat_max represents the acceleration function; R represents the lateral moving distance; T represents the lane change time.

[0137] S504: Control the lane-changing vehicle to change lanes to a target lane according to the vehicle operation information of the lane-changing vehicle, the distance constraint, the first time constraint, and the second time constraint.

[0138] An optional implementation of this embodiment is: determining the effective lane change duration according to the first time constraint and the second time constraint; determining the effective longitudinal movement distance range according to the distance constraint; and controlling the lane changing vehicle to change lanes to the target lane according to the vehicle operation information of the lane changing vehicle, the effective lane change duration and the effective longitudinal movement distance range.

[0139] Another optional implementation of this embodiment is: when the front vehicle is far away from the lane-changing vehicle, the maximum constraint time of the first time constraint condition determined at this time may be relatively long (for example, it may be 20 seconds). If no restriction is imposed, the lane-changing vehicle will be in the lane-changing state for a long time (i.e., occupying the lane line between the current lane and the target lane for a long time), which not only affects the normal driving of other vehicles, but also poses a safety hazard. In this case, this embodiment also pre-sets a maximum value of the lane-changing time (for example, a value between 7 and 10 seconds) to limit the upper limit of the lane-changing time. According to the maximum value of the lane-changing time, the vehicle operation information of the lane-changing vehicle, the distance constraint, the first time constraint, and the second time constraint, the lane-changing vehicle is controlled to change lanes to the target lane.

[0140] In this embodiment, the speed function and acceleration function of the lane-changing vehicle are determined based on the lateral movement distance and lane-changing time of the lane-changing vehicle. Function constraints are added to the speed function and acceleration function based on the comfort index of the lane-changing vehicle. Based on the maximum function, the second time constraint of the lane-changing time of the lane-changing vehicle is determined based on the speed function and acceleration function after adding the constraints. The lane-changing vehicle is controlled to change lanes to the target lane based on the vehicle operation information, distance constraints, first time constraints and second time constraints of the lane-changing vehicle. In this embodiment, on the basis of the distance constraints and the first time constraints, the second time constraints are added. The second time constraints are determined based on the comfort during the lane-changing process. The vehicle lane-changing method based on this embodiment not only increases the safety during the lane-changing process, but also ensures the comfort during the lane-changing process.

[0141] Furthermore, in one of the embodiments, a maximum value of the lane change time is added to limit the upper limit of the lane change time, thereby effectively avoiding the situation where the lane-changing vehicle occupies the lane line for a long time.

[0142] In one embodiment, if Figure 7 As shown, another optional implementation of the vehicle lane changing method includes:

[0143] S701, determining the lane changing feasibility of the lane changing vehicle according to the vehicle position information of the candidate vehicle and the vehicle position information of the lane changing vehicle.

[0144] S702: When the lane change feasibility is that the lane change is feasible, a front vehicle and a rear vehicle of the lane changing vehicle are selected from the candidate vehicles according to the vehicle position information of the candidate vehicles.

[0145] Among them, the front vehicle is the vehicle in front that is closest to the lane-changing vehicle; the rear vehicle is the vehicle behind that is closest to the lane-changing vehicle.

[0146] S703, predicting a first longitudinal moving distance of the front vehicle from the current moment to the lane change end moment based on the vehicle driving information of the front vehicle at the current moment.

[0147] S704: predicting a second longitudinal moving distance of the rear vehicle from the current moment to the lane change end moment based on the vehicle driving information of the rear vehicle at the current moment.

[0148] S705, determining a first distance between the front vehicle and the lane-changing vehicle at the current moment, and a second distance between the rear vehicle and the lane-changing vehicle at the current moment based on the vehicle position information of the front vehicle at the current moment, the vehicle position information of the rear vehicle at the current moment, and the vehicle position information of the lane-changing vehicle at the current moment.

[0149] S706: Determine a maximum moving distance according to the first longitudinal moving distance, the first spacing, and the front safety distance.

[0150] S707: Determine a minimum moving distance according to the second longitudinal moving distance, the second spacing, and the rear safety distance.

[0151] S708: Use the maximum moving distance and the minimum moving distance as distance constraint conditions for the longitudinal moving distance of the lane-changing vehicle.

[0152] S709: Determine a maximum constraint time according to the maximum moving distance of the longitudinal lane change constraint condition and the vehicle speed information in the vehicle driving information of the lane changing vehicle.

[0153] S710: Determine a shortest constraint time according to a minimum moving distance of a longitudinal lane change constraint condition and vehicle speed information in vehicle driving information of the lane changing vehicle.

[0154] S711, taking the longest constraint time and the shortest constraint time as the first time constraint condition for the lane-changing end time of the lane-changing vehicle.

[0155] S712: Determine a speed function and an acceleration function of the lane-changing vehicle according to the lateral movement distance and lane-changing duration of the lane-changing vehicle.

[0156] The lateral moving distance is the moving distance of the lane-changing vehicle from the current moment to the end moment of the lane change along the lane width direction.

[0157] S713: Add function constraints to the speed function and the acceleration function according to the comfort index of the lane-changing vehicle.

[0158] S714, based on the maximum function, according to the speed function and the acceleration function after adding the constraint condition, determine the second time constraint condition of the lane changing time length of the lane changing vehicle.

[0159] S715, determining a maximum lane change duration.

[0160] S716: Control the lane-changing vehicle to change lanes to the target lane according to the maximum lane-changing time, the vehicle operation information of the lane-changing vehicle, the distance constraint, the first time constraint, and the second time constraint.

[0161] The vehicle lane changing method of this embodiment can determine the distance constraint of the longitudinal moving distance of the lane changing vehicle according to the lane changing safety distance and the vehicle operation information of the candidate vehicle on the target lane at the current moment. According to the distance constraint and the vehicle operation information of the lane changing vehicle, the first time constraint of the lane changing duration of the lane changing vehicle is determined. According to the vehicle operation information, the distance constraint and the first time constraint of the lane changing vehicle, the lane changing vehicle is controlled to change lanes to the target lane. Based on the vehicle lane changing method of the present application, when changing lanes, the lane changing vehicle not only considers the lane changing safety distance, but also considers the constraint of the longitudinal moving distance of the lane changing vehicle when changing lanes. While effectively improving the safety of the lane changing vehicle and the driver and passengers, it also limits the longitudinal moving distance when changing lanes, increases the smoothness of the lane changing vehicle when changing lanes, and avoids the lane changing vehicle being in the lane changing state for a long time (for example, occupying the lane line between the current lane and the target lane for a long time), affecting the normal driving of other vehicles.

[0162] It should be understood that, although the steps in the flowcharts involved in the above embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0163] Based on the same inventive concept, the embodiment of the present application also provides a vehicle lane changing device for implementing the vehicle lane changing method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more vehicle lane changing device embodiments provided below can refer to the limitations of the vehicle lane changing method above, and will not be repeated here.

[0164] In one embodiment, by Figure 8 FIG. 2 shows a structural block diagram of a vehicle lane changing device in one embodiment. Figure 8As shown, a vehicle lane changing device 1 is provided, the device comprising: a first determination module 10, a second determination module 20 and a control module 30, wherein:

[0165] The first determination module 10 is used to determine the distance constraint condition of the longitudinal moving distance of the lane-changing vehicle according to the lane-changing safety distance and the vehicle operation information of the candidate vehicle in the target lane at the current moment; wherein the target lane refers to the lane to which the lane-changing vehicle needs to change; the longitudinal moving distance is the moving distance of the lane-changing vehicle from the current moment to the lane-changing end moment along the lane length direction;

[0166] A second determination module 20, for determining a first time constraint condition of a lane changing time length of the lane changing vehicle according to the distance constraint condition and vehicle operation information of the lane changing vehicle;

[0167] The control module 30 is used to control the lane-changing vehicle to change lanes to a target lane according to the vehicle operation information of the lane-changing vehicle, the distance constraint condition and the first time constraint condition.

[0168] In one embodiment, the vehicle operation information includes vehicle position information and vehicle driving information. Figure 8 The first determining module 10 is further specifically used for:

[0169] determining the lane-changing feasibility of the lane-changing vehicle according to the vehicle position information of the candidate vehicle and the vehicle position information of the lane-changing vehicle;

[0170] When the lane change feasibility is that the lane change is feasible, a front vehicle and a rear vehicle of the lane changing vehicle are selected from the candidate vehicles according to the vehicle position information of the candidate vehicles; wherein the front vehicle is the vehicle in front that is closest to the lane changing vehicle; and the rear vehicle is the vehicle in the rear that is closest to the lane changing vehicle;

[0171] The distance constraint condition of the longitudinal moving distance of the lane-changing vehicle is determined according to the vehicle operation information of the front vehicle at the current moment, the vehicle operation information of the rear vehicle at the current moment, and the lane-changing safety distance.

[0172] In one embodiment, the Figure 8 The first determining module 10 is further specifically used for:

[0173] Predicting a first longitudinal movement distance of the front vehicle from the current moment to the lane change end moment according to the vehicle driving information of the front vehicle at the current moment;

[0174] Predicting a second longitudinal movement distance of the rear vehicle from the current moment to the lane change end moment according to the vehicle driving information of the rear vehicle at the current moment;

[0175] Determine a first distance between the front vehicle and the lane-changing vehicle at the current moment, and a second distance between the rear vehicle and the lane-changing vehicle at the current moment, according to the vehicle position information of the front vehicle at the current moment, the vehicle position information of the rear vehicle at the current moment, and the vehicle position information of the lane-changing vehicle at the current moment;

[0176] A distance constraint condition of the longitudinal moving distance of the lane-changing vehicle is determined according to the first longitudinal moving distance, the second longitudinal moving distance, the first spacing, the second spacing, and the lane-changing safety distance.

[0177] In one embodiment, the lane change safety distance includes the front safety distance and the rear safety distance. Figure 8 The first determining module 10 is further specifically used for:

[0178] Determine the maximum moving distance according to the first longitudinal moving distance, the first spacing and the front safety distance;

[0179] Determine the minimum moving distance according to the second longitudinal moving distance, the second spacing and the rear safety distance;

[0180] The maximum moving distance and the minimum moving distance are used as distance constraints for the longitudinal moving distance of the lane-changing vehicle.

[0181] In one embodiment, the Figure 8 The first determining module 10 is further specifically used for:

[0182] According to the vehicle position information of the candidate vehicle and the vehicle position information of the lane-changing vehicle, determining whether there is a candidate vehicle parallel to the lane-changing vehicle in the target lane;

[0183] If so, the lane change feasibility is determined to be not feasible.

[0184] In one embodiment, the vehicle operation information includes vehicle driving information, based on which Figure 8 The second determining module 20 is further specifically used for:

[0185] Determining a maximum constraint time according to a maximum moving distance of a longitudinal lane change constraint condition and vehicle speed information in vehicle travel information of the lane changing vehicle;

[0186] Determining a shortest constraint time according to a minimum moving distance of a longitudinal lane change constraint condition and vehicle speed information in vehicle driving information of the lane changing vehicle;

[0187] The longest constraint time and the shortest constraint time are used as the first time constraint conditions for the lane-changing end time of the lane-changing vehicle.

[0188] In one embodiment, the Figure 8The control module 30 is also specifically used for:

[0189] Determine the speed function and acceleration function of the lane-changing vehicle according to the lateral movement distance and lane-changing duration of the lane-changing vehicle; wherein the lateral movement distance is the movement distance of the lane-changing vehicle along the lane width direction from the current moment to the lane-changing end moment;

[0190] According to the comfort index of the lane-changing vehicle, function constraints are added to the speed function and the acceleration function;

[0191] Based on the maximum function, according to the speed function and the acceleration function after adding the constraint condition, determining a second time constraint condition of the lane changing time of the lane changing vehicle;

[0192] The lane-changing vehicle is controlled to change lanes to a target lane according to vehicle operation information of the lane-changing vehicle, a distance constraint condition, a first time constraint condition, and a second time constraint condition.

[0193] In one embodiment, the Figure 8 The control module 30 is also specifically used for:

[0194] Determine the maximum lane change duration;

[0195] The lane-changing vehicle is controlled to change lanes to a target lane according to a maximum lane-changing time, vehicle operation information of the lane-changing vehicle, a distance constraint, a first time constraint, and a second time constraint.

[0196] Each module in the above-mentioned vehicle lane changing device can be implemented in whole or in part by software, hardware or a combination thereof. Each of the above-mentioned modules can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the operations corresponding to each of the above modules.

[0197] In one embodiment, a computer device is provided. The computer device may be a platform side, and its internal structure diagram may be as shown in FIG. Fig. 9 As shown. The computer device includes a processor, a memory and a network interface connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store information related to lane-changing vehicles. The network interface of the computer device is used to communicate with an external user side via a network connection. When the computer program is executed by the processor, a vehicle lane-changing method is implemented.

[0198] Those skilled in the art will understand that Fig. 9 The structure shown in the figure is merely a block diagram of a portion of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. Specifically, the computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0199] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0200] According to the lane change safety distance and the vehicle operation information of the candidate vehicle in the target lane at the current moment, the distance constraint condition of the longitudinal moving distance of the lane changing vehicle is determined; wherein the target lane refers to the lane to which the lane changing vehicle needs to change; the longitudinal moving distance refers to the moving distance of the lane changing vehicle along the length direction of the lane from the current moment to the moment when the lane change ends;

[0201] Determining a first time constraint condition of a lane changing time of the lane changing vehicle according to the distance constraint condition and vehicle operation information of the lane changing vehicle;

[0202] The lane-changing vehicle is controlled to change lanes to a target lane according to vehicle operation information of the lane-changing vehicle, a distance constraint condition, and a first time constraint condition.

[0203] In one embodiment, when the processor executes the computer program, the following steps are also implemented: the vehicle operation information includes vehicle position information and vehicle travel information;

[0204] Accordingly, according to the lane change safety distance and the vehicle operation information of the candidate vehicle in the target lane at the current moment, the distance constraint condition of the longitudinal moving distance of the lane changing vehicle is determined, including:

[0205] determining the lane-changing feasibility of the lane-changing vehicle according to the vehicle position information of the candidate vehicle and the vehicle position information of the lane-changing vehicle;

[0206] When the lane change feasibility is that the lane change is feasible, a front vehicle and a rear vehicle of the lane changing vehicle are selected from the candidate vehicles according to the vehicle position information of the candidate vehicles; wherein the front vehicle is the vehicle in front that is closest to the lane changing vehicle; and the rear vehicle is the vehicle in the rear that is closest to the lane changing vehicle;

[0207] The distance constraint condition of the longitudinal moving distance of the lane-changing vehicle is determined according to the vehicle operation information of the front vehicle at the current moment, the vehicle operation information of the rear vehicle at the current moment, and the lane-changing safety distance.

[0208] In one embodiment, when the processor executes the computer program, the following steps are further implemented: according to the vehicle operation information of the front vehicle at the current moment, the vehicle operation information of the rear vehicle at the current moment, and the lane change safety distance, a distance constraint condition of the longitudinal movement distance of the lane changing vehicle is determined, including:

[0209] Predicting a first longitudinal movement distance of the front vehicle from the current moment to the lane change end moment according to the vehicle driving information of the front vehicle at the current moment;

[0210] Predicting a second longitudinal movement distance of the rear vehicle from the current moment to the lane change end moment according to the vehicle driving information of the rear vehicle at the current moment;

[0211] Determine a first distance between the front vehicle and the lane-changing vehicle at the current moment, and a second distance between the rear vehicle and the lane-changing vehicle at the current moment, according to the vehicle position information of the front vehicle at the current moment, the vehicle position information of the rear vehicle at the current moment, and the vehicle position information of the lane-changing vehicle at the current moment;

[0212] A distance constraint condition of the longitudinal moving distance of the lane-changing vehicle is determined according to the first longitudinal moving distance, the second longitudinal moving distance, the first spacing, the second spacing, and the lane-changing safety distance.

[0213] In one embodiment, when the processor executes the computer program, the following steps are further implemented: the lane change safety distance includes a front safety distance and a rear safety distance;

[0214] Accordingly, according to the first longitudinal moving distance, the second longitudinal moving distance, the first spacing, the second spacing and the lane changing safety distance, the distance constraint condition of the longitudinal moving distance of the lane changing vehicle is determined, including:

[0215] Determine the maximum moving distance according to the first longitudinal moving distance, the first spacing and the front safety distance;

[0216] Determine the minimum moving distance according to the second longitudinal moving distance, the second spacing and the rear safety distance;

[0217] The maximum moving distance and the minimum moving distance are used as distance constraints for the longitudinal moving distance of the lane-changing vehicle.

[0218] In one embodiment, when the processor executes the computer program, the following steps are further implemented: determining the lane changing feasibility of the lane changing vehicle according to the vehicle position information of the candidate vehicle and the vehicle position information of the lane changing vehicle, including:

[0219] According to the vehicle position information of the candidate vehicle and the vehicle position information of the lane-changing vehicle, determining whether there is a candidate vehicle parallel to the lane-changing vehicle in the target lane;

[0220] If so, the lane change feasibility is determined to be not feasible.

[0221] In one embodiment, when the processor executes the computer program, the following steps are also implemented: the vehicle operation information includes vehicle driving information;

[0222] According to the distance constraint condition and the vehicle operation information of the lane-changing vehicle, the first time constraint condition of the lane-changing time of the lane-changing vehicle is determined, including:

[0223] Determining a maximum constraint time according to a maximum moving distance of a longitudinal lane change constraint condition and vehicle speed information in vehicle travel information of the lane changing vehicle;

[0224] Determining a shortest constraint time according to a minimum moving distance of a longitudinal lane change constraint condition and vehicle speed information in vehicle driving information of the lane changing vehicle;

[0225] The longest constraint time and the shortest constraint time are used as the first time constraint conditions for the lane-changing end time of the lane-changing vehicle.

[0226] In one embodiment, when the processor executes the computer program, the following steps are further implemented: according to the vehicle operation information of the lane-changing vehicle, the distance constraint condition and the first time constraint condition, the lane-changing vehicle is controlled to change lanes to the target lane, including:

[0227] Determine the speed function and acceleration function of the lane-changing vehicle according to the lateral movement distance and lane-changing duration of the lane-changing vehicle; wherein the lateral movement distance is the movement distance of the lane-changing vehicle along the lane width direction from the current moment to the lane-changing end moment;

[0228] According to the comfort index of the lane-changing vehicle, function constraints are added to the speed function and the acceleration function;

[0229] Based on the maximum function, according to the speed function and the acceleration function after adding the constraint condition, determining a second time constraint condition of the lane changing time of the lane changing vehicle;

[0230] The lane-changing vehicle is controlled to change lanes to a target lane according to vehicle operation information of the lane-changing vehicle, a distance constraint condition, a first time constraint condition, and a second time constraint condition.

[0231] In one embodiment, when the processor executes the computer program, the following steps are further implemented: according to the vehicle operation information of the lane-changing vehicle, the distance constraint condition, the first time constraint condition and the second time constraint condition, the lane-changing vehicle is controlled to change lanes to the target lane, including:

[0232] Determine the maximum lane change duration;

[0233] The lane-changing vehicle is controlled to change lanes to a target lane according to a maximum lane-changing time, vehicle operation information of the lane-changing vehicle, a distance constraint, a first time constraint, and a second time constraint.

[0234] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0235] According to the lane change safety distance and the vehicle operation information of the candidate vehicle in the target lane at the current moment, the distance constraint condition of the longitudinal moving distance of the lane changing vehicle is determined; wherein the target lane refers to the lane to which the lane changing vehicle needs to change; the longitudinal moving distance refers to the moving distance of the lane changing vehicle along the length direction of the lane from the current moment to the moment when the lane change ends;

[0236] Determining a first time constraint condition of a lane changing time of the lane changing vehicle according to the distance constraint condition and vehicle operation information of the lane changing vehicle;

[0237] The lane-changing vehicle is controlled to change lanes to a target lane according to vehicle operation information of the lane-changing vehicle, a distance constraint condition, and a first time constraint condition.

[0238] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: the vehicle operation information includes vehicle position information and vehicle travel information;

[0239] Accordingly, according to the lane change safety distance and the vehicle operation information of the candidate vehicle in the target lane at the current moment, the distance constraint condition of the longitudinal moving distance of the lane changing vehicle is determined, including:

[0240] determining the lane-changing feasibility of the lane-changing vehicle according to the vehicle position information of the candidate vehicle and the vehicle position information of the lane-changing vehicle;

[0241] When the lane change feasibility is that the lane change is feasible, a front vehicle and a rear vehicle of the lane changing vehicle are selected from the candidate vehicles according to the vehicle position information of the candidate vehicles; wherein the front vehicle is the vehicle in front that is closest to the lane changing vehicle; and the rear vehicle is the vehicle in the rear that is closest to the lane changing vehicle;

[0242] The distance constraint condition of the longitudinal moving distance of the lane-changing vehicle is determined according to the vehicle operation information of the front vehicle at the current moment, the vehicle operation information of the rear vehicle at the current moment, and the lane-changing safety distance.

[0243] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: according to the vehicle operation information of the front vehicle at the current moment, the vehicle operation information of the rear vehicle at the current moment, and the lane change safety distance, a distance constraint condition of the longitudinal movement distance of the lane changing vehicle is determined, including:

[0244] Predicting a first longitudinal movement distance of the front vehicle from the current moment to the lane change end moment according to the vehicle driving information of the front vehicle at the current moment;

[0245] Predicting a second longitudinal movement distance of the rear vehicle from the current moment to the lane change end moment according to the vehicle driving information of the rear vehicle at the current moment;

[0246] Determine a first distance between the front vehicle and the lane-changing vehicle at the current moment, and a second distance between the rear vehicle and the lane-changing vehicle at the current moment, according to the vehicle position information of the front vehicle at the current moment, the vehicle position information of the rear vehicle at the current moment, and the vehicle position information of the lane-changing vehicle at the current moment;

[0247] A distance constraint condition of the longitudinal moving distance of the lane-changing vehicle is determined according to the first longitudinal moving distance, the second longitudinal moving distance, the first spacing, the second spacing, and the lane-changing safety distance.

[0248] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: the lane change safety distance includes a front safety distance and a rear safety distance;

[0249] Accordingly, according to the first longitudinal moving distance, the second longitudinal moving distance, the first spacing, the second spacing and the lane changing safety distance, the distance constraint condition of the longitudinal moving distance of the lane changing vehicle is determined, including:

[0250] Determine the maximum moving distance according to the first longitudinal moving distance, the first spacing and the front safety distance;

[0251] Determine the minimum moving distance according to the second longitudinal moving distance, the second spacing and the rear safety distance;

[0252] The maximum moving distance and the minimum moving distance are used as distance constraints for the longitudinal moving distance of the lane-changing vehicle.

[0253] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: determining the lane change feasibility of the lane-changing vehicle according to the vehicle position information of the candidate vehicle and the vehicle position information of the lane-changing vehicle, including:

[0254] According to the vehicle position information of the candidate vehicle and the vehicle position information of the lane-changing vehicle, determining whether there is a candidate vehicle parallel to the lane-changing vehicle in the target lane;

[0255] If so, the lane change feasibility is determined to be not feasible.

[0256] In one embodiment, the computer program, when executed by a processor, further implements the following steps: the vehicle operation information includes vehicle driving information;

[0257] According to the distance constraint condition and the vehicle operation information of the lane-changing vehicle, the first time constraint condition of the lane-changing time of the lane-changing vehicle is determined, including:

[0258] Determining a maximum constraint time according to a maximum moving distance of a longitudinal lane change constraint condition and vehicle speed information in vehicle travel information of the lane changing vehicle;

[0259] Determining a shortest constraint time according to a minimum moving distance of a longitudinal lane change constraint condition and vehicle speed information in vehicle driving information of the lane changing vehicle;

[0260] The longest constraint time and the shortest constraint time are used as the first time constraint conditions for the lane-changing end time of the lane-changing vehicle.

[0261] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: according to the vehicle operation information of the lane-changing vehicle, the distance constraint condition and the first time constraint condition, the lane-changing vehicle is controlled to change lanes to the target lane, including:

[0262] Determine the speed function and acceleration function of the lane-changing vehicle according to the lateral movement distance and lane-changing duration of the lane-changing vehicle; wherein the lateral movement distance is the movement distance of the lane-changing vehicle along the lane width direction from the current moment to the lane-changing end moment;

[0263] According to the comfort index of the lane-changing vehicle, function constraints are added to the speed function and the acceleration function;

[0264] Based on the maximum function, according to the speed function and the acceleration function after adding the constraint condition, determining a second time constraint condition of the lane changing time of the lane changing vehicle;

[0265] The lane-changing vehicle is controlled to change lanes to a target lane according to vehicle operation information of the lane-changing vehicle, a distance constraint condition, a first time constraint condition, and a second time constraint condition.

[0266] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: according to the vehicle operation information of the lane-changing vehicle, the distance constraint condition, the first time constraint condition and the second time constraint condition, the lane-changing vehicle is controlled to change lanes to the target lane, including:

[0267] Determine the maximum lane change duration;

[0268] The lane-changing vehicle is controlled to change lanes to a target lane according to a maximum lane-changing time, vehicle operation information of the lane-changing vehicle, a distance constraint, a first time constraint, and a second time constraint.

[0269] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps:

[0270] According to the lane change safety distance and the vehicle operation information of the candidate vehicle in the target lane at the current moment, the distance constraint condition of the longitudinal moving distance of the lane changing vehicle is determined; wherein the target lane refers to the lane to which the lane changing vehicle needs to change; the longitudinal moving distance refers to the moving distance of the lane changing vehicle along the length direction of the lane from the current moment to the moment when the lane change ends;

[0271] Determining a first time constraint condition of a lane changing time of the lane changing vehicle according to the distance constraint condition and vehicle operation information of the lane changing vehicle;

[0272] The lane-changing vehicle is controlled to change lanes to a target lane according to vehicle operation information of the lane-changing vehicle, a distance constraint condition, and a first time constraint condition.

[0273] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: the vehicle operation information includes vehicle position information and vehicle travel information;

[0274] Accordingly, according to the lane change safety distance and the vehicle operation information of the candidate vehicle in the target lane at the current moment, the distance constraint condition of the longitudinal moving distance of the lane changing vehicle is determined, including:

[0275] determining the lane-changing feasibility of the lane-changing vehicle according to the vehicle position information of the candidate vehicle and the vehicle position information of the lane-changing vehicle;

[0276] When the lane change feasibility is that the lane change is feasible, a front vehicle and a rear vehicle of the lane changing vehicle are selected from the candidate vehicles according to the vehicle position information of the candidate vehicles; wherein the front vehicle is the vehicle in front that is closest to the lane changing vehicle; and the rear vehicle is the vehicle in the rear that is closest to the lane changing vehicle;

[0277] The distance constraint condition of the longitudinal moving distance of the lane-changing vehicle is determined according to the vehicle operation information of the front vehicle at the current moment, the vehicle operation information of the rear vehicle at the current moment, and the lane-changing safety distance.

[0278] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: according to the vehicle operation information of the front vehicle at the current moment, the vehicle operation information of the rear vehicle at the current moment, and the lane change safety distance, a distance constraint condition of the longitudinal movement distance of the lane changing vehicle is determined, including:

[0279] Predicting a first longitudinal movement distance of the front vehicle from the current moment to the lane change end moment according to the vehicle driving information of the front vehicle at the current moment;

[0280] Predicting a second longitudinal movement distance of the rear vehicle from the current moment to the lane change end moment according to the vehicle driving information of the rear vehicle at the current moment;

[0281] Determine a first distance between the front vehicle and the lane-changing vehicle at the current moment, and a second distance between the rear vehicle and the lane-changing vehicle at the current moment, according to the vehicle position information of the front vehicle at the current moment, the vehicle position information of the rear vehicle at the current moment, and the vehicle position information of the lane-changing vehicle at the current moment;

[0282] A distance constraint condition of the longitudinal moving distance of the lane-changing vehicle is determined according to the first longitudinal moving distance, the second longitudinal moving distance, the first spacing, the second spacing, and the lane-changing safety distance.

[0283] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: the lane change safety distance includes a front safety distance and a rear safety distance;

[0284] Accordingly, according to the first longitudinal moving distance, the second longitudinal moving distance, the first spacing, the second spacing and the lane changing safety distance, the distance constraint condition of the longitudinal moving distance of the lane changing vehicle is determined, including:

[0285] Determine the maximum moving distance according to the first longitudinal moving distance, the first spacing and the front safety distance;

[0286] Determine the minimum moving distance according to the second longitudinal moving distance, the second spacing and the rear safety distance;

[0287] The maximum moving distance and the minimum moving distance are used as distance constraints for the longitudinal moving distance of the lane-changing vehicle.

[0288] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: determining the lane change feasibility of the lane-changing vehicle according to the vehicle position information of the candidate vehicle and the vehicle position information of the lane-changing vehicle, including:

[0289] According to the vehicle position information of the candidate vehicle and the vehicle position information of the lane-changing vehicle, determining whether there is a candidate vehicle parallel to the lane-changing vehicle in the target lane;

[0290] If so, the lane change feasibility is determined to be not feasible.

[0291] In one embodiment, the computer program, when executed by a processor, further implements the following steps: the vehicle operation information includes vehicle driving information;

[0292] According to the distance constraint condition and the vehicle operation information of the lane-changing vehicle, the first time constraint condition of the lane-changing time of the lane-changing vehicle is determined, including:

[0293] Determining a maximum constraint time according to a maximum moving distance of a longitudinal lane change constraint condition and vehicle speed information in vehicle travel information of the lane changing vehicle;

[0294] Determining a shortest constraint time according to a minimum moving distance of a longitudinal lane change constraint condition and vehicle speed information in vehicle driving information of the lane changing vehicle;

[0295] The longest constraint time and the shortest constraint time are used as the first time constraint conditions for the lane-changing end time of the lane-changing vehicle.

[0296] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: according to the vehicle operation information of the lane-changing vehicle, the distance constraint condition and the first time constraint condition, the lane-changing vehicle is controlled to change lanes to the target lane, including:

[0297] Determine the speed function and acceleration function of the lane-changing vehicle according to the lateral movement distance and lane-changing duration of the lane-changing vehicle; wherein the lateral movement distance is the movement distance of the lane-changing vehicle along the lane width direction from the current moment to the lane-changing end moment;

[0298] According to the comfort index of the lane-changing vehicle, function constraints are added to the speed function and the acceleration function;

[0299] Based on the maximum function, according to the speed function and the acceleration function after adding the constraint condition, determining a second time constraint condition of the lane changing time of the lane changing vehicle;

[0300] The lane-changing vehicle is controlled to change lanes to a target lane according to vehicle operation information of the lane-changing vehicle, a distance constraint condition, a first time constraint condition, and a second time constraint condition.

[0301] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: according to the vehicle operation information of the lane-changing vehicle, the distance constraint condition, the first time constraint condition and the second time constraint condition, the lane-changing vehicle is controlled to change lanes to the target lane, including:

[0302] Determine the maximum lane change duration;

[0303] The lane-changing vehicle is controlled to change lanes to a target lane according to a maximum lane-changing time, vehicle operation information of the lane-changing vehicle, a distance constraint, a first time constraint, and a second time constraint.

[0304] It should be noted that the data involved in this application (including but not limited to messages and information during the vehicle lane change process) are all data that have been fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards of relevant countries and regions.

[0305] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0306] The technical features of the above embodiments may be arbitrarily combined. To make the description concise, 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.

[0307] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A vehicle lane changing method, characterized in that: The method comprises: According to the vehicle position information of the candidate vehicles on the target lane, the front vehicle and the rear vehicle of the lane-changing vehicle are selected from the candidate vehicles; according to the vehicle operation information of the front vehicle at the current moment, the vehicle operation information of the rear vehicle at the current moment, and the lane-changing safety distance, the distance constraint condition of the longitudinal moving distance of the lane-changing vehicle is determined; wherein, the front vehicle is the vehicle in front that is closest to the lane-changing vehicle; the rear vehicle is the vehicle in the rear that is closest to the lane-changing vehicle; the target lane refers to the lane to which the lane-changing vehicle needs to change; the longitudinal moving distance is the moving distance of the lane-changing vehicle from the current moment to the lane-changing end moment along the lane length direction; the vehicle operation information includes vehicle position information and vehicle driving information; Determining a first time constraint condition for a lane changing duration of the lane changing vehicle according to the distance constraint condition and vehicle operation information of the lane changing vehicle; The lane-changing vehicle is controlled to change lanes to the target lane according to the vehicle operation information of the lane-changing vehicle, the distance constraint condition, and the first time constraint condition.

2. The method according to claim 1, characterized in that The selecting a front vehicle and a rear vehicle of the lane-changing vehicle from the candidate vehicles according to the vehicle position information of the candidate vehicles on the target lane comprises: determining the lane-changing feasibility of the lane-changing vehicle according to the vehicle position information of the candidate vehicle and the vehicle position information of the lane-changing vehicle; When the lane change feasibility is that the lane change is feasible, a front vehicle and a rear vehicle of the lane changing vehicle are selected from the candidate vehicles according to vehicle position information of the candidate vehicles on the target lane.

3. The method according to claim 2, characterized in that The determining of the distance constraint condition of the longitudinal moving distance of the lane-changing vehicle according to the vehicle operation information of the front vehicle at the current moment, the vehicle operation information of the rear vehicle at the current moment, and the lane-changing safety distance includes: Predicting a first longitudinal moving distance of the front vehicle from the current moment to the lane change end moment according to the vehicle driving information of the front vehicle at the current moment; predicting a second longitudinal moving distance of the rear vehicle from the current moment to the lane change end moment according to the vehicle driving information of the rear vehicle at the current moment; Determine, according to the vehicle position information of the front vehicle at the current moment, the vehicle position information of the rear vehicle at the current moment, and the vehicle position information of the lane-changing vehicle at the current moment, a first distance between the front vehicle and the lane-changing vehicle at the current moment, and a second distance between the rear vehicle and the lane-changing vehicle at the current moment; A distance constraint condition of the longitudinal moving distance of the lane-changing vehicle is determined according to the first longitudinal moving distance, the second longitudinal moving distance, the first spacing, the second spacing, and the lane-changing safety distance.

4. The method according to claim 3, characterized in that The lane change safety distance includes a front safety distance and a rear safety distance; Accordingly, determining the distance constraint condition of the longitudinal moving distance of the lane-changing vehicle according to the first longitudinal moving distance, the second longitudinal moving distance, the first spacing, the second spacing, and the lane-changing safety distance includes: determining a maximum moving distance according to the first longitudinal moving distance, the first spacing and the front safety distance; Determining a minimum moving distance according to the second longitudinal moving distance, the second spacing and the rear safety distance; The maximum moving distance and the minimum moving distance are used as distance constraint conditions for the longitudinal moving distance of the lane-changing vehicle.

5. The method according to claim 2, characterized in that: The determining, based on the vehicle position information of the candidate vehicle and the vehicle position information of the lane-changing vehicle, the lane-changing feasibility of the lane-changing vehicle includes: Determining whether there is a candidate vehicle parallel to the lane-changing vehicle on the target lane according to the vehicle position information of the candidate vehicle and the vehicle position information of the lane-changing vehicle; If so, the lane change feasibility is determined to be not feasible.

6. The method according to claim 4, characterized in that The vehicle operation information includes vehicle driving information; The determining, based on the distance constraint and the vehicle operation information of the lane-changing vehicle, the first time constraint of the lane-changing duration of the lane-changing vehicle comprises: determining a maximum constraint time according to a maximum moving distance of a longitudinal lane change constraint condition and vehicle speed information in vehicle travel information of the lane-changing vehicle; Determining a shortest constraint time according to a minimum moving distance of a longitudinal lane change constraint condition and vehicle speed information in vehicle driving information of the lane-changing vehicle; The longest constraint time and the shortest constraint time are used as the first time constraint condition for the lane-changing end time of the lane-changing vehicle.

7. The method according to claim 1, characterized in that The controlling the lane-changing vehicle to change lanes to the target lane according to the vehicle operation information of the lane-changing vehicle, the distance constraint condition, and the first time constraint condition includes: Determine the speed function and acceleration function of the lane-changing vehicle according to the lateral movement distance and lane-changing duration of the lane-changing vehicle; wherein the lateral movement distance is the movement distance of the lane-changing vehicle along the lane width direction from the current moment to the lane-changing end moment; adding function constraints to the speed function and the acceleration function according to the comfort index of the lane-changing vehicle; Based on the maximum function, according to the speed function and the acceleration function after adding the constraint condition, determining a second time constraint condition of the lane changing time length of the lane changing vehicle; The lane-changing vehicle is controlled to change lanes to the target lane according to the vehicle operation information of the lane-changing vehicle, the distance constraint, the first time constraint, and the second time constraint.

8. The method according to claim 7, characterized in that The controlling the lane-changing vehicle to change lanes to the target lane according to the vehicle operation information of the lane-changing vehicle, the distance constraint, the first time constraint, and the second time constraint includes: Determining a maximum value of the lane change duration; The lane-changing vehicle is controlled to change lanes to the target lane according to the maximum value of the lane-changing time, vehicle operation information of the lane-changing vehicle, the distance constraint, the first time constraint, and the second time constraint.

9. A vehicle lane changing device, characterized in that: The device comprises: The first determination module is used to select a front vehicle and a rear vehicle of the lane-changing vehicle from the candidate vehicles according to the vehicle position information of the candidate vehicles on the target lane; wherein the front vehicle is the front vehicle closest to the lane-changing vehicle; the rear vehicle is the rear vehicle closest to the lane-changing vehicle; according to the vehicle operation information of the front vehicle at the current moment, the vehicle operation information of the rear vehicle at the current moment, and the lane-changing safety distance, determine the distance constraint condition of the longitudinal moving distance of the lane-changing vehicle; the target lane refers to the lane to which the lane-changing vehicle needs to change; the longitudinal moving distance is the moving distance of the lane-changing vehicle from the current moment to the lane-changing end moment along the lane length direction; the vehicle operation information includes vehicle position information and vehicle driving information; a second determining module, configured to determine a first time constraint condition of a lane changing duration of the lane changing vehicle according to the distance constraint condition and vehicle operation information of the lane changing vehicle; A control module is used to control the lane-changing vehicle to change lanes to the target lane according to the vehicle operation information of the lane-changing vehicle, the distance constraint condition and the first time constraint condition.

10. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 8 are implemented.

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