A method, system, device and medium for automatic lane changing of vehicles

Abstract

This invention discloses a method, system, device, and medium for automatic lane changing, belonging to the field of autonomous driving technology. It includes: determining whether a lane change is permissible based on road signs; if not, maintaining normal speed or decelerating the current vehicle based on the location of a potential collision with the preceding vehicle in the current lane; if so, instructing the current vehicle whether to change lanes based on the location of a potential collision with a vehicle in the destination lane, the current vehicle's motion data, and the movement information of surrounding vehicles. This invention not only plans and executes automatic lane changes but also monitors the vehicle being changed into. If there is a risk of collision between the vehicle being changed into and the current vehicle, the current vehicle stops changing lanes, thereby increasing lane changing safety, providing users with safe and intelligent services, and improving the user's driving experience.

Description

Technical Field

[0001] This invention belongs to the field of vehicle autonomous driving technology, and relates to a method, system, device and medium for automatic lane changing of vehicles. Background Technology

[0002] The lever-operated lane change function is an extension of lane centering assist's driver assistance features. On a clear, closed highway, when the vehicle's speed exceeds a preset speed limit and the lane change assist system is activated, the driver only needs to activate the turn signal lever. The system then assesses the surrounding traffic conditions and assists the driver in moving the vehicle to the adjacent lane. However, because the lever-operated lane change function requires the driver to manually activate the turn signal, it cannot autonomously trigger the function based on real-time monitoring of the surrounding environment, and its intelligence needs improvement. Summary of the Invention

[0003] The purpose of this invention is to solve the problem that in the prior art, the lane change function of the lever requires the driver to manually activate the turn signal, and cannot be triggered autonomously by real-time monitoring of the surrounding environment, and the intelligence needs to be improved. The invention provides a method, system, device and medium for automatic lane change of vehicles.

[0004] To achieve the above objectives, the present invention employs the following technical solution:

[0005] The present invention proposes an automatic lane-changing method for vehicles, comprising the following steps:

[0006] It acquires the vehicle's own motion data, the operating information of surrounding vehicles, and road signs;

[0007] Based on the current vehicle's motion data and the surrounding vehicles' operating information, the location of the collision between the current vehicle and the vehicle in front in the current lane is obtained when the vehicle does not change lanes, and the location of the collision between the current vehicle and the vehicle in the destination lane is obtained after changing lanes.

[0008] Based on road signs, determine whether the vehicle can change lanes; if not, and if not changing lanes, control the vehicle to maintain normal speed or decelerate based on the location of the collision between the current vehicle and the vehicle in front in the current lane.

[0009] If so, the system will instruct the vehicle to change lanes based on the location of the collision with the vehicle in the destination lane, the vehicle's current motion data, and the movement information of surrounding vehicles.

[0010] Preferably, obtaining the location where the current vehicle and the vehicle in front collide in the current lane without changing lanes specifically involves: obtaining the cruising speed of the current vehicle and the speed of the vehicle in front; when the difference between the set speed and the speed of the vehicle in front is greater than a set threshold, and the speed of the vehicle in front is greater than 0, detecting the distance between the current vehicle and the vehicle in front; when the distance between the two is less than a safe distance value, obtaining the location where the current vehicle and the vehicle in front collide in the current lane.

[0011] Preferably, obtaining the location where the current vehicle and the vehicle in front collide in the current lane without changing lanes specifically involves: obtaining the current vehicle's cruise speed and actual speed; when the difference between the set cruise speed and the actual speed is greater than a preset value, and the distance between the current vehicle and the vehicle in front is less than (set safety time + set advance time) * vehicle speed, obtaining the location where the current vehicle and the vehicle in front collide in the current lane; wherein, the set safety time is the automatic cruise time set by the current vehicle; and the set advance time is the time set by the current vehicle for changing lanes.

[0012] Preferably, obtaining the location where the current vehicle and the vehicle in front collide in the current lane when no lane change is performed further includes: detecting that the vehicle in front has not changed and that the automatic cruise control of the vehicle in front is in active mode.

[0013] Preferably, when it is determined that the road segment where the vehicle is located can be changed lanes based on road signs, the current vehicle sends out an automatic lane change trigger signal and starts a countdown. When the countdown ends, the automatic lane change signal is stopped, and the automatic lane change assist function is activated, and the current vehicle changes lanes.

[0014] Preferably, the vehicle's own motion data, the operating information of surrounding vehicles, and road signs are acquired through the vehicle's own speed sensors, cameras, and millimeter-wave radar.

[0015] Preferably, the method of instructing the current vehicle whether to change lanes based on the location of the collision with the vehicle in the destination lane, the current vehicle's motion data, and the operating information of surrounding vehicles specifically involves: obtaining the speed of the vehicle traveling in the destination lane and the distance between the current vehicle and the vehicle in the destination lane; if the current vehicle's speed is greater than the speed of the vehicle traveling in the destination lane, and the actual distance between the current vehicle and the vehicle traveling in the destination lane is greater than the safe distance between the two, the current vehicle changes lanes, and the two vehicles will not collide.

[0016] If the current vehicle's speed is less than the speed of the vehicle traveling in the destination lane, and the actual distance between the current vehicle and the vehicle traveling in the destination lane is less than the safe distance between them, then the current vehicle will not change lanes.

[0017] If the current vehicle's speed is less than the speed of the vehicle traveling in the destination lane, and the actual distance between the current vehicle and the vehicle traveling in the destination lane is greater than the safe distance between them, the current vehicle needs to accelerate to avoid a collision.

[0018] If the current vehicle's speed is greater than the speed of the vehicle in the destination lane, and the actual distance between the current vehicle and the vehicle in the destination lane is less than the safe distance between them, then the current vehicle will not change lanes.

[0019] The present invention proposes an automatic lane-changing system for vehicles, comprising:

[0020] An initial information acquisition module is used to acquire the vehicle's own motion data, the operating information of surrounding vehicles, and road signs;

[0021] The collision location acquisition module is used to acquire the location where the current vehicle collides with the vehicle in front in the current lane without changing lanes, and the location where the vehicle collides with the vehicle in the destination lane after changing lanes, based on the current vehicle's motion data and the surrounding vehicles' operation information.

[0022] The judgment module is used to determine whether the vehicle can change lanes based on road signs; if not, when not changing lanes, the current vehicle is controlled to maintain normal speed or decelerate based on the location of the collision between the current vehicle and the vehicle in front in the current lane.

[0023] The indicator module is used to indicate whether the current vehicle should change lanes based on the location of the collision with the vehicle in the destination lane, the current vehicle's motion data, and the operating information of surrounding vehicles.

[0024] A terminal device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of an automatic lane-changing method for vehicles.

[0025] A computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of a method for automatic lane changing of a vehicle.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] This invention proposes an automatic lane-changing method for vehicles. The method uses road signs to determine whether a lane change is permissible. If not, the method maintains the vehicle's normal speed or decelerates based on the location of a potential collision with the vehicle in front in the current lane. If a collision with the vehicle in the destination lane is possible, the method instructs the vehicle whether to change lanes based on the location of the collision, the vehicle's motion data, and information on surrounding vehicles. This invention not only plans and executes automatic lane changes but also monitors the vehicle being changed into. If there is a risk of collision between the vehicle being changed into and the current vehicle, the current vehicle stops changing lanes, thus increasing lane-changing safety and providing a safe and intelligent service to users, improving their driving experience.

[0028] This invention proposes an automatic lane-changing system for vehicles, which achieves automatic lane changing by dividing the system into an initial information acquisition module, a collision location acquisition module, a judgment module, and an indication module. The modular approach ensures that each module is independent, facilitating unified management of all modules. Attached Figure Description

[0029] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 This is a flowchart illustrating the automatic lane-changing method for vehicles according to the present invention.

[0031] Figure 2 This is a schematic diagram of the automatic lane-changing system for vehicles according to the present invention;

[0032] Figure 3 This is a schematic diagram illustrating the conditions that trigger automatic lane changing for vehicles.

[0033] Figure 4 This is a schematic diagram of the structure of an electronic device according to the present invention. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0035] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0036] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0037] In the description of the embodiments of the present invention, it should be noted that if terms such as "upper," "lower," "horizontal," or "inner" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of the invention is in use, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Furthermore, terms such as "first" and "second" are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0038] Furthermore, the use of the term "horizontal" does not imply that the component must be absolutely horizontal, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0039] In the description of the embodiments of the present invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention according to the specific circumstances.

[0040] The present invention will now be described in further detail with reference to the accompanying drawings:

[0041] Example 1

[0042] This invention proposes an automatic lane-changing method for vehicles, such as... Figure 1 As shown, it includes the following steps:

[0043] S1. Acquire the vehicle's own motion data, the operating information of surrounding vehicles, and road signs;

[0044] The vehicle's own motion data, the operating information of surrounding vehicles, and road signs are acquired through the vehicle's own speed sensors, cameras, and millimeter-wave radar.

[0045] S2. Based on the current vehicle's motion data and the surrounding vehicles' operating information, obtain the location where the current vehicle collides with the vehicle in front in the current lane without changing lanes, and the location where the vehicle collides with the vehicle in the destination lane after changing lanes.

[0046] To obtain the location where the current vehicle and the vehicle in front collide in the current lane without changing lanes, specifically: obtain the current vehicle's cruising speed and the speed of the vehicle in front; when the difference between the set speed and the speed of the vehicle in front is greater than a set threshold, and the speed of the vehicle in front is greater than 0, detect the distance between the current vehicle and the vehicle in front; when the distance between the two is less than a safe distance value, obtain the location where the current vehicle and the vehicle in front collide in the current lane.

[0047] To obtain the location where the current vehicle collides with the vehicle in front in the current lane without changing lanes, specifically: obtain the current vehicle's cruise speed and actual speed. When the difference between the set cruise speed and the actual speed is greater than a preset value, and the distance between the current vehicle and the vehicle in front is less than (set safety time + set advance time) * vehicle speed, obtain the location where the current vehicle collides with the vehicle in front in the current lane. Here, the set safety time is the automatic cruise time set by the current vehicle; the set advance time is the time set by the current vehicle for changing lanes.

[0048] Obtaining the location where the current vehicle and the vehicle in front collide in the current lane without changing lanes also includes: detecting that the vehicle in front has not changed and that the automatic cruise control is in active mode.

[0049] S3. Based on road signs, determine whether the vehicle can change lanes in the current road section; if not, and if not changing lanes, control the current vehicle to maintain normal speed or decelerate based on the location of the collision between the current vehicle and the vehicle in front in the current lane.

[0050] When the road signs indicate that the vehicle is in a road section where lane changing is permitted, the vehicle sends out an automatic lane change trigger signal and starts a countdown. When the countdown ends, the automatic lane change signal is stopped, and the vehicle's automatic lane change assist function is activated, allowing the vehicle to change lanes.

[0051] S4. Based on the location of the collision with the vehicle in the destination lane, as well as the current vehicle's motion data and the operating information of surrounding vehicles, instruct the current vehicle whether to change lanes.

[0052] The system obtains the speed of vehicles traveling in the destination lane and their distance from the current vehicle. If the current vehicle's speed is greater than the speed of vehicles traveling in the destination lane, and the actual distance between the current vehicle and vehicles traveling in the destination lane is greater than the safe distance between them, the current vehicle changes lanes, and the two vehicles will not collide.

[0053] If the current vehicle's speed is less than the speed of the vehicle traveling in the destination lane, and the actual distance between the current vehicle and the vehicle traveling in the destination lane is less than the safe distance between them, then the current vehicle will not change lanes.

[0054] If the current vehicle's speed is less than the speed of the vehicle traveling in the destination lane, and the actual distance between the current vehicle and the vehicle traveling in the destination lane is greater than the safe distance between them, the current vehicle needs to accelerate to avoid a collision.

[0055] If the current vehicle's speed is greater than the speed of the vehicle in the destination lane, and the actual distance between the current vehicle and the vehicle in the destination lane is less than the safe distance between them, then the current vehicle will not change lanes.

[0056] Example 2

[0057] This invention proposes an automatic lane-changing system for vehicles, see [link to relevant documentation]. Figure 2 It includes an initial information acquisition module, a collision location acquisition module, a judgment module, and an indication module;

[0058] The initial information acquisition module is used to acquire the vehicle's own motion data, the operating information of surrounding vehicles, and road signs;

[0059] The collision location is used by the module to obtain the location where the current vehicle collides with the vehicle in front in the current lane without changing lanes, and the location where the vehicle collides with the vehicle in the destination lane after changing lanes, based on the current vehicle's motion data and the surrounding vehicles' operation information.

[0060] The judgment module is used to determine whether the vehicle can change lanes based on road signs; if not, when not changing lanes, the current vehicle is controlled to maintain normal speed or decelerate based on the location of the collision between the current vehicle and the vehicle in front in the current lane.

[0061] The indication module is used to instruct the current vehicle whether to change lanes based on the location of the collision with the vehicle in the destination lane, the current vehicle's motion data, and the operating information of surrounding vehicles.

[0062] See Figure 3The conditions for triggering automatic lane changing are as follows: The cruise speed and current vehicle speed are set. When the difference between the set cruise speed and the vehicle's speed is greater than a certain value, the distance between the current vehicle speed and the vehicle in front is detected. When this distance is less than the sum of a set safety time * the vehicle's speed and the current vehicle speed * the set advance time, or when the cruise speed and the speed of the vehicle in front are set, and the difference between the set speed and the speed of the vehicle in front is greater than a certain value, and the speed of the vehicle in front is greater than 0, the distance between the vehicle and the vehicle in front is detected. When this distance is less than a certain value, and the vehicle's speed is greater than a set threshold, and the vehicle in front has not changed direction and there is a vehicle in front, the automatic cruise control is in active mode. When, based on road signs, it is determined that the vehicle is in a road segment where lane changing is permissible, the current vehicle sends out an automatic lane changing trigger signal and starts a countdown. When the countdown ends, the automatic lane changing trigger signal is stopped, and the automatic lane changing assist function is activated, and the current vehicle performs the lane change.

[0063] Example 3

[0064] Please see Figure 4 As shown, the present invention also provides an electronic device 100 for an automatic lane changing method for vehicles; the electronic device 100 includes a memory 101, at least one processor 102, a computer program 103 stored in the memory 101 and executable on the at least one processor 102, and at least one communication bus 104.

[0065] The memory 101 can be used to store the computer program 103. The processor 102 implements the steps of the automatic lane-changing method for vehicles described in Embodiment 1 by running or executing the computer program stored in the memory 101 and calling the data stored in the memory 101. The memory 101 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, at least one application program required for a function (such as sound playback function, image playback function, etc.), etc.; the data storage area may store data created according to the use of the electronic device 100 (such as audio data), etc. In addition, the memory 101 may include non-volatile memory, such as hard disk, memory, plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, at least one disk storage device, flash memory device, or other non-volatile solid-state storage device.

[0066] The at least one processor 102 may be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The processor 102 may be a microprocessor or any conventional processor. The processor 102 is the control center of the electronic device 100, connecting various parts of the electronic device 100 via various interfaces and lines.

[0067] The memory 101 in the electronic device 100 stores multiple instructions to implement a vehicle automatic lane changing method, and the processor 102 can execute the multiple instructions to implement:

[0068] It acquires the vehicle's own motion data, the operating information of surrounding vehicles, and road signs;

[0069] Based on the current vehicle's motion data and the surrounding vehicles' operating information, the location of the collision between the current vehicle and the vehicle in front in the current lane is obtained when the vehicle does not change lanes, and the location of the collision between the current vehicle and the vehicle in the destination lane is obtained after changing lanes.

[0070] Based on road signs, determine whether the vehicle can change lanes; if not, and if not changing lanes, control the vehicle to maintain normal speed or decelerate based on the location of the collision between the current vehicle and the vehicle in front in the current lane.

[0071] If so, the system will instruct the vehicle to change lanes based on the location of the collision with the vehicle in the destination lane, the vehicle's current motion data, and the movement information of surrounding vehicles.

[0072] Example 4

[0073] If the modules / units integrated in the electronic device 100 are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, and a read-only memory (ROM).

[0074] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0075] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0076] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0077] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0078] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for automatic lane changing for vehicles, characterized in that, Includes the following steps: It acquires the vehicle's own motion data, the operating information of surrounding vehicles, and road signs; Based on the current vehicle's motion data and the surrounding vehicles' operating information, the location of the collision between the current vehicle and the vehicle in front in the current lane is obtained when the vehicle does not change lanes, and the location of the collision between the current vehicle and the vehicle in the destination lane is obtained after changing lanes. Based on road signs, determine whether the vehicle can change lanes on the road section where it is located; If not, when not changing lanes, based on the location where the current vehicle and the vehicle in front collide in the current lane, control the current vehicle to maintain normal speed or decelerate. If so, based on the location of the collision with the vehicle in the destination lane, as well as the current vehicle's motion data and the operating information of surrounding vehicles, the system will instruct the current vehicle whether to change lanes. The system uses the location of the collision with the vehicle in the destination lane, the current vehicle's motion data, and the operating information of surrounding vehicles to indicate whether the current vehicle should change lanes. Specifically, it obtains the speed of the vehicle in the destination lane and the distance between the current vehicle and the vehicle in the destination lane. If the current vehicle's speed is greater than the speed of the vehicle in the destination lane, and the actual distance between the current vehicle and the vehicle in the destination lane is greater than the safe distance between them, the current vehicle changes lanes, and the two vehicles will not collide. If the current vehicle's speed is less than the speed of the vehicle traveling in the destination lane, and the actual distance between the current vehicle and the vehicle traveling in the destination lane is less than the safe distance between them, then the current vehicle will not change lanes. If the current vehicle's speed is less than the speed of the vehicle traveling in the destination lane, and the actual distance between the current vehicle and the vehicle traveling in the destination lane is greater than the safe distance between them, the current vehicle needs to accelerate to avoid a collision. If the current vehicle's speed is greater than the speed of the vehicle in the destination lane, and the actual distance between the current vehicle and the vehicle in the destination lane is less than the safe distance between them, then the current vehicle will not change lanes. The method of obtaining the location where the current vehicle and the vehicle in front collide in the current lane without changing lanes specifically involves: obtaining the cruising speed of the current vehicle and the speed of the vehicle in front; when the difference between the set speed and the speed of the vehicle in front is greater than a set threshold and the speed of the vehicle in front is greater than 0, detecting the distance between the current vehicle and the vehicle in front; when the distance between the two is less than a safe distance value, obtaining the location where the current vehicle and the vehicle in front collide in the current lane. Alternatively, the method for obtaining the location where the current vehicle collides with the vehicle in front in the current lane without changing lanes specifically involves: obtaining the current vehicle's cruise speed and actual speed; when the difference between the set cruise speed and the actual speed is greater than a preset value, and the distance between the current vehicle and the vehicle in front is less than (set safety time + set advance time) * vehicle speed, obtaining the location where the current vehicle collides with the vehicle in front in the current lane; wherein, the set safety time is the automatic cruise time set by the current vehicle; and the set advance time is the time set by the current vehicle for changing lanes.

2. The automatic lane-changing method for vehicles according to claim 1, characterized in that, The method of obtaining the location where the current vehicle and the vehicle in front collide in the current lane without changing lanes also includes: detecting that the vehicle in front has not changed and that the automatic cruise control of the vehicle in front is in active mode.

3. The automatic lane-changing method for vehicles according to claim 1, characterized in that, When the road signs indicate that the vehicle is in a road section where lane changing is permitted, the vehicle sends out an automatic lane change trigger signal and starts a countdown. When the countdown ends, the automatic lane change signal is stopped, and the vehicle's automatic lane change assist function is activated, allowing the vehicle to change lanes.

4. The automatic lane-changing method for vehicles according to claim 1, characterized in that, The vehicle's own motion data, the operating information of surrounding vehicles, and road signs are acquired through the vehicle's own speed sensors, cameras, and millimeter-wave radar.

5. An automatic lane-changing system for vehicles, characterized in that, The automatic lane-changing method for vehicles according to any one of claims 1 to 4 includes: An initial information acquisition module is used to acquire the vehicle's own motion data, the operating information of surrounding vehicles, and road signs; The collision location acquisition module is used to acquire the location where the current vehicle collides with the vehicle in front in the current lane without changing lanes, and the location where the vehicle collides with the vehicle in the destination lane after changing lanes, based on the current vehicle's motion data and the surrounding vehicles' operation information. The judgment module is used to determine whether the vehicle can change lanes based on road signs; if not, when not changing lanes, the current vehicle is controlled to maintain normal speed or decelerate based on the location of the collision between the current vehicle and the vehicle in front in the current lane. The indicator module is used to indicate whether the current vehicle should change lanes based on the location of the collision with the vehicle in the destination lane, the current vehicle's motion data, and the operating information of surrounding vehicles.

6. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the automatic lane-changing method for vehicles as described in any one of claims 1-4.

7. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the automatic lane-changing method for vehicles as described in any one of claims 1-4.

Images