Vehicle lane changing method and device, electronic equipment and readable storage medium

Abstract

The invention relates to the technical field of automatic driving, and provides a vehicle lane changing method and device, electronic equipment and a readable storage medium. The method comprises the following steps: determining a lane changing conflict position corresponding to each adjacent lane in all adjacent lanes of a vehicle under the condition of determining that the vehicle generates a lane changing intention; determining a target lane from the adjacent lanes according to the lane changing conflict positions corresponding to the adjacent lanes; determining the corresponding safety degree and comfort degree when the own vehicle and the target vehicle adopt different driving strategies in each preset duration; and based on the safety degree and the comfort degree, determining a target driving strategy of the own vehicle and the target vehicle, and controlling the own vehicle to drive according to the corresponding target driving strategy within a preset duration until the own vehicle or the target vehicle passes through the lane changing conflict position. By comprehensively considering the traffic flows of the current lane, the target lane and the non-target lane, the own vehicle can make an optimal decision according to the global traffic state.

Description

Technical Field

[0001] The present application relates to the field of vehicle driving technology, and in particular to a vehicle lane changing method, device, electronic device and readable storage medium. Background Art

[0002] With the continuous development of autonomous driving technology, the lane changing process in autonomous driving or intelligent assisted driving has received more attention. Automatic lane changing requires the vehicle to autonomously select the driving lane on the road and perform lane change operations. Appropriate lane changing decisions can better complete driving tasks, avoid traffic congestion, improve traffic efficiency, avoid traffic accidents, and ensure road safety.

[0003] Traditional smart car lane-changing algorithms may be applicable under simple traffic conditions, but they are insufficient in multi-lane or complex traffic environments. They are unable to cope with complex traffic conditions in real scenarios and cannot effectively avoid traffic bottlenecks and congestion. Summary of the invention

[0004] In view of this, the embodiments of the present application provide a vehicle lane changing method, device, electronic device and readable storage medium to solve the problem in the prior art that vehicle lane changing is difficult to cope with complex traffic conditions in real scenarios and cannot effectively avoid traffic congestion.

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

[0006] When it is determined that the own vehicle intends to change lanes, the lane change conflict position corresponding to each adjacent lane of all adjacent lanes of the own vehicle is determined, and the lane change conflict position is the intersection point of the own vehicle and the lane line passed during the lane change process;

[0007] Determine the target lane from each adjacent lane according to the lane change conflict position corresponding to each adjacent lane;

[0008] Determine the safety and comfort levels of the ego vehicle and the target vehicle when different driving strategies are adopted within each preset time period, where the target vehicle is the vehicle behind the ego vehicle in the target lane and has the smallest distance from the ego vehicle. The driving strategies include accelerating, decelerating and driving at a constant speed.

[0009] Based on safety and comfort, the target driving strategies corresponding to the own vehicle and the target vehicle within each preset time period are determined, and the own vehicle is controlled to drive with the corresponding target driving strategies within the preset time period until any of the own vehicle and the target vehicle passes the lane change conflict position corresponding to the target lane.

[0010] In a second aspect of the present application, a vehicle lane changing device is provided, comprising:

[0011] a conflict position determination module, configured to determine, when determining that the own vehicle has an intention to change lanes, a lane change conflict position corresponding to each adjacent lane of all adjacent lanes of the own vehicle, wherein the lane change conflict position is an intersection point between the own vehicle and the lane line passed during the lane change process;

[0012] A lane determination module is configured to determine a target lane from each adjacent lane according to a lane change conflict position corresponding to each adjacent lane;

[0013] The benefit determination module is configured to determine the safety and comfort levels corresponding to the own vehicle and the target vehicle when different driving strategies are adopted within each preset time period, wherein the target vehicle is a vehicle located behind the own vehicle in the target lane and has the smallest distance from the own vehicle, and the driving strategies include accelerating driving, decelerating driving and driving at a constant speed;

[0014] The lane change control module is configured to determine the target driving strategies corresponding to the own vehicle and the target vehicle within each preset time period based on safety and comfort, and control the own vehicle to drive with the corresponding target driving strategies within the preset time period until any of the own vehicle and the target vehicle passes the lane change conflict position corresponding to the target lane.

[0015] According to a third aspect of the present application, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above method when executing the computer program.

[0016] According to a fourth aspect of the present application, a readable storage medium is provided, which stores a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0017] Compared with the prior art, the embodiments of the present application have the following beneficial effects: when it is determined that the own vehicle has the intention to change lanes, the intersection points of the own vehicle with each adjacent lane line during the lane change process, that is, the lane change conflict positions corresponding to each adjacent lane in all adjacent lanes of the own vehicle, are calculated; according to the lane change conflict positions corresponding to each adjacent lane, a target lane is determined from each adjacent lane; the safety and comfort levels corresponding to the own vehicle and the target vehicle when different driving strategies are adopted within each preset time period are determined, and based on the safety and comfort levels, the target driving strategies corresponding to the own vehicle and the target vehicle within each preset time period are determined, and the own vehicle is controlled to drive with the corresponding target driving strategies within the preset time period until any of the own vehicle and the target vehicle passes through the lane change conflict position corresponding to the target lane. The present application comprehensively considers the traffic flow of all lanes in the current traffic scene by determining the lane change conflict position corresponding to each adjacent lane of all adjacent lanes of the own vehicle, so that the own vehicle can make the best decision according to the global traffic status and with reference to comfort and safety, effectively avoiding traffic congestion during the lane change process, thereby improving overall traffic efficiency, and solving the problem that the vehicle lane change method in the prior art only considers the game between the own vehicle and the vehicle in the target lane, is difficult to cope with complex traffic conditions in real scenes, and cannot effectively avoid traffic congestion. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 It is a flowchart of a vehicle lane changing method provided in an embodiment of the present application;

[0020] Figure 2 is a schematic diagram of a vehicle driving scenario in an embodiment of the present application;

[0021] Figure 3 is a schematic diagram of a lane change conflict position in an embodiment of the present application;

[0022] Figure 4 is a structural schematic diagram of a vehicle lane changing device provided in an embodiment of the present application;

[0023] Figure 5 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0024] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0025] In related technologies, traditional smart car lane-changing algorithms are often controlled for two-lane and urban roads, and only consider the game between the vehicle itself and the vehicle in the lane change lane, ignoring the impact of vehicles in other lanes. Since only local traffic information is considered, it is impossible to accurately reflect complex traffic interactions in practical applications, especially under multi-lane and high-density traffic conditions, which makes it difficult for traditional smart car lane-changing algorithms to cope with complex traffic conditions in real scenes and effectively avoid traffic bottlenecks and congestion.

[0026] In response to the above problems, the solution provided by the present application evaluates the lane change safety of different lanes by calculating the lane change conflict positions corresponding to each adjacent lane, and selects the safest target lane from them. It not only pays attention to the current lane and the target lane, but also considers the information of all adjacent lanes, thereby improving the flexibility and adaptability of lane change decisions, and making lane change decisions based on the global traffic status; after determining the target lane, the safety and comfort of the own vehicle and the target vehicle under different driving strategies are calculated, the safety and comfort of different strategies are evaluated, and the benefit values ​​of different strategies are calculated. According to the calculated safety and comfort corresponding to different driving strategies, the optimal driving strategy of the own vehicle and the target vehicle within each preset time length is determined, and the own vehicle is controlled to drive according to the determined optimal driving strategy until it passes the lane change conflict position, thereby allowing the vehicle to dynamically adjust the driving strategy according to the real-time traffic conditions instead of a fixed strategy, thereby improving the flexibility and safety of the lane change process. This solution enables the vehicle itself to make the best decision based on the global traffic status, effectively avoiding traffic congestion during lane changing, thereby improving overall traffic efficiency and solving the problem that the vehicle lane changing in the prior art only considers the game between the vehicle itself and the vehicle in the target lane, which is difficult to cope with complex traffic conditions in real scenes and cannot effectively avoid traffic congestion. It also calculates the safety and comfort under different driving strategies, conducts game analysis in multiple dimensions, and more intelligently selects the optimal driving strategy by comprehensively considering safety and comfort, thereby reducing the risk of traffic accidents and improving traffic flow and overall road use efficiency.

[0027] A vehicle lane changing method and device according to an embodiment of the present application will be described in detail below with reference to the accompanying drawings.

[0028] Figure 1is a flow chart of a vehicle lane changing method provided in an embodiment of the present application. Figure 1 As shown, the vehicle lane changing method includes:

[0029] Step 101, when it is determined that the own vehicle has an intention to change lanes, determine the lane change conflict position corresponding to each adjacent lane of all adjacent lanes of the own vehicle, and the lane change conflict position is the intersection point of the own vehicle and the lane line passed during the lane change process.

[0030] Specifically, sensors and intelligent traffic systems can be used to obtain traffic information, including vehicle speed, lane status, etc., and the traffic information can be used to determine whether the vehicle has the intention to change lanes.

[0031] The lane change conflict position is the potential conflict point between the lane where the vehicle is located and the adjacent lane, that is, the intersection point between the vehicle and the lane line passed by during the lane change process. The lane line passed by is the common lane line between the vehicle's lane and the adjacent lane; for example, if the vehicle changes lanes from its lane to the left lane, the lane change conflict position is the intersection point between the vehicle's lane and the common lane line between the vehicle's lane and the left lane during the lane change process.

[0032] By determining the lane change conflict position corresponding to each adjacent lane of all adjacent lanes of the own vehicle, the own vehicle can evaluate the lane change safety of each adjacent lane and ensure that the subsequent lane change operation is feasible in time and space. In addition, by determining the lane change conflict position corresponding to each adjacent lane of all adjacent lanes of the own vehicle, it can provide a basis for subsequent decision-making, helping the own vehicle decide when to change lanes, how to change lanes, and which lane to change to.

[0033] In this way, by comprehensively considering the traffic conditions of all adjacent lanes, the vehicle can make decisions based on the global traffic conditions during the lane change process, rather than relying solely on local information, making it possible to more comprehensively evaluate the safety and feasibility of various lane change decisions.

[0034] Step 102: determining a target lane from the adjacent lanes according to the lane change conflict positions corresponding to the adjacent lanes.

[0035] Specifically, since the lane change conflict position is the intersection of the own vehicle and the lane line passed during the lane change process, that is, the lane change conflict position can reflect the distance between the own vehicle and the lane change conflict position, as well as the distance between the vehicle in the adjacent lane corresponding to the lane line and the lane change conflict position, the safety of the own vehicle passing through the lane change conflict position can be evaluated through the lane change conflict position, so that through the lane change conflict positions corresponding to each adjacent lane, a lane with high safety can be selected from all adjacent lanes as the target lane to be changed.

[0036] In this way, the target lane to be changed is determined according to the lane change conflict positions corresponding to each adjacent lane, realizing lane selection based on the global traffic status, effectively reducing the risk of traffic accidents and ensuring the safety of lane changes.

[0037] Step 103, determining the safety and comfort levels corresponding to the own vehicle and the target vehicle when different driving strategies are adopted within each preset time period, wherein the target vehicle is the vehicle located behind the own vehicle in the target lane and has the smallest distance from the own vehicle, and the driving strategies include accelerating, decelerating and driving at a constant speed.

[0038] Specifically, after determining the target lane, the vehicle determines the safety and comfort at this time based on the status information of the vehicle and the target vehicle, and makes decisions among various driving strategies such as accelerating to grab the lane, driving at a constant speed, and decelerating to avoid the lane. The deceleration corresponding to deceleration driving may include -3.0, -2.8, -2.6, -2.4, -2.2...-0.2, etc. The acceleration when driving at a constant speed is 0, and the acceleration corresponding to acceleration driving may include 3.0, 2.8, 2.6, 2.4, 2.2...0.2, etc., which are not specifically limited here.

[0039] Among them, the target vehicle is the vehicle located behind the own vehicle in the target lane and at the shortest distance from the own vehicle, that is, the vehicle in the target lane that is to pass the lane change conflict position corresponding to the target lane and is closest to the lane change conflict position.

[0040] Specifically, the preset duration is obtained by pre-dividing the time before any of the own vehicle and the target vehicle passes the lane change conflict position corresponding to the target lane, wherein each preset duration is a game cycle between the own vehicle and the target vehicle. As an example, the preset duration can be set to 1s, 2s, etc., which is not limited here. However, if the accuracy of the decision needs to be increased, the value of the preset duration can be set to a smaller value, and if the workload of the decision needs to be reduced, the value of the preset duration can be set to a larger value.

[0041] Safety refers to the ability of a vehicle to avoid collision or other dangerous situations under a given driving strategy. It is used to indicate the safety levels corresponding to different driving strategies adopted by the own vehicle and the target vehicle. Specifically, the smaller the time difference between the own vehicle and the target vehicle at their respective speeds to the lane change conflict position, the smaller the corresponding safety level. Safety includes the safety level corresponding to the own vehicle and the safety level corresponding to the target vehicle when the own vehicle selects any of the driving strategies of accelerating, decelerating and driving at a constant speed and when the target vehicle selects any of the driving strategies of accelerating, decelerating and driving at a constant speed. To illustrate this, safety includes the safety level corresponding to when the own vehicle selects accelerating and the target vehicle selects accelerating, the safety level corresponding to when the own vehicle selects accelerating and the target vehicle selects decelerating, the safety level corresponding to when the own vehicle selects accelerating and the target vehicle selects driving at a constant speed, etc.

[0042] Comfort is used to indicate the comfort level of the own vehicle and the target vehicle when they adopt different driving strategies. It can measure the stability of the vehicle during driving. The greater the degree of change of acceleration and deceleration, the worse the comfort and the smaller the corresponding comfort. Comfort includes the comfort level of the own vehicle and the comfort level of the target vehicle when the own vehicle chooses any of the driving strategies of acceleration, deceleration and constant speed driving and the target vehicle chooses any of the driving strategies of acceleration, deceleration and constant speed driving. To illustrate this, the comfort level includes the comfort level of the own vehicle when it chooses acceleration, the comfort level of the own vehicle when it chooses constant speed driving, the comfort level of the own vehicle when it chooses deceleration, the comfort level of the target vehicle when it chooses deceleration, the comfort level of the target vehicle when it chooses acceleration, and the comfort level of the target vehicle when it chooses constant speed driving.

[0043] By calculating the safety under different driving strategies, the potential risk of each driving strategy can be evaluated, which helps to select a strategy with low risk for execution; by calculating the comfort under different driving strategies, it can be ensured that the vehicle will not bring about excessive acceleration or deceleration changes during lane changes, and the riding experience of each driving strategy can be evaluated. According to this indicator, the speed of the own vehicle can be changed smoothly; by combining safety and comfort, the own vehicle can more intelligently select the optimal driving strategy to cope with complex traffic conditions.

[0044] Step 104, based on the safety and comfort levels, determine the target driving strategies corresponding to the own vehicle and the target vehicle in each preset time period, and control the own vehicle to drive with the corresponding target driving strategies in the preset time period until any of the own vehicle and the target vehicle passes the lane change conflict position corresponding to the target lane.

[0045] Specifically, each game cycle corresponding to a preset duration is a game round. Before any of the own vehicle and the target vehicle passes through the lane change conflict position corresponding to the target lane, the entire lane change process can be regarded as a repeated game consisting of multiple rounds. Among them, in each game round, the quality of different driving strategy combinations is evaluated from the two perspectives of traffic safety (safety) and traffic comfort (comfort), so as to select the optimal driving strategy and form a Nash equilibrium state. After the first decision is completed, the own vehicle continues to make a second decision based on the driving status of the other party and its own driving status. This process is repeated until one vehicle successfully passes the lane change conflict position, at which time the conflict relationship ends.

[0046] According to the technical solution provided in the embodiment of the present application, the target lane to be changed is first determined, and then based on safety and comfort, the target driving strategy is determined in each game round corresponding to the preset duration, thereby realizing lane change decision analysis for multi-lane and multi-vehicle intersection scenarios, so that vehicles can make optimal decisions based on global traffic conditions and individual preferences, effectively avoiding traffic bottlenecks and congestion during lane changing, and having certain adaptability and flexibility, and being able to dynamically adjust decision-making strategies according to real-time traffic conditions, vehicle status and vehicle preferences in different traffic scenarios, so as to maintain optimal traffic fluidity and road utilization.

[0047] In some embodiments, determining that the vehicle has an intention to change lanes includes:

[0048] Obtaining a first distance between the own vehicle and a first vehicle and a travel speed of the first vehicle, where the first vehicle is an adjacent vehicle located in front of the own vehicle in a lane where the own vehicle is located;

[0049] Determining a distance difference between a first distance and a second distance, the second distance being a product of a travel speed of the first vehicle and a preset coefficient;

[0050] When the distance difference is greater than a preset distance, it is determined that the host vehicle has an intention to change lanes.

[0051] Specifically, the first vehicle is in the same lane as the own vehicle and is the first vehicle in front of the own vehicle. Figure 2 As shown, assuming that the lanes include lane 1, lane 2 and lane 3, the vehicle CAV ego and vehicle CAR F2 Driving in lane 2, vehicle CAR R1 and vehicle CAR F1 Driving in lane 1, vehicle CAR R3 and vehicle CAR F3 Driving in lane 3, assuming the vehicle is a CAV ego , then the vehicle CAR D2 For the first vehicle.

[0052] The first distance is specifically the distance between the front of the own vehicle and the rear of the first vehicle, which can be measured by vehicle-mounted sensors (such as radar, lidar or camera), and the driving speed of the first vehicle can be obtained by vehicle-mounted sensors or vehicle communication systems (such as vehicle networking).

[0053] The first distance and the driving speed of the first vehicle are basic information for determining whether the own vehicle needs to change lanes. Knowing the distance between the own vehicle and the vehicle in front and the speed of the vehicle in front helps to evaluate the safety and traffic efficiency of the current lane.

[0054] The second distance is calculated by multiplying the speed of the first vehicle by a preset coefficient. The preset coefficient may be an empirical value or a value set according to safety standards, and the unit of the preset coefficient may be a time unit, which is used to convert the speed into the distance that the first vehicle can travel within the time corresponding to the preset coefficient. At this time, the greater the speed of the first vehicle, the greater the distance that the first vehicle can travel within the time corresponding to the preset coefficient, the higher the tolerance of the own vehicle to the current lane, and the less it needs to change lanes; the lower the speed of the first vehicle, the smaller the distance that the first vehicle can travel within the time corresponding to the preset coefficient, the lower the tolerance of the own vehicle to the current lane, and the more it needs to change lanes. Based on this, by calculating the distance difference between the first distance and the second distance, it is evaluated whether the speed of the vehicle in front is within an acceptable range. If the distance difference is greater than the preset distance, it means that the speed of the vehicle in front is not within an acceptable range, and the own vehicle has the intention to change lanes. The preset distance is a threshold set according to factors such as road conditions, traffic flow, and vehicle type.

[0055] Specifically, the above process of determining the lane change intention can be calculated by the following formula: r =L FV -v FV ·T s ;

[0056] Among them, L FV represents the first distance, v FV represents the speed of the first vehicle, T s Indicates the preset coefficient, which can be 2s. Assuming the preset distance is 6 meters, when F r When the value is greater than 6, the vehicle will have the intention to change lanes.

[0057] By acquiring and analyzing the distance between the own vehicle and the first vehicle and the speed information of the first vehicle in real time, it is determined whether the driving speed of the first vehicle in front of the own vehicle is within an acceptable range, thereby realizing the automatic determination process of the lane change intention.

[0058] In some embodiments, determining a lane change conflict position corresponding to each adjacent lane in all adjacent lanes of the host vehicle includes:

[0059] Obtain the current location information and current driving speed of the vehicle;

[0060] Generate a lane change trajectory corresponding to each adjacent lane according to the current position of the own vehicle, the current speed of the own vehicle and the preset time required to complete the lane change;

[0061] The intersection point of each lane change trajectory and the adjacent lane is determined as the lane change conflict position corresponding to the adjacent lane.

[0062] Specifically, the current position information of the own vehicle can be used to determine the exact position of the own vehicle on the road in order to plan a lane change path, and the current driving speed of the own vehicle can affect the time required for lane change and the planning of the lane change path.

[0063] The lane change completion time is the time required for the vehicle to change lanes from its current position to the middle position in another lane.

[0064] Based on the current position of the own vehicle, the current speed of the own vehicle and the preset time required to complete the lane change, when generating the lane change trajectory corresponding to each adjacent lane, a cubic polynomial curve can be used to calculate and simulate the possible lane change path trajectory to generate the lane change trajectory corresponding to each adjacent lane. The cubic polynomial is as follows:

[0065]

[0066] x(t) and y(t) are the longitudinal and lateral positions of the vehicle over time t; a k and b k are the cubic polynomial coefficients of the longitudinal and lateral positions respectively; t0 is the time when the vehicle starts to change lanes. According to the cubic polynomial curve theory, it can be known that the unique lane change curve can be determined by determining the time required to complete the lane change, thereby generating the corresponding lane change trajectory when changing lanes to each adjacent lane.

[0067] After determining the lane change trajectory, the intersection of each lane change trajectory and the adjacent lane can be determined as the lane change conflict position corresponding to the adjacent lane. Specifically, when determining the intersection of the lane change trajectory and the adjacent lane, a coordinate system can be established with the own vehicle as the origin, and the distance between the lane line corresponding to the adjacent lane and the vehicle's driving direction can be determined as the longitudinal displacement value, and the longitudinal displacement value is substituted into the lane change trajectory corresponding to the adjacent lane to determine the lateral displacement value, and the point corresponding to the longitudinal displacement value and the lateral displacement value is determined as the intersection point.

[0068] For example, as an example, Figure 3As shown, the vehicle CAV ego Taking the lane change from lane 2 to lane 1 as an example, after determining the lane change trajectory corresponding to lane 1, it can be seen that the lane change conflict position corresponding to lane 1 is the intersection point P of the lane change trajectory and lane 1. When calculating the coordinates of point P, the ordinate of point P can be determined in advance. Generally, the ordinate of point P is half the lane width, that is, 0.5D, where D is the lane width, which is generally 3.5m. Then, 0.5D is substituted into the lane change trajectory to obtain the abscissa L of point P, and then the coordinates of point P are obtained, thereby determining the lane change conflict position corresponding to each adjacent lane in all adjacent lanes of the own vehicle.

[0069] In this way, this embodiment generates lane change trajectories corresponding to each adjacent lane by acquiring real-time vehicle data and determining potential lane change conflict locations, thereby effectively solving the limitations of traditional intelligent vehicle lane changing algorithms in dealing with complex traffic conditions and improving the adaptability and safety of vehicles in real traffic environments.

[0070] In some embodiments, determining a target lane from each adjacent lane according to a lane change conflict position corresponding to each adjacent lane includes:

[0071] Determine a first conflict time when a second vehicle in each adjacent lane reaches a lane change conflict position, and determine a second conflict time when the own vehicle reaches the lane change conflict position; wherein the second vehicle is a vehicle in each adjacent lane that is located behind the own vehicle and has the shortest distance from the own vehicle;

[0072] Determine the absolute value of the difference between the first conflict time and the second conflict time corresponding to each adjacent lane;

[0073] The adjacent lane corresponding to the largest absolute value among all the absolute values ​​is determined as the target lane.

[0074] It should be noted that if Figure 2 As shown, the vehicle CAV ego Driving in lane 2, the CAV ego There are three driving strategies: left lane change (changing to lane 1), right lane change (changing to lane 3), and following the vehicle in front (continuing to drive in lane 2). ego and the car in front of the current lane CAR F2 The game between the two, when it is determined that the vehicle has the intention to change lanes, for the vehicle lane change behavior, taking the left lane change as an example, the vehicle CAV ego CAR with the vehicle ahead F2 and the vehicle CAR in the adjacent lane F3 , CAR F1 , CAR R1 , CAR R3In the actual traffic environment, the vehicle CAV ego The behavior of the vehicle in front has little impact on the vehicle in front, mainly the vehicle CAR located behind the vehicle in the adjacent lane R1 , CAR R3 CAV ego Therefore, in order to improve the calculation efficiency, this embodiment only considers the game between the own vehicle and the vehicle behind the adjacent lane for the lane changing behavior.

[0075] Own vehicle CAV ego When the intention to change lanes is generated, the behavior decision is mainly related to the following vehicle. R1 The driving style of CAR is more aggressive. R3 If the driving style is conservative, then CAV ego Prefer to change lanes right; CAV ego If the driving style of the following vehicles is more aggressive, CAV ego It is more inclined to cancel the lane change and continue driving in the original lane; if the driving style of the following vehicles is relatively conservative, CAV ego A safer and more efficient lane will be selected as the target lane for lane change.

[0076] Based on the above principle, for each adjacent lane, the time for the second vehicle in the lane to reach the lane change conflict position (first conflict time) and the time for the own vehicle to reach the same conflict position (second conflict time) are calculated. The second vehicle is the vehicle behind the own vehicle in each adjacent lane and with the smallest distance from the own vehicle. As an example, refer to Figure 2 , assuming that the vehicle is a CAV in lane 2 ego , then in the adjacent lane 1 of the own vehicle's lane 1, the second vehicle is CAR R1 , in the adjacent lane 3 of the own vehicle's lane 1, the second vehicle is CAR R3 .

[0077] In addition, when calculating the first conflict time and the second conflict time, the second vehicle CAR in each adjacent lane can be obtained by sensors, etc. R1 and CAR R3 The first conflict time T of the second vehicle arriving at the lane change conflict position corresponding to each adjacent lane is calculated according to the speed and position information of the second vehicle in each adjacent lane and the lane change conflict position corresponding to each adjacent lane. R , that is, vehicle CAR R1 The first conflict time T when arriving at the lane change conflict position corresponding to lane 1 R1 , and the vehicle CAR R3 The first conflict time T when reaching the lane change conflict position corresponding to lane 3R3 According to CAV ego The speed, position information and the lane change conflict positions corresponding to each adjacent lane (lane 1 and lane 3) are used to calculate the CAV ego The second conflict time T at which the lane change conflict position corresponding to each adjacent lane is reached ego ; Then calculate the absolute value of the difference between the first conflict time and the second conflict time corresponding to each adjacent lane, that is, Δt1 = |T ego -T R1 |, Δt2=|T ego -T R3 |; The target lane is then determined as follows:

[0078]

[0079] That is, the absolute values ​​of the differences corresponding to all adjacent lanes are compared, and the adjacent lane corresponding to the largest absolute value is selected as the target lane. A larger absolute value of the time difference indicates that the possibility of the own vehicle and the second vehicle meeting at the same conflict position is smaller, thereby reducing the conflict risk during the lane change process.

[0080] By introducing the comparison of time differences, not only the traffic conditions of the current lane and the target lane are taken into account, but also the influence of other adjacent lanes. By comparing the time difference between vehicles in different lanes arriving at the conflict position, the risk and safety of lane change can be more comprehensively evaluated, thereby selecting an optimal lane, thereby improving the vehicle's adaptability and decision-making ability in complex traffic environments.

[0081] In some embodiments, determining the safety levels corresponding to the own vehicle and the target vehicle when different driving strategies are adopted within each preset time period includes:

[0082] For the i-th preset duration, according to the first distance between the own vehicle and the lane change conflict position at the beginning of the i-th preset duration and the driving speed of the own vehicle at the beginning of the i-th preset duration, determine the first time when the own vehicle reaches the lane change conflict position when adopting different driving strategies;

[0083] Determining a second time for the target vehicle to reach the lane change conflict position when using different driving strategies according to a second distance between the target vehicle and the lane change conflict position at the beginning of the i-th preset time period;

[0084] Determine the absolute value of the time difference between the first time corresponding to any driving strategy and the second time corresponding to any driving strategy, and determine the absolute value of all time differences as the safety degree corresponding to different driving strategy combinations of the own vehicle and the target vehicle within the i-th preset time period, where the driving strategy combination is the driving strategy adopted by the own vehicle and the driving strategy adopted by the target vehicle, where i is greater than or equal to 1.

[0085] Specifically, the driving strategy combination includes the driving strategy of the own vehicle and the driving strategy of the target vehicle. For example, the driving strategy combination (3.0, -3.0) indicates that the driving strategy of the own vehicle within the preset time length is acceleration 3.0, and the driving strategy of the target vehicle within the preset time length is deceleration -3.0.

[0086] For each driving strategy combination corresponding to the own vehicle and the target vehicle, at the i-th preset time, according to the first distance between the own vehicle and the lane change conflict position at the beginning of the i-th preset time and the driving speed of the own vehicle at the beginning of the i-th preset time, determine the first time for the own vehicle to reach the lane change conflict position when the own vehicle adopts the own vehicle driving strategy in the driving strategy combination

[0087] For each driving strategy combination corresponding to the own vehicle and the target vehicle, at the i-th preset time length, according to the second distance between the target vehicle and the lane change conflict position at the beginning of the i-th preset time length and the driving speed of the target vehicle at the beginning of the i-th preset time length, determine the second time for the target vehicle to reach the lane change conflict position when adopting the target vehicle driving strategy in the driving strategy combination

[0088] Calculate the first time when the ego vehicle reaches the lane change conflict position when using the ego vehicle driving strategy in the driving strategy combination The second time when the target vehicle reaches the lane change conflict position when using the target vehicle's driving strategy The absolute value of And the absolute value of the time difference Determine the safety degree U corresponding to the driving strategy combination adopted by the own vehicle and the target vehicle within the i-th preset time s ,Right now

[0089]

[0090] The larger the absolute value of the time difference, the greater the time difference between the two vehicles reaching the lane change conflict position, the smaller the possibility of conflict, and therefore the higher the safety level. Conversely, a smaller time difference indicates a higher encounter risk, that is, a lower safety level.

[0091] By determining the safety of the own vehicle and the target vehicle when adopting different driving strategies within different preset time periods, the own vehicle can more intelligently choose the safest driving strategy during lane change, thereby reducing the risk of traffic accidents.

[0092] In some embodiments, determining the comfort levels corresponding to the own vehicle and the target vehicle when different driving strategies are adopted within each preset time period includes:

[0093] For any vehicle among the own vehicle and the target vehicle, determine the acceleration difference between the acceleration corresponding to the different driving strategies adopted by the vehicle at the i-th preset time and the acceleration adopted at the i-1-th preset time;

[0094] Determining the inverse of an acceleration ratio between the acceleration difference and a preset acceleration value, wherein the preset acceleration value is the difference between a maximum acceleration and a maximum deceleration that the vehicle can adopt;

[0095] The opposite of the acceleration ratio corresponding to different driving strategies is determined as the comfort level corresponding to the different driving strategies of the vehicle within the i-th preset time period, where i is greater than or equal to 1.

[0096] Specifically, for each driving strategy combination corresponding to the own vehicle and the target vehicle, at the i-th preset time, for any vehicle among the own vehicle and the target vehicle, determine the acceleration corresponding to the different driving strategies adopted by the vehicle at the i-th preset time. The acceleration has been adopted with the i-1th preset duration The acceleration difference between By calculating the change in vehicle acceleration under different driving strategies, the dynamic changes in the vehicle's driving state can be reflected.

[0097] Determine the inverse of the acceleration ratio between the acceleration difference and the preset acceleration value, where the preset acceleration value is the maximum acceleration a that the vehicle can adopt. max With the maximum deceleration a min By calculating the acceleration ratio and taking its opposite, we can get a negative value indicator reflecting the drastic degree of acceleration change, that is, The larger the negative value of the indicator is (that is, the closer the negative value is to 0), the smoother the acceleration change is (that is, the smaller it is), and the higher the driving comfort is (the negative value is only used for comparison and does not directly represent the comfort. It is a quantitative representation of comfort, and the comfort increases as the negative value increases).

[0098] The opposite of the acceleration ratio corresponding to different driving strategies is determined as the comfort level of the vehicle corresponding to different driving strategies within the i-th preset time period, which provides a solution for quantitatively evaluating the comfort level of different driving strategies for the vehicle, helps to compare and select different driving strategies in the future, and helps the vehicle to evaluate the comfort level within different preset time periods based on the real-time traffic environment, road conditions and its own driving status, and dynamically adjust the driving strategy according to the real-time traffic conditions, which helps to select a comfortable driving strategy during the lane change process, reduce unnecessary acceleration and deceleration operations, and improve the lane change efficiency.

[0099] In some embodiments, based on the safety and comfort levels, the target driving strategies corresponding to the own vehicle and the target vehicle in each preset time period are determined, including:

[0100] For any vehicle among the own vehicle and the target vehicle, the safety and comfort corresponding to the same driving strategy of the vehicles are weighted summed to obtain the benefit value corresponding to the vehicle under the driving strategy;

[0101] According to the benefit values ​​corresponding to the own vehicle under different driving strategies and the benefit values ​​corresponding to the target vehicle under different driving strategies, the target driving strategies corresponding to the own vehicle and the target vehicle in each preset time period are determined.

[0102] Specifically, when determining the target driving strategies corresponding to the own vehicle and the target vehicle in each preset time period, in the above-mentioned dynamic interaction between the own vehicle and the target vehicle, each preset time period can be regarded as a game round, and the entire lane change process can be regarded as a repeated game consisting of multiple rounds. In order to find the optimal strategy in the game corresponding to each preset time period, a game profit function is designed, which can evaluate the quality of different driving strategy combinations from the two perspectives of traffic safety (safety) and traffic comfort (comfort). And when the first decision is completed, the own vehicle continues to make a second decision based on the driving status of the other party and its own driving status, and repeats this process until one vehicle successfully passes the conflict point, at which time the conflict relationship ends.

[0103] When calculating the benefit value of the own vehicle under different driving strategies, the safety and comfort corresponding to each driving strategy of the own vehicle are weighted and summed to obtain the benefit value corresponding to each driving strategy of the own vehicle; correspondingly, when calculating the benefit value of the target vehicle under different driving strategies, the safety and comfort corresponding to each driving strategy of the target vehicle are weighted and summed to obtain the benefit value corresponding to each driving strategy of the target vehicle. For example, the safety and comfort corresponding to the acceleration driving strategy of the own vehicle are weighted and summed to obtain the benefit value corresponding to the acceleration driving strategy of the own vehicle; the safety and comfort corresponding to the deceleration driving strategy of the own vehicle are weighted and summed to obtain the benefit value corresponding to the deceleration driving strategy of the own vehicle; the safety and comfort corresponding to the uniform speed driving strategy of the own vehicle are weighted and summed to obtain the benefit value corresponding to the uniform speed driving strategy of the own vehicle. By analogy, the benefit values ​​corresponding to the target vehicle under the acceleration driving strategy, the deceleration driving strategy and the uniform speed driving strategy are obtained respectively.

[0104] The benefit value can be calculated by referring to the following formula: U = αU a +βU s , α+β=1, where U is the benefit value, U s For safety, U ais comfort, α and β are weight factors used to balance the importance of safety and comfort. In order to comprehensively consider safety and comfort, α = 0.6 and β = 0.4 are generally used. By weighted summing the above formula, the indicators of safety and comfort in two different dimensions can be combined into a comprehensive benefit value, which is convenient for subsequent comparison and selection of the optimal driving strategy.

[0105] In addition, specifically, or for each driving strategy combination corresponding to the own vehicle and the target vehicle, the benefit value of the own vehicle and the benefit value of the target vehicle when the driving strategy combination is adopted are calculated; after obtaining the benefit value of the own vehicle and the benefit value of the target vehicle corresponding to each driving strategy combination, a target driving strategy combination is selected from each driving strategy combination, and the driving strategy of the own vehicle in the target driving strategy combination is determined as the target driving strategy corresponding to the own vehicle within each preset time length, and the driving strategy of the target vehicle in the target driving strategy combination is determined as the target driving strategy corresponding to the target vehicle within each preset time length.

[0106] By converting safety and comfort into a comprehensive benefit value through weighted summation, the vehicle can consider both safety and comfort when choosing a driving strategy, avoiding the limitations of single-indicator decision-making. The driving strategy is determined according to the benefit value, so that the vehicle can improve driving comfort as much as possible while ensuring safety, thereby optimizing the entire driving process, driving more intelligently during lane changes, reducing the risk of traffic accidents, and improving traffic flow and overall road use efficiency.

[0107] In some embodiments, according to the benefit values ​​corresponding to the own vehicle under different driving strategies and the benefit values ​​corresponding to the target vehicle under different driving strategies, the target driving strategies corresponding to the own vehicle and the target vehicle in each preset time period are determined, including:

[0108] The benefit values ​​corresponding to the own vehicle under different driving strategies and the benefit values ​​corresponding to the target vehicle under different driving strategies are combined to obtain a set of benefit values ​​corresponding to different driving strategy combinations, where the driving strategy combination includes the driving strategy corresponding to the own vehicle and the driving strategy corresponding to the target vehicle;

[0109] The sum of two benefit values ​​in each benefit value set is determined, and the driving strategy combination corresponding to the benefit value set with the largest sum is determined as the target driving strategy corresponding to the own vehicle and the target vehicle respectively.

[0110] Specifically, according to the benefit value of the own vehicle and the benefit value of the target vehicle corresponding to each driving strategy combination, the benefit value sets corresponding to different driving strategy combinations can be determined, and the sum of two benefit values ​​in each benefit value set can be calculated.

[0111] For example, for the driving strategy combination (3.0, -3.0), if the benefit value of the own vehicle under acceleration 3.0 is U1, and the benefit value of the target vehicle under deceleration -3.0 is U2, then the benefit sum value U corresponding to the driving strategy combination (3.0, -3.0) is U=U1+U2.

[0112] For example, as shown in Table 1 below, there are benefit value combinations corresponding to different driving strategy combinations.

[0113] Table 1: Benefit value combinations corresponding to different driving strategy combinations

[0114]

[0115] By calculating the benefit value and value, the contribution of the overall benefit of both parties in each driving strategy combination is quantified, providing an objective basis for selecting the optimal strategy, and the driving strategy combination corresponding to the benefit value set with the largest sum value is determined as the target driving strategy corresponding to the own vehicle and the target vehicle respectively. By combining and comparing the benefit values ​​of the own vehicle and the target vehicle, while considering the driving needs of the own vehicle, the possible reactions and interests of the target vehicle are also taken into account, maximizing the overall benefit and achieving more comprehensive and intelligent decision-making.

[0116] All the above optional technical solutions can be arbitrarily combined to form optional embodiments of the present application, which will not be described one by one here.

[0117] The following are device embodiments of the present application, which can be used to execute the method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.

[0118] Figure 4 Schematic diagram of a vehicle lane changing device provided in an embodiment of the present application. Figure 4 As shown, the vehicle lane changing device includes:

[0119] The conflict position determination module 401 is configured to determine the lane change conflict position corresponding to each adjacent lane of all adjacent lanes of the own vehicle when it is determined that the own vehicle has an intention to change lanes, and the lane change conflict position is the intersection point of the own vehicle and the lane line passed by during the lane change process;

[0120] A lane determination module 402 is configured to determine a target lane from each adjacent lane according to a lane change conflict position corresponding to each adjacent lane;

[0121] The benefit determination module 403 is configured to determine the safety and comfort corresponding to the own vehicle and the target vehicle when different driving strategies are adopted within each preset time period, wherein the target vehicle is a vehicle located behind the own vehicle in the target lane and has the smallest distance from the own vehicle, and the driving strategies include accelerating driving, decelerating driving and driving at a constant speed;

[0122] The lane change control module 404 is configured to determine the target driving strategies corresponding to the own vehicle and the target vehicle in each preset time period based on safety and comfort, and control the own vehicle to drive with the corresponding target driving strategies in the preset time period until any of the own vehicle and the target vehicle passes the lane change conflict position corresponding to the target lane.

[0123] According to the technical solution provided in the embodiment of the present application, the traffic flow in the current lane, the target lane, and the non-target lane is comprehensively considered, so that the vehicle can make the optimal decision according to the global traffic status and individual preferences, effectively avoiding traffic bottlenecks and congestion during the lane changing process, thereby improving the overall traffic efficiency; and based on game theory, the lane changing process is modeled as a game situation involving multiple parties, and a corresponding decision-making strategy is designed, so that the vehicle can more intelligently select the optimal driving strategy during the lane changing process, thereby reducing the risk of traffic accidents and improving traffic flow and overall road use efficiency.

[0124] In some embodiments, the conflict position determination module 401 is configured to obtain a first distance between the own vehicle and a first vehicle and a driving speed of the first vehicle, where the first vehicle is an adjacent vehicle located in front of the own vehicle in the lane where the own vehicle is located; determine the distance difference between the first distance and the second distance, where the second distance is the product of the driving speed of the first vehicle and a preset coefficient; and determine that the own vehicle has an intention to change lanes when the distance difference is greater than the preset distance.

[0125] In some embodiments, the conflict position determination module 401 is configured to obtain the current position information and current driving speed of the own vehicle; generate a lane change trajectory corresponding to when changing lanes to each adjacent lane based on the current position of the own vehicle, the current driving speed of the own vehicle and the preset time required to complete the lane change; and determine the intersection of each lane change trajectory with the adjacent lane as the lane change conflict position corresponding to the adjacent lane.

[0126] In some embodiments, the lane determination module 402 is configured to determine a first conflict time when a second vehicle in each adjacent lane reaches a lane change conflict position, and determine a second conflict time when the own vehicle reaches the lane change conflict position; wherein the second vehicle is a vehicle in each adjacent lane that is located behind the own vehicle and has the smallest distance from the own vehicle;

[0127] Determine the absolute value of the difference between the first conflict time and the second conflict time corresponding to each adjacent lane; and determine the adjacent lane corresponding to the largest absolute value among all the absolute values ​​as the target lane.

[0128] In some embodiments, the benefit determination module 403 is configured to determine, for the i-th preset time period, a first time for the own vehicle to arrive at the lane change conflict position when adopting different driving strategies based on a first distance between the own vehicle and the lane change conflict position at the beginning of the i-th preset time period and the driving speed of the own vehicle at the beginning of the i-th preset time period; determine a second time for the target vehicle to arrive at the lane change conflict position when adopting different driving strategies based on a second distance between the target vehicle and the lane change conflict position at the beginning of the i-th preset time period and the driving speed of the target vehicle at the beginning of the i-th preset time period; determine the absolute value of the time difference between the first time corresponding to any driving strategy and the second time corresponding to any driving strategy, and determine the absolute value of all time differences as the safety degree corresponding to different driving strategy combinations of the own vehicle and the target vehicle within the i-th preset time period, where the driving strategy combination is the driving strategy adopted by the own vehicle and the driving strategy adopted by the target vehicle, where i is greater than or equal to 1.

[0129] In some embodiments, the benefit determination module 403 is configured to determine, for any vehicle among the own vehicle and the target vehicle, the acceleration difference between the acceleration corresponding to different driving strategies adopted by the vehicle in the i-th preset time period and the acceleration adopted in the i-1-th preset time period; determine the negative of the acceleration ratio between the acceleration difference and the preset acceleration value, where the preset acceleration value is the difference between the maximum acceleration and the maximum deceleration that the vehicle can adopt; and determine the negative of the acceleration ratio corresponding to different driving strategies as the comfort corresponding to the different driving strategies of the vehicle in the i-th preset time period, where i is greater than or equal to 1.

[0130] In some embodiments, the lane change control module 404 is configured to perform a weighted summation of the safety and comfort corresponding to the same driving strategy of the vehicle to obtain the benefit value corresponding to the vehicle under the driving strategy; based on the benefit value corresponding to the own vehicle under different driving strategies and the benefit value corresponding to the target vehicle under different driving strategies, determine the target driving strategies corresponding to the own vehicle and the target vehicle respectively within each preset time length.

[0131] In some embodiments, the lane change control module 404 is configured to combine the benefit values ​​corresponding to the own vehicle under different driving strategies and the benefit values ​​corresponding to the target vehicle under different driving strategies to obtain a benefit value set corresponding to different driving strategy combinations, the driving strategy combination including the driving strategy corresponding to the own vehicle and the driving strategy corresponding to the target vehicle; determine the sum of the two benefit values ​​in each benefit value set, and determine the driving strategy combination corresponding to the benefit value set with the largest sum as the target driving strategy corresponding to the own vehicle and the target vehicle respectively.

[0132] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0133] Figure 5 Schematic diagram of an electronic device 5 provided in an embodiment of the present application. Figure 5 As shown, the electronic device 5 of this embodiment includes: a processor 501, a memory 502, and a computer program 503 stored in the memory 502 and executable on the processor 501. When the processor 501 executes the computer program 503, the steps in the above-mentioned method embodiments are implemented. Alternatively, when the processor 501 executes the computer program 503, the functions of the modules / units in the above-mentioned device embodiments are implemented.

[0134] The electronic device 5 may be a desktop computer, a notebook, a PDA, a cloud server, or other electronic device. The electronic device 5 may include, but is not limited to, a processor 501 and a memory 502. Those skilled in the art will appreciate that Figure 5 The electronic device 5 is merely an example and does not limit the electronic device 5 , and may include more or less components than those shown in the figure, or different components.

[0135] The processor 501 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0136] The memory 502 may be an internal storage unit of the electronic device 5, for example, a hard disk or memory of the electronic device 5. The memory 502 may also be an external storage device of the electronic device 5, for example, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the electronic device 5. The memory 502 may also include both an internal storage unit of the electronic device 5 and an external storage device. The memory 502 is used to store computer programs and other programs and data required by the electronic device.

[0137] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units.

[0138] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium (e.g., a computer-readable storage medium). Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. The computer program may include computer program code, which may be in source code form, object code form, executable file or some intermediate form. Computer-readable storage media may include: any entity or device capable of carrying computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc.

[0139] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A vehicle lane changing method, characterized in that: include: When it is determined that the own vehicle has an intention to change lanes, determining a lane change conflict position corresponding to each adjacent lane in all adjacent lanes of the own vehicle, wherein the lane change conflict position is an intersection point between the own vehicle and the lane line passed during the lane change process; Determining a target lane from each of the adjacent lanes according to a lane change conflict position corresponding to each of the adjacent lanes; Determine the safety and comfort levels corresponding to different driving strategies adopted by the own vehicle and the target vehicle within each preset time period, wherein the target vehicle is a vehicle located behind the own vehicle on the side of the target lane and at the shortest distance from the own vehicle, and the driving strategies include accelerating, decelerating and driving at a constant speed; Based on the safety and comfort levels, the target driving strategies corresponding to the own vehicle and the target vehicle in each preset time period are determined, and the own vehicle is controlled to drive with the corresponding target driving strategies in the preset time period until any one of the own vehicle and the target vehicle passes the lane change conflict position corresponding to the target lane.

2. The method according to claim 1, characterized in that The determining that the vehicle has an intention to change lanes includes: Acquire a first distance between the own vehicle and a first vehicle and a travel speed of the first vehicle, where the first vehicle is an adjacent vehicle located in front of the own vehicle in a lane where the own vehicle is located; determining a distance difference between the first distance and a second distance, the second distance being a product of a travel speed of the first vehicle and a preset coefficient; When the distance difference is greater than a preset distance, it is determined that the host vehicle has an intention to change lanes.

3. The method according to claim 1, characterized in that The determining of the lane change conflict position corresponding to each adjacent lane in all adjacent lanes of the own vehicle includes: Obtaining the current position information and current driving speed of the own vehicle; Generate a lane change trajectory corresponding to each of the adjacent lanes according to the current position of the own vehicle, the current driving speed of the own vehicle and a preset time required to complete the lane change; An intersection point between each lane change trajectory and the adjacent lane is determined as a lane change conflict position corresponding to the adjacent lane.

4. The method according to claim 1, characterized in that The step of determining the target lane from each of the adjacent lanes according to the lane change conflict positions corresponding to each of the adjacent lanes includes: Determine a first conflict time when a second vehicle in each adjacent lane reaches the lane change conflict position, and determine a second conflict time when the own vehicle reaches the lane change conflict position; wherein the second vehicle is a vehicle located behind the own vehicle in each adjacent lane and has the shortest distance from the own vehicle; Determine the absolute value of the difference between the first conflict time and the second conflict time corresponding to each adjacent lane; The adjacent lane corresponding to the absolute value with the largest value among all the absolute values ​​is determined as the target lane.

5. The method according to claim 1, characterized in that Determining the safety levels corresponding to the own vehicle and the target vehicle when different driving strategies are adopted within each preset time period, including: For the i-th preset duration, determining the first time when the own vehicle reaches the lane change conflict position when different driving strategies are adopted according to the first distance between the own vehicle and the lane change conflict position at the beginning of the i-th preset duration and the driving speed of the own vehicle at the beginning of the i-th preset duration; Determining a second time for the target vehicle to reach the lane change conflict position when different driving strategies are adopted according to a second distance between the target vehicle and the lane change conflict position at the beginning of the i-th preset time length and a driving speed of the target vehicle at the beginning of the i-th preset time length; Determine the absolute value of the time difference between the first time corresponding to any driving strategy and the second time corresponding to any driving strategy, and determine the absolute value of all the time differences as the safety degree corresponding to different driving strategy combinations of the own vehicle and the target vehicle within the i-th preset time period, where the driving strategy combination is the driving strategy adopted by the own vehicle and the driving strategy adopted by the target vehicle, where i is greater than or equal to 1.

6. The method according to claim 1, characterized in that Determining the comfort levels corresponding to the own vehicle and the target vehicle when different driving strategies are adopted within each preset time period, including: For any vehicle among the own vehicle and the target vehicle, determine the acceleration difference between the acceleration corresponding to the different driving strategies adopted by the vehicle at the i-th preset time length and the acceleration adopted at the i-1-th preset time length; Determining the inverse of an acceleration ratio between the acceleration difference and a preset acceleration value, wherein the preset acceleration value is a difference between a maximum acceleration and a maximum deceleration that the vehicle can adopt; The opposite number of the acceleration ratio corresponding to the different driving strategies is determined as the comfort level corresponding to the different driving strategies of the vehicle within the i-th preset time period, where i is greater than or equal to 1.

7. The method according to claim 1, characterized in that Based on the safety and comfort, target driving strategies corresponding to the own vehicle and the target vehicle in each preset time period are determined, including: For any vehicle among the own vehicle and the target vehicle, weighted sum of the safety and comfort corresponding to the same driving strategy of the vehicle is performed to obtain the benefit value corresponding to the vehicle under the driving strategy; According to the benefit values ​​corresponding to the own vehicle under different driving strategies and the benefit values ​​corresponding to the target vehicle under different driving strategies, the target driving strategies corresponding to the own vehicle and the target vehicle respectively within each preset time period are determined.

8. The method according to claim 7, characterized in that The determining, according to the benefit values ​​corresponding to the own vehicle under different driving strategies and the benefit values ​​corresponding to the target vehicle under different driving strategies, the target driving strategies corresponding to the own vehicle and the target vehicle in each preset time period respectively includes: The benefit values ​​corresponding to the own vehicle under different driving strategies and the benefit values ​​corresponding to the target vehicle under different driving strategies are combined to obtain a benefit value set corresponding to different driving strategy combinations, wherein the driving strategy combination includes the driving strategy corresponding to the own vehicle and the driving strategy corresponding to the target vehicle; The sum of two benefit values ​​in each benefit value set is determined, and the driving strategies corresponding to the benefit value set with the largest sum are combined to determine the target driving strategies corresponding to the own vehicle and the target vehicle respectively.

9. A vehicle lane changing device, characterized in that: include: a conflict position determination module, configured to determine, when determining that the own vehicle has an intention to change lanes, a lane change conflict position corresponding to each adjacent lane of all adjacent lanes of the own vehicle, wherein the lane change conflict position is an intersection point between the own vehicle and the lane line passed during the lane change process; A lane determination module is configured to determine a target lane from each of the adjacent lanes according to a lane change conflict position corresponding to each of the adjacent lanes; The benefit determination module is configured to determine the safety and comfort corresponding to the own vehicle and the target vehicle respectively when different driving strategies are adopted within each preset time period, wherein the target vehicle is a vehicle located behind the own vehicle on the side of the target lane and has the smallest distance from the own vehicle, and the driving strategies include accelerating driving, decelerating driving and driving at a constant speed; The lane change control module is configured to determine the target driving strategies corresponding to the own vehicle and the target vehicle in each preset time period based on the safety and comfort levels, and control the own vehicle to drive with the corresponding target driving strategies in the preset time period until any one of the own vehicle and the target vehicle passes through the lane change conflict position corresponding to the target lane.

10. An electronic 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, the steps of the method according to any one of claims 1 to 8 are implemented.

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