Decision control method, device and equipment for automatic overtaking and lane changing and storage medium

Abstract

The invention discloses a decision control method, device and equipment for automatic overtaking and lane changing and a storage medium, and relates to the technical field of automatic driving planning control, and the method comprises the steps: obtaining the necessity of overtaking and lane changing according to the set vehicle speed of a vehicle, the vehicle speed of a front vehicle and the vehicle following time if it is detected that a vehicle with the vehicle speed smaller than a preset low-speed threshold value exists in a lane of the vehicle; obtaining the traffic efficiency according to the traffic flow and the average speed of the lane on the lane changing side; obtaining an overtaking lane change suppression condition; if the automatic lane changing control condition is met, triggering an overtaking lane changing request based on the necessity, the passing efficiency and the overtaking lane changing suppression condition; and if the overtaking lane changing termination condition is met, the overtaking lane changing is canceled. According to the method, whether overtaking lane changing is needed or not is determined in three aspects of lane changing necessity, passing efficiency and overtaking lane changing inhibition conditions, meanwhile, conditions for discovering invalid overtaking lane changing and cancelling overtaking lane changing are designed, the invalid overtaking lane changing frequency is reduced, and the function experience is greatly improved.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving planning and control technology, and in particular to a decision-making control method, device, equipment and storage medium for automatic overtaking and lane changing. Background Art

[0002] Automatic overtaking and lane changing reflects the intelligence level of navigation-assisted driving (NOA: Navigate on Autopilot). Intelligent and sensitive overtaking and lane changing can improve traffic efficiency. However, the system will produce some invalid overtaking and lane changing situations. After the vehicle overtakes and changes lanes to enter the slow lane, the traffic efficiency is even lower. Frequent invalid overtaking and lane changing seriously affects the navigation-assisted driving experience. Reducing invalid overtaking and lane changing is of great significance to improving the navigation-assisted driving experience.

[0003] Therefore, how to reduce invalid overtaking is an urgent problem to be solved.

[0004] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0005] The main purpose of this application is to provide a decision-making control method, device, equipment and storage medium for automatic overtaking and lane changing, aiming to solve the technical problem of how to reduce invalid overtaking.

[0006] To achieve the above objectives, the present application proposes a decision method for automatic overtaking and lane changing, the method comprising:

[0007] If a vehicle with a speed lower than a preset low-speed threshold is detected in the lane of the ego vehicle, the necessity of overtaking and changing lanes is obtained according to the set speed of the ego vehicle, the speed of the preceding vehicle, and the following time;

[0008] The traffic efficiency is obtained based on the traffic volume and average speed of the lane on the lane-changing side;

[0009] Obtaining overtaking lane change suppression conditions;

[0010] If the automatic lane change control condition is met, triggering an overtaking lane change request based on the necessity, the traffic efficiency and the overtaking lane change suppression condition;

[0011] If the overtaking lane change termination conditions are met, the overtaking lane change is canceled.

[0012] In one embodiment, obtaining the necessity of overtaking and changing lanes according to the set speed of the vehicle, the speed of the preceding vehicle, and the following time includes:

[0013] If a no-overtaking sign is detected in front of the vehicle, overtaking and lane changing are prohibited;

[0014] or,

[0015] If the vehicle passes the first fixed distance of the no-overtaking sign or recognizes that the no-overtaking sign has been lifted or completes an overtaking lane change, the necessity is the initial value;

[0016] or,

[0017] Obtain the speed of the preceding vehicle, the set speed of the own vehicle, and the acceleration of the own vehicle;

[0018] Calculating the difference between the speed of the preceding vehicle and the set speed of the own vehicle to obtain a relative speed;

[0019] Based on the relative vehicle speed, calibrate a preset following vehicle time threshold;

[0020] If the following vehicle time is less than the first preset following vehicle time threshold, the necessity is an initial value;

[0021] If the following vehicle time is greater than the first preset following vehicle time threshold and less than a fixed multiple of the second preset following vehicle time threshold, the necessity is a first fixed value;

[0022] If the following vehicle time is greater than the second preset following vehicle time threshold, the necessity is a second fixed value, wherein the first preset following vehicle time threshold is less than the second preset following vehicle time threshold.

[0023] In one embodiment, obtaining the traffic efficiency according to the traffic volume and average speed of the lane on the lane change side includes:

[0024] According to the lane changing direction, determine the lane on the lane changing side, the traffic volume reference value and the speed percentage;

[0025] Get the number of vehicles passing through the lane on the lane change side within a fixed time and the speed of each vehicle;

[0026] According to the fixed time and the number of vehicles, obtain the traffic flow;

[0027] Obtaining an average vehicle speed according to the number of vehicles and the speed of each vehicle;

[0028] The traffic efficiency is obtained according to the lane changing direction, the vehicle speed, the vehicle flow reference value, the vehicle speed percentage, the vehicle flow and the average vehicle speed.

[0029] In one embodiment, the traffic efficiency is obtained according to the lane change direction, the vehicle speed, the vehicle flow reference value, the vehicle speed percentage, the vehicle flow and the average vehicle speed, including:

[0030] Calculating a traffic efficiency judgment value according to the lane change direction, the vehicle speed, the vehicle flow reference value, the vehicle speed percentage, the vehicle flow and the average vehicle speed;

[0031] If the traffic efficiency judgment value is less than the first preset threshold, the traffic efficiency is the first standard;

[0032] If the traffic efficiency judgment value is greater than the first preset threshold value and less than the second preset threshold value, the traffic efficiency is the second standard;

[0033] If the traffic efficiency judgment value is greater than a second preset threshold, the traffic efficiency is the third standard, wherein the first preset threshold is less than the second preset threshold.

[0034] In one embodiment, the overtaking lane change suppression condition includes:

[0035] When the lane change direction is from left to right, there is no vehicle in front of the vehicle whose speed is less than a first preset multiple of the speed of the vehicle;

[0036] When the lane change direction is from right to left, there is no vehicle in front of the own vehicle whose speed is less than a second preset multiple of the own vehicle speed;

[0037] There are no vehicles exceeding a preset volume in the lane on the lane-changing side;

[0038] If a high-precision map is available, determining based on the high-precision map that there is no merging or exiting intersection within the second fixed distance section ahead;

[0039] When the number of lanes is greater than a third fixed value, the vehicle is prohibited from overtaking and changing lanes to the rightmost lane.

[0040] In one embodiment, if the automatic lane change control condition is met, triggering the overtaking lane change request based on the necessity, the traffic efficiency and the overtaking lane change suppression condition further includes:

[0041] When the lane change direction is from left to right, if the necessity is a first fixed value, the traffic efficiency is a third standard, and the overtaking lane change suppression condition is not satisfied, a lane change request to overtake right may be triggered;

[0042] When the lane change direction is from left to right, if the necessity is a second fixed value, the traffic efficiency is a second standard or a third standard, and the overtaking lane change suppression condition is not satisfied, a lane change request to overtake right may be triggered;

[0043] When the lane change direction is from right to left, if the necessity is the first fixed value or the second fixed value, the traffic efficiency is the second standard or the third standard, and the overtaking lane change suppression condition is not met, a left overtaking lane change request may be triggered;

[0044] When the above conditions for triggering a lane change request to overtake right and triggering a lane change request to overtake left are met at the same time, the lane change request to overtake left is triggered.

[0045] In one embodiment, if the overtaking lane change termination condition is satisfied, canceling the overtaking lane change includes:

[0046] When the center of the vehicle has not crossed the lane line, if a vehicle with a speed lower than that of the vehicle is detected in the lane on the lane-changing side, the lane-changing attempt is canceled to return the vehicle to the original lane;

[0047] When the center of the vehicle does not cross the lane line, if it is detected that the center of the leading vehicle crosses the lane line, the overtaking lane change is canceled to return the vehicle to the original lane;

[0048] When the center of the ego vehicle does not cross the lane line, if a vehicle exceeding a preset vehicle specification threshold is detected in the lane on the lane-changing side, the overtaking lane change is canceled to return the ego vehicle to the original lane.

[0049] In addition, to achieve the above-mentioned purpose, the present application also proposes a decision control device for automatic overtaking and lane changing, and the decision control device for automatic overtaking and lane changing comprises:

[0050] Necessity module, used to obtain the necessity of overtaking and changing lanes according to the set speed of the vehicle, the speed of the preceding vehicle and the following time;

[0051] The traffic efficiency module is used to obtain the traffic efficiency according to the traffic volume and average speed of the lane on the lane change side;

[0052] A suppression module, used to obtain overtaking lane change suppression conditions;

[0053] a judgment module, configured to trigger an overtaking lane change request based on the necessity, the traffic efficiency and the overtaking lane change suppression condition if the automatic lane change control condition is met;

[0054] The termination module is used to cancel the overtaking lane change if the overtaking lane change termination condition is met.

[0055] In addition, to achieve the above-mentioned purpose, the present application also proposes a decision-making control device for automatic overtaking and lane changing, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the decision-making control method for automatic overtaking and lane changing as described above.

[0056] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by the processor, the steps of the automatic overtaking and lane changing decision-making control method as described above are implemented.

[0057] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, it implements the steps of the automatic overtaking and lane changing decision-making control method as described above.

[0058] One or more technical solutions proposed in this application have at least the following technical effects:

[0059] When a vehicle with a speed lower than a preset low-speed threshold is detected in the lane of the own vehicle, the necessity of overtaking and changing lanes is obtained according to the set speed of the own vehicle, the speed of the vehicle in front, and the following time. Then, the traffic efficiency is obtained according to the traffic volume and average speed of the lane on the lane changing side. If the driving state of the own vehicle meets the automatic lane change control conditions, the overtaking lane change request is triggered based on the necessity, traffic efficiency, and overtaking lane change suppression conditions. At the same time as overtaking and changing lanes, if the overtaking lane change termination conditions are met, the overtaking lane change is canceled at this time. This application determines whether overtaking and changing lanes are needed based on the necessity of lane change, traffic efficiency, and overtaking lane change suppression conditions. At the same time, it also designs the conditions for canceling overtaking lane changes when invalid overtaking lane changes are found, which reduces the number of invalid overtaking lane changes and greatly improves the functional experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0061] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0062] Figure 1 A flowchart diagram of the first embodiment of the decision control method for automatic overtaking and lane changing provided by the present application;

[0063] Figure 2 A schematic diagram of a lane structure provided for the first embodiment of the decision control method for automatic overtaking and lane changing of the present application;

[0064] Figure 3 A brief flowchart of the decision-making control method for automatic overtaking and lane changing provided in the second embodiment of the present application;

[0065] Figure 4 This is a schematic diagram of the module structure of the decision control device for automatic overtaking and lane changing according to an embodiment of the present application;

[0066] Figure 5Schematic diagram of the device structure of the hardware operating environment involved in the decision-making control method for automatic overtaking and lane changing in the embodiment of the present application.

[0067] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0068] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0069] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0070] The main solution of the embodiment of the present application is to determine whether overtaking and lane changing are necessary based on the necessity of lane changing, traffic efficiency, and overtaking lane change suppression conditions. At the same time, conditions are also designed to cancel overtaking lane changes if invalid overtaking lane changes are found.

[0071] In this embodiment, for the convenience of description, the following description is made by taking the identification of the vehicle computer as the execution subject.

[0072] Since the existing technology only designs conventional overtaking and lane changing methods, this method usually results in some invalid overtaking and lane changing situations. After the vehicle overtakes and changes lanes into the slow lane, the traffic efficiency is even lower. Frequent invalid overtaking and lane changing seriously affects the navigation-assisted driving experience.

[0073] The present application provides a solution. When a vehicle with a speed lower than a preset low-speed threshold is detected in the lane of the own vehicle, the necessity of overtaking and changing lanes is obtained according to the set speed of the own vehicle, the speed of the preceding vehicle, and the following time. Then, the traffic efficiency is obtained according to the traffic volume and average speed of the lane on the lane-changing side. If the driving state of the own vehicle meets the automatic lane-changing control conditions, the overtaking lane-changing request is triggered based on the necessity, traffic efficiency, and overtaking lane-changing suppression conditions. While overtaking and changing lanes, if the overtaking lane-changing termination conditions are met, the overtaking lane-changing is canceled at this time. The present application determines whether overtaking and changing lanes are necessary based on the necessity of lane-changing, traffic efficiency, and overtaking lane-changing suppression conditions. At the same time, the present application also designs the conditions for canceling overtaking lane-changing when invalid overtaking lane-changing is found, thereby reducing the number of invalid overtaking lane-changing times and greatly improving the functional experience.

[0074] It should be noted that the execution subject of this embodiment may be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device, a vehicle computer, etc. capable of realizing the above functions. The vehicle computer is taken as an example to illustrate this embodiment and the following embodiments.

[0075] Based on this, the embodiment of the present application provides a decision control method for automatic overtaking and lane changing, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the decision-making control method for automatic overtaking and lane changing of the present application.

[0076] In this embodiment, the automatic overtaking and lane changing decision control method includes steps S10 to S50:

[0077] Step S10, if a vehicle with a speed lower than a preset low speed threshold is detected in the lane of the own vehicle, the necessity of overtaking and changing lanes is obtained according to the set speed of the own vehicle, the speed of the preceding vehicle and the following time;

[0078] It should be noted that the preset low-speed threshold can be the speed difference limit between the front vehicle and the own vehicle (for example, 10km / h). When the relative speed is greater than the speed difference limit, it is judged that there is a low-speed vehicle ahead, and the necessity of overtaking and changing lanes needs to be calculated; the preset low-speed threshold can be the standard speed for judging the speed of the front vehicle (for example, 10km / h). When the speed of the current vehicle is lower than the standard speed, it is judged that there is a low-speed vehicle ahead, and the necessity of overtaking and changing lanes needs to be calculated.

[0079] It is understandable that, since the number of invalid overtaking and lane changes needs to be reduced, step S10 is performed to avoid the situation where the ego vehicle still performs unnecessary overtaking and lane changes when the speed of the preceding vehicle is high and the ego vehicle will not form a following state in the ego vehicle lane, thereby reducing the number of invalid overtaking and lane changes from the aspect of necessity and ensuring driving stability.

[0080] In a feasible implementation, step S10 may include steps A11 to A18:

[0081] Step A11: If a no-overtaking sign is identified in front of the vehicle, overtaking and lane changing are prohibited;

[0082] It should be noted that the no overtaking sign is usually a red circular sign with a white diagonal line in the middle, indicating that vehicles are prohibited from overtaking on this section of road.

[0083] Exemplarily, if there is a no-overtaking sign ahead, P=0, and P represents necessity.

[0084] Step A12: if the vehicle passes the first fixed distance of the no-overtaking sign or recognizes that the no-overtaking sign is lifted or completes an overtaking lane change, the necessity is the initial value;

[0085] For example, when the vehicle passes the no-overtaking sign for 200 m (the first fixed distance) or recognizes that the no-overtaking sign is released, P=P0, where P0 is the necessity initial value.

[0086] Step A13, obtain the speed of the leading vehicle, the set speed of the own vehicle and the acceleration of the own vehicle; calculate the difference between the speed of the leading vehicle and the set speed of the own vehicle to obtain the relative speed; based on the relative speed, calibrate the preset following time threshold; if the following time is less than the first preset following time threshold, the necessity is the initial value; if the following time is greater than the first preset following time threshold and less than a fixed multiple of the second preset following time threshold, the necessity is the first fixed value; if the following time is greater than the second preset following time threshold, the necessity is the second fixed value, wherein the first preset following time threshold is less than the second preset following time threshold.

[0087] It should be noted that the preset vehicle following time threshold can be used to determine the necessity. Step A13 is performed only when the conditions of step A11 and step A12 are not met.

[0088] For example, let the speed of the vehicle in front of the lane be V t , the vehicle speed is set to V s , the current vehicle speed is V e , the vehicle's acceleration is a e , the necessity of the vehicle to overtake and change lanes is P, and the initial P0=0.

[0089] When the speed of the vehicle ahead in the lane is lower than 5% of the set speed of the vehicle, that is, (V s -V t )≥V s *5%, and the vehicle does not accelerate or decelerate quickly, the vehicle acceleration is -1m / s 2 ≤a e ≤0.2m / s 2 , and the duration is greater than T x , then the vehicle needs to trigger overtaking and lane change.

[0090] Following a slow train for a long time x The longer the time, the greater the need to overtake and change lanes. x Calibrate according to the relative vehicle speed, as shown in Table 1:

[0091] Table 1

[0092]

[0093] When the duration is greater than T x After that, P = 1; when the duration is greater than 2T x After that, P=2; when P=1, there is a necessity to overtake and change lanes; when P=2, the desire to overtake and change lanes is more urgent.

[0094] In this embodiment, the necessity in special cases is first set, and then the necessity judgment rule is set according to the relative vehicle speed and following time for the following vehicle situation on the regular driving route, thereby ensuring the reliability of the necessity judgment.

[0095] The above is only a feasible implementation of step S10 provided in this embodiment, and this embodiment does not specifically limit the specific implementation of step S10.

[0096] Step S20, obtaining the traffic efficiency according to the traffic volume and average speed of the lane on the lane-changing side;

[0097] It should be noted that the traffic volume can be the number of vehicles passing through the lane per minute, and the traffic efficiency can be used to determine whether the lane on the lane changing side is suitable for triggering overtaking and lane changing.

[0098] It can be understood that judging the traffic efficiency by the traffic volume and average speed of the lane on the lane changing side provides reliable data support for overtaking and lane changing, and further improves the safety and reliability of overtaking and lane changing.

[0099] In a feasible implementation, step S20 may include determining the lane on the lane changing side, the traffic flow reference value and the speed percentage according to the lane changing direction; obtaining the number of vehicles passing through the lane on the lane changing side and the speed of each vehicle within a fixed time; obtaining the traffic flow according to the fixed time and the number of vehicles; obtaining the average speed according to the number of vehicles and the speed of each vehicle; calculating the traffic efficiency judgment value according to the lane changing direction, the vehicle speed, the traffic flow reference value, the speed percentage, the traffic flow and the average speed; if the traffic efficiency judgment value is less than a first preset threshold, the traffic efficiency is the first standard; if the traffic efficiency judgment value is greater than the first preset threshold and less than the second preset threshold, the traffic efficiency is the second standard; if the traffic efficiency judgment value is greater than the second preset threshold, the traffic efficiency is the third standard, wherein the first preset threshold is less than the second preset threshold.

[0100] It should be noted that, when the vehicle changes lanes from left to right, the lane on the lane-changing side can be the right lane; the traffic flow baseline value can refer to the number of vehicles passing through a certain section of the road within a certain period of time. It is an indicator to measure the size of road traffic flow. If the value exceeds this, the traffic flow is considered to be large; the vehicle speed percentage can be the ratio between the actual driving speed of the vehicle at a certain moment and the maximum driving speed allowed on the section; the fixed time can be 1 minute, and the first preset threshold and the first and second preset thresholds can be used to determine whether the traffic efficiency belongs to the first standard, the second standard or the third standard.

[0101] For example, the traffic volume of a lane per minute is calculated as follows: Suppose that within t time (e.g., 20 seconds) after the current moment, the number of vehicles identified in the adjacent lane is M, and the speed of each vehicle is Vm , the traffic volume per minute is:

[0102]

[0103] The average speed in time t is

[0104]

[0105] The traffic efficiency is:

[0106]

[0107] q0 is the baseline value of traffic flow per minute. If the value exceeds this value, the traffic flow is considered to be large. k is the vehicle speed percentage. V1 is the average vehicle speed within time t, and Q is the calculated traffic efficiency judgment value.

[0108] When q=0, that is, no vehicle is identified within time t, the traffic efficiency is the highest (the third standard).

[0109] like Figure 2 As shown in the figure, since changing lanes from left to right means entering the slow lane from the fast lane, such as changing from left 1 to left 2, the traffic efficiency is strictly judged when entering the slow lane; changing lanes from right to left, such as changing from left 2 to left 1, entering the fast lane after overtaking and changing lanes, the traffic efficiency calculation is loose. Therefore, q0 and k need to design different parameter values ​​according to whether to change lanes to the left or the right.

[0110] For example, when changing lanes from left to right to overtake, assuming q0 = 4, k = 20%, the traffic efficiency is determined as follows:

[0111] Q ≥ 2, the traffic efficiency is high (third standard);

[0112] 1<Q<2, then the traffic efficiency is medium (second standard);

[0113] If Q≤1, the traffic efficiency is low (first criterion).

[0114] For example, when changing lanes from right to left to overtake, assuming q0 = 6, k = 10%, the traffic efficiency is determined as follows:

[0115] Q ≥ 2, the traffic efficiency is high (third standard);

[0116] 1≤Q<2, then the traffic efficiency is medium (second standard);

[0117] If Q<1, the traffic efficiency is low (first criterion).

[0118] In this implementation, firstly, different vehicle flow reference values ​​and vehicle speed percentages are set according to different lane change directions, then the vehicle flow is calculated, and then the traffic efficiency is calculated, thereby ensuring safety during overtaking and lane changing.

[0119] The above is only a feasible implementation of step S20 provided in this embodiment, and this embodiment does not specifically limit the specific implementation of step S20.

[0120] Step S30, obtaining overtaking lane change suppression conditions;

[0121] It should be noted that the overtaking and lane change suppression conditions may include that when the lane change direction is from left to right, there is no vehicle in front of the vehicle with a speed less than a first preset multiple of the vehicle's speed; when the lane change direction is from right to left, there is no vehicle in front of the vehicle with a speed less than a second preset multiple of the vehicle's speed; there are no vehicles exceeding a preset volume (the volume is obtained by multiplying the length, width and height of the vehicle, and the volume is compared with the preset volume) in the lane on the lane changing side; if a high-precision map is available, it is determined based on the high-precision map that there are no merging and exiting intersections within the second fixed distance section ahead; when the number of lanes is greater than a third fixed value, the vehicle is prohibited from overtaking and changing lanes to the rightmost lane.

[0122] It is understandable that after judging the necessity and traffic efficiency, it is necessary to combine the actual road conditions and identification conditions and add additional logical judgments to reduce erroneous lane changes.

[0123] For example, the following overtaking lane change suppression conditions need to be determined:

[0124] (1) When changing lanes from left to right: There is no vehicle ahead whose speed is less than the vehicle's speed*1.2 (the first preset multiple);

[0125] (2) When changing lanes from right to left: There is no vehicle ahead whose speed is less than the vehicle's speed*1.1 (the second preset multiple);

[0126] (3) There are no large vehicles in the lane on the side where the lane is changing, and vehicles with a volume exceeding the preset volume can be considered as large vehicles;

[0127] (4) If a high-precision map is available, the structure of the road ahead is obtained based on the high-precision map information. There are no inbound and outbound intersections within 800 m (the second fixed distance) ahead.

[0128] (5) Figure 2 , when the number of lanes is ≥ 3 (the third fixed value), in order to prevent entering the rightmost slow lane, overtaking and changing lanes to the slowest lane should be prohibited. Figure 2 , changing lanes from left 3 to left 4 is prohibited.

[0129] Step S40: If the automatic lane change control condition is met, triggering an overtaking lane change request based on the necessity, the traffic efficiency and the overtaking lane change suppression condition;

[0130] It should be noted that the automatic lane change control conditions may include the existence of lane markings in the adjacent lane, the curvature radius of the current lane line is greater than a certain value, the lane marking on the lane changing side is a dotted line, the adjacent lane is not a ramp, there are no cones in the adjacent lane and other construction targets.

[0131] It can be understood that, through the automatic lane change control condition as a prerequisite for overtaking and changing lanes, the automatic lane change control condition can help make more reasonable decisions during the decision-making process.

[0132] In a feasible implementation, step S40 may include steps C41 to C44:

[0133] Step C41: when the lane change direction is from left to right, if the necessity is a first fixed value, the traffic efficiency is a third standard, and the overtaking lane change suppression condition is not met, a lane change request to overtake right may be triggered;

[0134] Step C42: when the lane change direction is from left to right, if the necessity is the second fixed value, the traffic efficiency is the second standard or the third standard, and the overtaking lane change suppression condition is not met, a lane change request to overtake right may be triggered;

[0135] Step C43: when the lane change direction is from right to left, if the necessity is the first fixed value or the second fixed value, the traffic efficiency is the second standard or the third standard, and the overtaking lane change suppression condition is not met, a left overtaking lane change request may be triggered;

[0136] Step C44: When the above conditions for triggering a lane change request to overtake to the right and triggering a lane change request to overtake to the left are met at the same time, the lane change request to overtake to the left is triggered.

[0137] For example, when changing lanes from left to right while overtaking, if the necessity of overtaking lane change P=1, the traffic efficiency is high, and the overtaking lane change suppression condition is not satisfied, then a lane change request to the right may be triggered;

[0138] When changing lanes from left to right and overtaking, if the overtaking lane change necessity P = 2, and the traffic efficiency is medium or high, and the overtaking lane change condition suppression condition is not met, then a right overtaking lane change request can be triggered;

[0139] Overtaking lane change from right to left: When the overtaking lane change necessity P≥1, and the traffic efficiency is medium or high, and the overtaking lane change condition suppression condition is not met, the overtaking lane change request to the left can be triggered;

[0140] When both the left and right lanes meet the above-mentioned overtaking and lane-changing conditions, priority is given to the left lane;

[0141] When the automatic lane change control conditions are met, the vehicle triggers the overtaking lane change action according to the above decision.

[0142] In this implementation, five situations that may trigger an overtaking lane change request are divided, and reasonable overtaking lane change can improve overall traffic efficiency.

[0143] The above is only a feasible implementation of step S40 provided in this embodiment, and this embodiment does not specifically limit the specific implementation of step S40.

[0144] Step S50: If the overtaking lane change termination condition is met, the overtaking lane change is canceled.

[0145] It should be noted that the overtaking lane change termination condition is used to cancel the overtaking lane change request so that the vehicle returns to the original lane. It may include that when the center of the vehicle has not crossed the lane line, if a vehicle with a speed lower than that of the vehicle is detected in the lane on the lane changing side, the overtaking lane change is canceled to return the vehicle to the original lane; when the center of the vehicle has not crossed the lane line, if the center of the vehicle in front is detected to have crossed the lane line, the overtaking lane change is canceled to return the vehicle to the original lane; when the center of the vehicle has not crossed the lane line, if a vehicle exceeding a preset vehicle specification threshold is detected in the lane on the lane changing side, the overtaking lane change is canceled to return the vehicle to the original lane.

[0146] It can be understood that when the center of the vehicle does not cross the lane line, by suppressing overtaking and changing lanes and returning to the original lane, the impact of invalid overtaking and changing lanes on customers is reduced.

[0147] This embodiment provides a decision-making control method for automatic overtaking and lane changing. When a vehicle with a speed lower than a preset low-speed threshold is detected in the lane of the own vehicle, the necessity of overtaking and lane changing is obtained according to the set speed of the own vehicle, the speed of the preceding vehicle, and the following time. Then, the traffic efficiency is obtained according to the traffic volume and average speed of the lane on the lane changing side. If the driving state of the own vehicle meets the automatic lane changing control conditions, the overtaking lane changing request is triggered based on the necessity, traffic efficiency, and overtaking lane changing suppression conditions. At the same time as overtaking and lane changing, if the overtaking lane changing termination conditions are met, the overtaking lane changing is canceled at this time. This application determines whether overtaking and lane changing are required through three aspects: the necessity of lane changing, traffic efficiency, and overtaking lane changing suppression conditions. At the same time, it also designs the conditions for canceling overtaking lane changing when invalid overtaking lane changing is found, thereby reducing the number of invalid overtaking lane changing times and greatly improving the functional experience.

[0148] For example, to help understand the implementation process of the decision control method for automatic overtaking and lane changing in the first embodiment, please refer to Figure 3 , Figure 3 A brief flowchart of a decision-making control method for automatic overtaking and lane changing is provided, specifically:

[0149] After the navigation-assisted driving activates the straight-ahead operation, it first detects the presence of a vehicle in the ego vehicle lane whose speed is less than the preset low-speed threshold, that is, it determines whether there is a low-speed vehicle in front of the ego vehicle. If not, it keeps going straight. If so, it starts to determine the necessity and traffic efficiency of overtaking and lane changing. According to the ego vehicle speed, the speed of the vehicle in front and the following time, the necessity of overtaking and lane changing is obtained. According to the traffic volume and average speed of the lane on the lane changing side, the traffic efficiency is obtained. Then it is determined whether the overtaking and lane changing suppression conditions are met. If not, it keeps going straight. If met, the overtaking and lane changing request is triggered based on the necessity and traffic efficiency. At the same time, it is also necessary to determine whether the overtaking and lane changing termination conditions are met. If met, the overtaking and lane changing are canceled and the ego vehicle returns to the original lane. If not met, the ego vehicle continues to execute the overtaking and lane changing.

[0150] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the decision-making and control method for automatic overtaking and lane changing of the present application. More simple transformations based on this technical concept are all within the protection scope of the present application.

[0151] This application also provides a decision control device for automatic overtaking and lane changing, please refer to Figure 4 , the automatic overtaking and lane changing decision control device comprises:

[0152] Necessity module 10, used to obtain the necessity of overtaking and changing lanes according to the set speed of the vehicle, the speed of the preceding vehicle and the following time;

[0153] The traffic efficiency module 20 is used to obtain the traffic efficiency according to the traffic volume and average speed of the lane on the lane change side;

[0154] A suppression module 30, used for obtaining an overtaking lane change suppression condition;

[0155] A judgment module 40 is configured to trigger an overtaking lane change request based on the necessity, the traffic efficiency and the overtaking lane change suppression condition if the automatic lane change control condition is met;

[0156] The termination module 50 is configured to cancel the overtaking lane change if the overtaking lane change termination condition is met.

[0157] The automatic overtaking and lane changing decision control device provided by the present application adopts the automatic overtaking and lane changing decision control method in the above embodiment, and can solve the technical problem of automatic overtaking and lane changing decision control. Compared with the prior art, the beneficial effects of the automatic overtaking and lane changing decision control device provided by the present application are the same as the beneficial effects of the automatic overtaking and lane changing decision control method provided by the above embodiment, and the other technical features of the automatic overtaking and lane changing decision control device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0158] In one embodiment, the necessity module 10 is also used to prohibit overtaking and lane changing if a no-overtaking sign is identified in front of the vehicle; or, if the vehicle passes a first fixed distance from the no-overtaking sign or identifies that the no-overtaking sign is lifted or an overtaking and lane changing is completed, the necessity is an initial value; or, obtain the speed of the leading vehicle, the set speed of the vehicle and the acceleration of the vehicle; calculate the difference between the speed of the leading vehicle and the set speed of the vehicle to obtain the relative speed; based on the relative speed, calibrate the preset following time threshold; if the following time is less than the first preset following time threshold, the necessity is the initial value; if the following time is greater than the first preset following time threshold and less than a fixed multiple of the second preset following time threshold, the necessity is the first fixed value; if the following time is greater than the second preset following time threshold, the necessity is the second fixed value, wherein the first preset following time threshold is less than the second preset following time threshold.

[0159] In one embodiment, the traffic efficiency module 20 is further used to determine the lane on the lane changing side, the traffic flow reference value and the speed percentage according to the lane changing direction; obtain the number of vehicles passing through the lane on the lane changing side and the speed of each vehicle within a fixed time; obtain the traffic flow according to the fixed time and the number of vehicles; obtain the average speed according to the number of vehicles and the speed of each vehicle; obtain the traffic efficiency according to the lane changing direction, the vehicle speed, the traffic flow reference value, the speed percentage, the traffic flow and the average speed.

[0160] In one embodiment, the traffic efficiency module 20 is further used to calculate a traffic efficiency judgment value based on the lane change direction, the vehicle speed, the vehicle flow reference value, the speed percentage, the vehicle flow and the average speed; if the traffic efficiency judgment value is less than a first preset threshold, the traffic efficiency is the first standard; if the traffic efficiency judgment value is greater than the first preset threshold and less than the second preset threshold, the traffic efficiency is the second standard; if the traffic efficiency judgment value is greater than the second preset threshold, the traffic efficiency is the third standard, wherein the first preset threshold is less than the second preset threshold.

[0161] In one embodiment, the suppression module 30 is further used for, when the lane changing direction is from left to right, there is no vehicle in front of the vehicle with a speed less than a first preset multiple of the speed of the vehicle; when the lane changing direction is from right to left, there is no vehicle in front of the vehicle with a speed less than a second preset multiple of the speed of the vehicle; there are no vehicles exceeding a preset volume in the lane on the lane changing side; if a high-precision map is available, determining according to the high-precision map that there are no merging and merging intersections within a second fixed distance section ahead; when the number of lanes is greater than a third fixed value, prohibiting the vehicle from overtaking and changing lanes to the rightmost lane.

[0162] In one embodiment, the judgment module 40 is also used for, when the lane changing direction is from left to right, if the necessity is a first fixed value, the traffic efficiency is a third standard, and the overtaking lane change suppression condition is not met, then a lane change request to overtake to the right can be triggered; when the lane changing direction is from left to right, if the necessity is a second fixed value, the traffic efficiency is a second standard or a third standard, and the overtaking lane change suppression condition is not met, then a lane change request to overtake to the right can be triggered; when the lane changing direction is from right to left, if the necessity is a first fixed value or a second fixed value, the traffic efficiency is a second standard or a third standard, and the overtaking lane change suppression condition is not met, then a lane change request to overtake to the left can be triggered; when the above conditions for triggering the lane change request to overtake to the right and triggering the lane change request to overtake to the left can be met at the same time, then the lane change request to overtake to the left is triggered.

[0163] In one embodiment, the termination module 50 is further used for, when the center of the ego vehicle has not crossed the lane line, if a vehicle with a speed lower than that of the ego vehicle is detected in the lane on the lane-changing side, canceling the overtaking lane change so that the ego vehicle returns to the original lane; when the center of the ego vehicle has not crossed the lane line, if the center of the leading vehicle is detected to have crossed the lane line, canceling the overtaking lane change so that the ego vehicle returns to the original lane; when the center of the ego vehicle has not crossed the lane line, if a vehicle with a speed exceeding a preset vehicle specification threshold is detected in the lane on the lane-changing side, canceling the overtaking lane change so that the ego vehicle returns to the original lane.

[0164] The present application provides a decision-making control device for automatic overtaking and lane changing, and the decision-making control device for automatic overtaking and lane changing includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the decision-making control method for automatic overtaking and lane changing in the above-mentioned embodiment one.

[0165] Reference below Figure 5 , which shows a schematic diagram of the structure of a decision control device suitable for implementing the automatic overtaking and lane changing in the embodiment of the present application. The decision control device for automatic overtaking and lane changing in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 5The automatic overtaking and lane changing decision control device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0166] like Figure 5 As shown, the decision control device for automatic overtaking and lane changing may include a processing device 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. Various programs and data required for the operation of the decision control device for automatic overtaking and lane changing are also stored in the RAM 1004. The processing device 1001, the ROM 1002, and the RAM 1004 are connected to each other via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems may be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 1009. The communication device 1009 may allow the decision control device for automatic overtaking and lane changing to communicate wirelessly or wired with other devices to exchange data. Although the figure shows a decision control device for automatic overtaking and lane changing with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or have instead.

[0167] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0168] The automatic overtaking and lane changing decision control device provided by the present application adopts the automatic overtaking and lane changing decision control method in the above embodiment, which can solve the technical problem of automatic overtaking and lane changing decision control. Compared with the prior art, the beneficial effects of the automatic overtaking and lane changing decision control device provided by the present application are the same as the beneficial effects of the automatic overtaking and lane changing decision control method provided by the above embodiment, and the other technical features in the automatic overtaking and lane changing decision control device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0169] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0170] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0171] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the decision-making control method for automatic overtaking and lane changing in the above-mentioned embodiment.

[0172] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0173] The computer-readable storage medium may be included in the decision-making control device for automatic overtaking and lane changing; or may exist independently without being assembled into the decision-making control device for automatic overtaking and lane changing.

[0174] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the decision control device for automatic overtaking and lane changing, the decision control device for automatic overtaking and lane changing: if a vehicle with a speed less than a preset low-speed threshold is detected in the own vehicle lane, the necessity of overtaking and lane changing is obtained according to the set speed of the own vehicle, the speed of the preceding vehicle and the following time; the traffic efficiency is obtained according to the traffic volume and average speed of the lane on the lane changing side; the overtaking and lane changing suppression conditions are obtained; if the automatic lane changing control conditions are met, the overtaking and lane changing request is triggered based on the necessity, the traffic efficiency and the overtaking and lane changing suppression conditions; if the overtaking and lane changing termination conditions are met, the overtaking and lane changing is canceled.

[0175] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0176] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0177] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0178] The readable storage medium provided by the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned automatic overtaking and lane-changing decision control method, and can solve the technical problem of automatic overtaking and lane-changing decision control. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as the beneficial effects of the automatic overtaking and lane-changing decision control method provided by the above-mentioned embodiment, and will not be elaborated here.

[0179] The present application also provides a computer program product, including a computer program, which, when executed by a processor, implements the steps of the automatic overtaking and lane changing decision-making control method as described above.

[0180] The computer program product provided by the present application can solve the technical problem of decision control for automatic overtaking and lane changing. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the decision control method for automatic overtaking and lane changing provided by the above embodiment, which will not be elaborated here.

[0181] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A decision control method for automatic overtaking and lane changing, characterized in that: The method includes: If a vehicle with a speed lower than a preset low-speed threshold is detected in the lane of the ego vehicle, the necessity of overtaking and changing lanes is obtained according to the set speed of the ego vehicle, the speed of the preceding vehicle, and the following time; The traffic efficiency is obtained based on the traffic volume and average speed of the lane on the lane-changing side; Obtaining overtaking lane change suppression conditions; If the automatic lane change control condition is met, triggering an overtaking lane change request based on the necessity, the traffic efficiency and the overtaking lane change suppression condition; If the overtaking lane change termination conditions are met, the overtaking lane change is canceled.

2. The method according to claim 1, characterized in that The necessity of overtaking and changing lanes is obtained according to the set speed of the vehicle, the speed of the preceding vehicle and the following time, including: If a no-overtaking sign is detected in front of the vehicle, overtaking and lane changing are prohibited; or, If the vehicle passes the first fixed distance of the no-overtaking sign or recognizes that the no-overtaking sign has been lifted or completes an overtaking lane change, the necessity is the initial value; or, Obtain the speed of the preceding vehicle, the set speed of the own vehicle, and the acceleration of the own vehicle; Calculating the difference between the speed of the preceding vehicle and the set speed of the own vehicle to obtain a relative speed; Based on the relative vehicle speed, calibrate a preset following vehicle time threshold; If the following vehicle time is less than the first preset following vehicle time threshold, the necessity is an initial value; If the following vehicle time is greater than the first preset following vehicle time threshold and less than a fixed multiple of the second preset following vehicle time threshold, the necessity is a first fixed value; If the following vehicle time is greater than the second preset following vehicle time threshold, the necessity is a second fixed value, wherein the first preset following vehicle time threshold is less than the second preset following vehicle time threshold.

3. The method according to claim 1, characterized in that The traffic efficiency is obtained according to the traffic volume and average speed of the lane on the lane change side, including: According to the lane changing direction, determine the lane on the lane changing side, the traffic volume reference value and the speed percentage; Get the number of vehicles passing through the lane on the lane change side within a fixed time and the speed of each vehicle; According to the fixed time and the number of vehicles, obtain the traffic flow; Obtaining an average vehicle speed according to the number of vehicles and the speed of each vehicle; The traffic efficiency is obtained according to the lane changing direction, the vehicle speed, the vehicle flow reference value, the vehicle speed percentage, the vehicle flow and the average vehicle speed.

4. The method according to claim 3, characterized in that The obtaining of the traffic efficiency according to the lane change direction, the vehicle speed, the vehicle flow reference value, the vehicle speed percentage, the vehicle flow and the average vehicle speed includes: Calculating a traffic efficiency judgment value according to the lane change direction, the vehicle speed, the vehicle flow reference value, the vehicle speed percentage, the vehicle flow and the average vehicle speed; If the traffic efficiency judgment value is less than the first preset threshold, the traffic efficiency is the first standard; If the traffic efficiency judgment value is greater than the first preset threshold value and less than the second preset threshold value, the traffic efficiency is the second standard; If the traffic efficiency judgment value is greater than a second preset threshold, the traffic efficiency is the third standard, wherein the first preset threshold is less than the second preset threshold.

5. The method according to claim 1, characterized in that The overtaking lane change suppression conditions include: When the lane change direction is from left to right, there is no vehicle in front of the vehicle whose speed is less than a first preset multiple of the speed of the vehicle; When the lane change direction is from right to left, there is no vehicle in front of the own vehicle whose speed is less than a second preset multiple of the own vehicle speed; There are no vehicles exceeding a preset volume in the lane on the lane-changing side; If a high-precision map is available, determining based on the high-precision map that there is no merging or exiting intersection within the second fixed distance section ahead; When the number of lanes is greater than a third fixed value, the vehicle is prohibited from overtaking and changing lanes to the rightmost lane.

6. The method according to claim 1, characterized in that If the automatic lane change control condition is met, triggering an overtaking lane change request based on the necessity, the traffic efficiency and the overtaking lane change suppression condition, further includes: When the lane change direction is from left to right, if the necessity is a first fixed value, the traffic efficiency is a third standard, and the overtaking lane change suppression condition is not satisfied, a lane change request to overtake right may be triggered; When the lane change direction is from left to right, if the necessity is a second fixed value, the traffic efficiency is a second standard or a third standard, and the overtaking lane change suppression condition is not satisfied, a lane change request to overtake right may be triggered; When the lane change direction is from right to left, if the necessity is the first fixed value or the second fixed value, the traffic efficiency is the second standard or the third standard, and the overtaking lane change suppression condition is not met, a left overtaking lane change request may be triggered; When the above conditions for triggering a lane change request to overtake right and triggering a lane change request to overtake left are met at the same time, the lane change request to overtake left is triggered.

7. The method according to claim 1, characterized in that If the overtaking lane change termination condition is met, then the overtaking lane change is cancelled, including: When the center of the vehicle has not crossed the lane line, if a vehicle with a speed lower than that of the vehicle is detected in the lane on the lane-changing side, the overtaking lane change is canceled to return the vehicle to the original lane; When the center of the vehicle does not cross the lane line, if it is detected that the center of the leading vehicle crosses the lane line, the overtaking lane change is canceled to return the vehicle to the original lane; When the center of the ego vehicle has not crossed the lane line, if a vehicle exceeding a preset vehicle specification threshold is detected in the lane on the lane-changing side, the overtaking lane change is canceled to return the ego vehicle to the original lane.

8. A decision control device for automatic overtaking and lane changing, characterized in that: The device comprises: Necessity module, used to obtain the necessity of overtaking and changing lanes according to the set speed of the vehicle, the speed of the preceding vehicle and the following time; The traffic efficiency module is used to obtain the traffic efficiency according to the traffic volume and average speed of the lane on the lane change side; A suppression module, used to obtain overtaking lane change suppression conditions; a judgment module, configured to trigger an overtaking lane change request based on the necessity, the traffic efficiency and the overtaking lane change suppression condition if the automatic lane change control condition is met; The termination module is used to cancel the overtaking lane change if the overtaking lane change termination condition is met.

9. A decision control device for automatic overtaking and lane changing, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the decision-making control method for automatic overtaking and lane changing as claimed in any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the automatic overtaking and lane changing decision control method as described in any one of claims 1 to 7 are implemented.

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