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

Abstract

The embodiment of the invention provides a vehicle lane changing control method and device, a storage medium and electronic device.The method comprises the steps that under the condition that a current vehicle is about to change to an adjacent target lane, the following processing operation is repeatedly executed till the number of times that a lane changing condition is allowed to be met reaches the specified number of times, and if the number of times that the lane changing condition is allowed to be met reaches the specified number of times, the target lane is changed; judging whether a vehicle having the risk of collision with the current vehicle exists in a target lane or not, and judging whether a vehicle having the risk of collision with the current vehicle exists in a separated lane or not; when a vehicle having the collision risk with the current vehicle exists in at least one of the target lane and the separated lanes, sending a lane changing cooperation request to the vehicle having the collision risk with the current vehicle to request the vehicle having the collision risk with the current vehicle to cooperate with the current vehicle to change the lane to the target lane; and controlling the current vehicle to change the lane to the target lane when the number of times that the lane change permission condition is satisfied reaches the specified number of times.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of intelligent driving, and specifically, to a vehicle lane change control method and device, a storage medium, and an electronic device. Background Art

[0002] When an intelligent driving vehicle is driving on the road, if the vehicle ahead is running slowly or the remaining task execution time is insufficient, the intelligent driving vehicle needs to change lanes. In related technologies, when a vehicle changes lanes to a target lane, it is determined whether the vehicle will collide with the vehicle in the target lane. If no collision occurs, the vehicle is controlled to change lanes to the target lane.

[0003] However, the above-mentioned vehicle lane change control method cannot be applied to complex actual road conditions. Vehicle collision may occur during the lane change process, thereby reducing the efficiency of vehicle traffic. It can be seen that the vehicle lane change control method in the related art has the problem of low vehicle traffic efficiency due to the easy occurrence of vehicle collision. Summary of the invention

[0004] The embodiments of the present application provide a vehicle lane change control method and device, a storage medium and an electronic device to at least solve the problem of low vehicle traffic efficiency caused by the susceptibility to vehicle collisions in the vehicle lane change control method in the related art.

[0005] According to one aspect of an embodiment of the present application, a vehicle lane change control method is provided, comprising: when a current vehicle is about to change lanes to an adjacent target lane, repeatedly performing the following processing operations until the number of times a lane change condition is allowed to be satisfied reaches a specified number, wherein the lane change condition is that there is no vehicle with a risk of collision with the current vehicle: judging whether there is a vehicle with a risk of collision with the current vehicle in the target lane, and judging whether there is a vehicle with a risk of collision with the current vehicle in an alternate lane, wherein the alternate lane is a lane separated from the lane where the current vehicle is located by the target lane; when there is a vehicle with a risk of collision with the current vehicle in at least one of the target lane and the alternate lane, sending a lane change cooperation request to the vehicle with a risk of collision with the current vehicle to request the vehicle with a risk of collision with the current vehicle to cooperate with the current vehicle in changing lanes to the target lane; when the number of times the lane change condition is allowed to be satisfied reaches the specified number, controlling the current vehicle to change lanes to the target lane.

[0006] According to another aspect of an embodiment of the present application, a vehicle lane change control device is also provided, comprising: a first execution unit, for, when a current vehicle is about to change lanes to an adjacent target lane, repeatedly executing the following processing operations until the number of times a lane change condition is allowed to be satisfied reaches a specified number, wherein the lane change condition is that there is no vehicle that has a risk of collision with the current vehicle: determining whether there is a vehicle in the target lane that has a risk of collision with the current vehicle, and determining whether there is a vehicle in an alternate lane that has a risk of collision with the current vehicle, wherein the alternate lane is a lane that is separated from the target lane by a lane where the current vehicle is located; when there is a vehicle that has a risk of collision with the current vehicle in at least one of the target lane and the alternate lane, sending a lane change cooperation request to the vehicle that has a risk of collision with the current vehicle, so as to request the vehicle that has a risk of collision with the current vehicle to cooperate with the current vehicle in changing lanes to the target lane; a control unit, for, when the number of times the lane change condition is allowed to be satisfied reaches the specified number, controlling the current vehicle to change lanes to the target lane.

[0007] According to another aspect of the embodiments of the present invention, a computer-readable storage medium is provided, in which a computer program is stored, wherein the computer program is configured to execute the steps of any of the above method embodiments when running.

[0008] According to another aspect of the embodiments of the present application, a computer program product or a computer program is provided, the computer program product or the computer program includes computer instructions, the computer instructions are stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs the steps in any of the above method embodiments.

[0009] According to another aspect of an embodiment of the present invention, there is provided an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor is configured to execute the steps in any one of the above method embodiments through the computer program.

[0010] Through the embodiment of the present application, a lane-changing vehicle shares the driving intention with vehicles in adjacent lanes and separated lanes and cooperates in changing lanes. When the current vehicle is about to change lanes to an adjacent target lane, the following processing operations are repeatedly performed until the number of times the lane-changing condition is allowed to be met reaches a specified number, wherein the lane-changing condition is that there is no vehicle that has a risk of collision with the current vehicle: judging whether there is a vehicle in the target lane that has a risk of collision with the current vehicle, and judging whether there is a vehicle in the separated lane that has a risk of collision with the current vehicle, wherein the separated lane is a lane that is separated from the target lane by the lane where the current vehicle is located; when there is a vehicle that has a risk of collision with the current vehicle in at least one of the target lane and the separated lane, a lane-changing cooperation request is sent to the vehicle that has a risk of collision with the current vehicle, requesting the vehicle that has a risk of collision with the current vehicle to change lanes. The vehicle with collision risk cooperates with the current vehicle to change lanes to the target lane; when the number of times the lane change condition is allowed to be met reaches the specified number, the current vehicle is controlled to change lanes to the target lane. When the current vehicle has the intention to change lanes, it is judged whether there is a collision risk between the current vehicle and the vehicles in the adjacent lane (target lane) and the separated lane, and the lane is changed to the adjacent lane only when it is determined that no collision will occur during the lane change. This can reduce the probability of the current vehicle colliding with the vehicles in the adjacent lane and the separated lane. At the same time, by sending a lane change cooperation request to the vehicle with collision risk with the current vehicle, so as to share the driving intention with the vehicles in the adjacent lane and the separated lane, the cooperation between vehicles can be improved, thereby achieving the technical effect of improving vehicle traffic efficiency, thereby solving the problem of low vehicle traffic efficiency caused by the easy occurrence of vehicle collisions in the vehicle lane change control method in the related technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 This is a hardware structure block diagram of an optional vehicle-mounted terminal in an embodiment of the present application;

[0012] Figure 2 is a flow chart of an optional vehicle lane change control method according to an embodiment of the present application;

[0013] Figure 3 is a schematic diagram of an optional vehicle lane change control method according to an embodiment of the present application;

[0014] Figure 4 is a schematic diagram of another optional vehicle lane change control method according to an embodiment of the present application;

[0015] Figure 5 is a schematic diagram of another optional vehicle lane change control method according to an embodiment of the present application;

[0016] Figure 6 is a schematic diagram of an optional adjacent lane change risk judgment according to an embodiment of the present application;

[0017] Figure 7 is a schematic diagram of an optional lane change risk judgment for alternate lanes according to an embodiment of the present application;

[0018] Figure 8 is a schematic structural diagram of an optional intelligent driving system according to an embodiment of the present application;

[0019] Fig. 9 is a schematic diagram of an optional lane change request and overall coordination implementation process according to an embodiment of the present application;

[0020] Fig.10 is a schematic diagram of another optional vehicle lane change control method according to an embodiment of the present application;

[0021] Fig.11 is a schematic diagram of an optional horizontal coordination decision sub-process according to an embodiment of the present application;

[0022] Fig.12 is a schematic diagram of an optional vertical coordination decision sub-process according to an embodiment of the present application;

[0023] Fig.13 is a schematic diagram of another optional vehicle lane change control method according to an embodiment of the present application;

[0024] Fig.14 is a structural block diagram of an optional vehicle lane change control device according to an embodiment of the present application;

[0025] Fig.15 It is a block diagram of a computer system structure of an optional electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0027] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0028] According to one aspect of an embodiment of the present invention, a vehicle lane change control method is provided. Optionally, as an optional implementation, the method embodiment provided in the embodiment of the present application can be executed in a vehicle terminal, a vehicle terminal or a similar computing device. Taking running on a vehicle terminal as an example, Figure 1 is a hardware structure block diagram of an optional vehicle-mounted terminal in an embodiment of the present application. Figure 1 As shown, the vehicle terminal may include one or more ( Figure 1 Only one is shown in the figure) a processor 102 (the processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data, wherein the above-mentioned vehicle terminal may also include a transmission device 106 for communication functions and an input and output device 108. It can be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the vehicle-mounted terminal. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations are shown.

[0029] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the vehicle lane change control method in the embodiment of the present application. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, to implement the above method. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories can be connected to the vehicle-mounted terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, a local area network, a mobile communication network, and a combination thereof.

[0030] The transmission device 106 is used to receive or send data via a network. The specific example of the above network may include a wireless network provided by a communication provider of the vehicle terminal. In one example, the transmission device 106 includes a NIC (Network Interface Controller), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 can be an RF (Radio Frequency) module, which is used to communicate with the Internet wirelessly.

[0031] Optionally, as an optional implementation, an intelligent driving system may be running on the vehicle terminal or the intelligent driving vehicle (automatic driving vehicle), and the vehicle lane change control method in this embodiment may be executed by the intelligent driving system. Taking the vehicle lane change control method in this embodiment executed by the intelligent driving system as an example, Figure 2 is a flow chart of an optional vehicle lane change control method according to an embodiment of the present application, such as Figure 2 As shown, the process of the vehicle lane change control method may include the following steps:

[0032] Step S202, when the current vehicle is about to change lanes to an adjacent target lane, repeatedly perform the following processing operations until the number of times the lane change condition is allowed to be satisfied reaches a specified number: determine whether there is a vehicle in the target lane that has a risk of collision with the current vehicle, and determine whether there is a vehicle in the separated lane that has a risk of collision with the current vehicle; when there is a vehicle in at least one of the target lane and the separated lane that has a risk of collision with the current vehicle, send a lane change cooperation request to the vehicle that has a risk of collision with the current vehicle, so as to request the vehicle that has a risk of collision with the current vehicle to cooperate with the current vehicle in changing lanes to the target lane;

[0033] Step S204: When the number of times the lane change condition is allowed to be met reaches a specified number, the current vehicle is controlled to change lanes to the target lane.

[0034] The vehicle lane change control method in the embodiment of the present application can be applied to the scene of vehicle lane change, and to the intersection of intelligent transportation and intelligent driving. When the intelligent driving vehicle is driving on the road, when the speed of the vehicle in front is slow and the remaining task execution time is insufficient, the intelligent driving vehicle needs to change lanes. Related technology, when the vehicle changes lanes to the target lane, it generally only considers whether the vehicle will collide with the vehicle in the target lane. If the lanes separated by the lane change direction contain vehicles in the opposite direction of the lane change of the vehicle, that is, there are vehicles on both sides that change lanes to the same lane at the same time, there is also a risk of collision. In addition, in the actual driving process, there may be some vehicles with a speed that is significantly slower than the speed of the surrounding vehicles, and large vehicles on the highway do not drive in the prescribed lanes, causing the rear vehicles to frequently overtake.

[0035] For example, Figure 3 As shown, vehicle A is a vehicle traveling straight in the middle lane, and vehicle B and vehicle C are vehicles changing lanes to the middle lane at the same time. There is a risk of collision between vehicle B and vehicle C.

[0036] For example, Figure 4 As shown, vehicle A is a slower-moving vehicle, which can easily leave a large distance between it and vehicle F which is driving normally in front. In this case, vehicles B and C on both sides will insert between vehicle A and vehicle F. Vehicles D and E represent vehicles which can easily collide with vehicle F when changing lanes to the middle. Vehicle G is a vehicle which is blocked by the slow vehicle A.

[0037] For example, Figure 5 As shown, Figure 5 It can represent the highway condition where the large vehicle M did not drive in the slow lane as required, causing vehicles B and C to overtake in the middle lane. Figure 5 It can also represent an urban condition, where vehicle M is driving in the left turn lane, and there is also a large vehicle or a vehicle driving at a slower speed on the far right. In addition, the narrowing of both sides of the road ahead can also cause the vehicles on both sides to change lanes to the middle lane at the same time.

[0038] In order to reduce the risk of collision when vehicles in separate lanes change lanes to the middle at the same time, a vehicle lane change collision warning method can be used. When there is a lane change conflict, a warning message is issued to remind the driver to avoid the conflict. However, although the collision warning can solve the lane change conflict problem to a certain extent, if the reminder is not timely or the driver does not receive the warning message in time, the vehicle still has the risk of collision, which reduces the safety of vehicle operation.

[0039] In order to at least partially solve the above problems, in this embodiment, the lane-changing vehicle shares the driving intention with the vehicles in the adjacent lane and the separated lane and cooperates in changing lanes. When the current vehicle has the intention to change lanes, it is determined whether there is a collision risk between the current vehicle and the vehicles in the adjacent lane (target lane) and the separated lane, and the lane is changed to the adjacent lane only when it is determined that no collision will occur during the lane change. This can reduce the probability of the current vehicle colliding with the vehicles in the adjacent lane and the separated lane. At the same time, by sending a lane change cooperation request to the vehicle that has a collision risk with the current vehicle, the driving intention can be shared with the vehicles in the adjacent lane and the separated lane, so that the vehicle can cooperate with the vehicles in the adjacent lane and the separated lane to drive, thereby improving the coordination between vehicles and thereby improving the efficiency of vehicle passage.

[0040] The current vehicle may be an autonomous driving vehicle traveling on a road, and it is traveling on a lane of the road. If the current vehicle is to change lanes to an adjacent target lane, that is, the current vehicle has an intention to change lanes to an adjacent target lane, it can be determined whether the lane change conditions are met. Here, the lane change conditions are that there is no lane change collision risk, that is, there is no vehicle that has a collision risk with the current vehicle. When determining whether there is a lane change collision risk (that is, determining whether the lane change conditions are met), it can be divided into determining whether there is a collision risk between the current vehicle (that is, the vehicle, the lane-changing vehicle) and the adjacent vehicle (the vehicle in the adjacent lane, that is, the vehicle in the target lane) and whether there is a collision risk between the current vehicle and the separated vehicle (the vehicle in the separated lane, that is, the vehicle in the lane separated from the target lane where the current vehicle is located).

[0041] Optionally, the overall architecture of the intelligent driving system may include: a lane change demand generation module, which is used to generate lane change demands of the autonomous driving vehicle. The lane change modes of the autonomous driving vehicle include navigation lane change, efficiency lane change and lever lane change, wherein navigation lane change refers to the decision of driving behaviors such as going straight, turning left or turning right at a certain intersection based on the global path generated by navigation; efficiency lane change refers to a lane change mode in which a slow vehicle in front of the vehicle has been blocking the vehicle's driving for a long time, and in order to increase its own driving speed, it chooses to bypass the slow vehicle in front to increase the speed of the vehicle; lever lane change is a lane change mode in which the driver pulls the lever and hopes that the vehicle will drive to the target lane. The lane change demand generation module responds to any of the lane change trigger modes and generates a lane change demand (i.e., generates a lane change intention to change to the target lane).

[0042] If there are no vehicles in the target lane and the adjacent lanes that have a risk of collision with the current vehicle, it can be determined that the lane change condition is met. At this point, the current vehicle can be directly controlled to change lanes to the target lane. Considering that vehicle operation is a dynamic process, the following situation exists: the lane change condition is met at a certain moment or a short period of time, and the lane change condition is not met after that moment or period of time. It takes a certain amount of time for a vehicle to change lanes. Therefore, if the lane change condition is met and the vehicle changes lanes immediately, there is a certain risk of lane change collision. To this end, the operation of determining whether the lane change condition is met can be repeated until the number of times the lane change condition is met (which can be the number of times it is met continuously) reaches a specified number; when the number of times the lane change condition is met reaches a specified number, the current vehicle is controlled to change lanes to the target lane.

[0043] Here, the specified number is the specified number of times that the lane change condition is allowed to be met. When the specified number is 1, the vehicle changes lanes immediately once the lane change condition is met; when the specified number is a positive integer greater than or equal to 2, the vehicle changes lanes only when the lane change condition is allowed to be met continuously for a specified number of times.

[0044] Optionally, in this embodiment, in order to improve the efficiency of vehicle lane change, the current vehicle may have a cooperative automatic driving function, which can share the driving intention with the vehicles in the target lane and the separated lane, improve the cooperation of driving between vehicles, thereby reducing the probability of collision and increasing the overall traffic efficiency. Optionally, in the case that there is a vehicle with a risk of collision with the current vehicle in at least one of the target lane and the separated lane, a lane change cooperation request is sent to the vehicle with a risk of collision with the current vehicle, so as to request the vehicle with a risk of collision with the current vehicle to cooperate with the current vehicle to change lanes to the target lane.

[0045] For vehicles in different lanes, the way to configure the current vehicle to change lanes to the target lane may be different. For example, for an adjacent vehicle in the target lane, the way to configure the current vehicle to change lanes to the target lane may include but is not limited to at least one of the following: accelerating, decelerating, and changing lanes. For separated vehicles in separated lanes, the way to configure the current vehicle to change lanes to the target lane may include but is not limited to at least one of the following: accelerating lane change, decelerating lane change, and pausing lane change. In this embodiment, there is no limitation on the way to cooperate with the current vehicle to change lanes to the target lane.

[0046] It should be noted that each time the aforementioned processing operation is performed, if there are no vehicles in the target lane and the adjacent lane that pose a risk of collision with the current vehicle, the number of times the lane change condition is allowed to be met will be increased by 1; if there are vehicles in at least one of the target lane and the adjacent lane that pose a risk of collision with the current vehicle, the number of times the lane change condition is allowed to be met will be set to 0, and a lane change cooperation request may also be sent to the vehicle that poses a risk of collision with the current vehicle.

[0047] Optionally, sending a lane change cooperation request to a vehicle that is at risk of collision with the current vehicle may be executed through a V2X (Vehicle to Everything, a vehicle-to-vehicle wireless communication technology) module on the current vehicle. Correspondingly, in an embodiment of the present application, from the perspective of V2X intelligent networking, a solution based on vehicle-to-vehicle collaborative V2X function is provided to solve the lane change conflict problem between a lane-changing vehicle and adjacent lanes and separated lanes. A method of sending a lane change cooperation request to a vehicle that is at risk of collision with the current vehicle may be: broadcasting a lane change cooperation request to a vehicle that is at risk of collision with the current vehicle through the V2X module of the current vehicle.

[0048] In the process of controlling the current vehicle to change lanes to the target lane, in order to ensure the safety of the vehicle lane change process, the current vehicle can be controlled to broadcast the status information of the current vehicle so that surrounding vehicles can know the status information of the current vehicle. Here, the vehicle status indicated by the broadcast status information is the vehicle status related to lane change, and the vehicle status related to lane change may include but is not limited to at least one of the following: lane change preparation status, lane change status, lane change completion status. The status information of the current vehicle can be broadcast through the V2X module.

[0049] Through the embodiment provided by the present application, when the current vehicle is about to change lanes to an adjacent target lane, the following processing operations are repeatedly performed until the number of times the lane change condition is allowed to be satisfied reaches a specified number, wherein the lane change condition is that there is no vehicle that has a risk of collision with the current vehicle: judging whether there is a vehicle that has a risk of collision with the current vehicle in the target lane, and judging whether there is a vehicle that has a risk of collision with the current vehicle in an alternate lane, wherein the alternate lane is a lane that is separated from the target lane by the lane where the current vehicle is located; when there is a vehicle that has a risk of collision with the current vehicle in at least one of the target lane and the alternate lane, a lane change cooperation request is sent to the vehicle that has a risk of collision with the current vehicle, so as to request the vehicle that has a risk of collision with the current vehicle to cooperate with the current vehicle in changing lanes to the target lane; when the number of times the lane change condition is allowed to be satisfied reaches the specified number, the current vehicle is controlled to change lanes to the target lane, thereby solving the problem of low vehicle traffic efficiency caused by easy vehicle collision in the vehicle lane change control method in the related art, reducing the probability of vehicle collision, and improving vehicle traffic efficiency.

[0050] In an exemplary embodiment, determining whether there is a vehicle in a target lane that has a risk of collision with the current vehicle includes: determining that there is no vehicle in the target lane that has a risk of collision with the current vehicle if there is no vehicle within a first distance range of the target lane; determining that there is no vehicle in the target lane that has a risk of collision with the current vehicle if there is a first adjacent vehicle in the first distance range of the target lane, when a vehicle region where the current vehicle is located in a longitudinal direction and a vehicle region where the first adjacent vehicle is located in a longitudinal direction have an intersection, that the first adjacent vehicle in the target lane has a risk of collision with the current vehicle; when a vehicle region where the current vehicle is located in a longitudinal direction and a vehicle region where the first adjacent vehicle is located in a longitudinal direction do not intersect, determining a distance in the longitudinal direction between a rear position of the current vehicle and a previous vehicle among the first adjacent vehicles and a front position of the current vehicle and a subsequent vehicle among the first adjacent vehicles to obtain a first vehicle distance; determining that there is a risk of collision between the first adjacent vehicle in the target lane and the current vehicle if a result of dividing the first vehicle distance by the speed of the current vehicle and the subsequent vehicle among the first adjacent vehicles is less than or equal to a first time threshold; determining that there is no vehicle in the target lane that has a risk of collision with the current vehicle if a result of dividing the first vehicle distance by the speed of the current vehicle and the subsequent vehicle among the first adjacent vehicles is greater than the first time threshold, determining that there is no vehicle in the target lane that has a risk of collision with the current vehicle.

[0051] When judging whether there is a risk of collision between the current vehicle and an adjacent vehicle in the target lane, it can be judged whether there is a risk of collision between the current vehicle and an adjacent vehicle in the target lane based on the front position and rear position of the current vehicle, the front position and rear position of the adjacent vehicle in the target lane, the speed of the current vehicle and the speed of the adjacent vehicle in the target lane, that is, judge whether there is a vehicle in the target lane that has a risk of collision with the current vehicle.

[0052] In this embodiment, it is possible to first determine whether there is a vehicle within a certain distance range of the adjacent lane in the lane change direction, that is, to determine whether there is a vehicle within the first distance range of the target lane. If there is no vehicle within the first distance range of the target lane, it can be determined that there is no vehicle in the target lane that has a risk of collision with the current vehicle. Here, the first distance range is a distance range in the longitudinal direction including the current vehicle's position, which can be configured and adjusted based on experience or through big data analysis, and the longitudinal direction can be the driving direction of the lane where the current vehicle is located or the target lane. Exemplarily, the first distance range is a range of a certain distance before and after the vehicle position of the current vehicle (for example, 200 meters before and after).

[0053] If there is a vehicle within the first distance range of the target lane, that is, the first adjacent vehicle, it can be determined whether there is a risk of collision between the first adjacent vehicle and the current vehicle. There can be multiple relative positions between the first adjacent vehicle and the current vehicle, and different relative positions can be determined in different ways. If the vehicle area where the current vehicle is located in the longitudinal direction and the vehicle area where the first adjacent vehicle is located in the longitudinal direction have an intersection (for example, the first adjacent vehicle is located in the right front, right rear, right side, left front, left rear, and left side of the current vehicle), it can be determined that there is a risk of collision between the first adjacent vehicle and the current vehicle, and the vehicles that have a risk of collision with the current vehicle include the first adjacent vehicle. Here, the vehicle area where the current vehicle is located in the longitudinal direction is the area from the front position of the current vehicle to the rear position of the current vehicle in the longitudinal direction, and the vehicle area where the first adjacent vehicle is located in the longitudinal direction is the area from the front position of the first adjacent vehicle to the rear position of the first adjacent vehicle in the longitudinal direction.

[0054] If the vehicle area where the current vehicle is located in the longitudinal direction does not intersect with the vehicle area where the first adjacent vehicle is located in the longitudinal direction (for example, the first adjacent vehicle is located in front of the right, rear of the right, front of the left, or rear of the left of the current vehicle), the longitudinal distance between the current vehicle and the first adjacent vehicle can be determined, that is, the first vehicle distance between the rear position of the current vehicle and the first adjacent vehicle and the front position of the current vehicle and the second adjacent vehicle in the longitudinal direction; if the result of dividing the first vehicle distance by the speed of the current vehicle and the second adjacent vehicle is less than or equal to the first time threshold, it can be considered that the distance between the two vehicles is insufficient to meet the lane change requirement, and a collision may occur during the lane change, and it can be determined that there is a risk of collision between the first adjacent vehicle and the current vehicle; if the result of dividing the first vehicle distance by the speed of the current vehicle and the second adjacent vehicle is greater than the first time threshold, it can be considered that the distance between the two vehicles is sufficient to meet the lane change requirement, and there is a high probability that no collision will occur during the lane change, and it can be determined that there is no vehicle in the target lane that has a risk of collision with the current vehicle.

[0055] Optionally, if the vehicle area where the current vehicle is located in the longitudinal direction does not intersect with the vehicle area where the first adjacent vehicle is located in the longitudinal direction, and the speed of the current vehicle and the previous vehicle of the first adjacent vehicle is greater than or equal to the speed of the current vehicle and the next vehicle of the first adjacent vehicle, it can be determined that there is no vehicle in the target lane that has a risk of collision with the current vehicle; if the vehicle area where the current vehicle is located in the longitudinal direction does not intersect with the vehicle area where the first adjacent vehicle is located in the longitudinal direction, and the speed of the current vehicle and the previous vehicle of the first adjacent vehicle is less than the speed of the current vehicle and the next vehicle of the first adjacent vehicle, the above-mentioned first vehicle distance can be determined, and if the result of dividing the first vehicle distance by the absolute value of the speed difference between the speed of the current vehicle and the speed of the first adjacent vehicle is greater than the third time threshold, it can be determined that there is no vehicle in the target lane that has a risk of collision with the current vehicle; otherwise, it is determined that there is a risk of collision between the first adjacent vehicle and the current vehicle.

[0056] For example, see Figure 6 , Figure 6 The schematic diagram of the adjacent lane change risk judgment is shown in Figure 1. Taking vehicle A as an example, it is determined whether there is a collision risk between it and vehicle B in the adjacent lane. An SL ("S" represents the direction of the road centerline, i.e., the longitudinal coordinate, indicating the distance or position along the road centerline; "L" represents the direction perpendicular to the road centerline, i.e., the lateral coordinate, indicating the lateral offset distance of the vehicle relative to the road centerline) coordinate system (Frenet coordinate system) is established. The S coordinates corresponding to the front and rear of vehicle A are respectively expressed as S end_a , S start_a Indicates that the S coordinates of the front and rear of vehicle B are respectively Send_b , S start_b Indicates that the speeds of the two vehicles are V a and V b , determine whether there is a collision risk when vehicle A changes lanes according to the following conditions:

[0057] Scenario 1: When vehicle B is in front of the right side of vehicle A and both formula (1) and formula (2) are true, it is determined that there is a collision risk. Formula (1) and formula (2) are as follows:

[0058] s end_a -s start_b ≥0 (1)

[0059] s end_b -s end_a ≥0 (2)

[0060] That is, when the front of vehicle A is in front of the rear of vehicle B, and the front of vehicle B is in front of the front of vehicle A (the front of vehicle A is located between the front of vehicle B and the rear of vehicle B), it is determined that there is a collision risk.

[0061] Scenario 2: When vehicle B is in front of vehicle A to the right, and formula (3) and formula (4) are established, it is determined that there is a collision risk. Formula (3) and formula (4) are as follows: thw Indicates the time threshold for determining whether a collision occurs (an example of the first time threshold may be 4 seconds):

[0062] s start_b -s end_a >0 (3)

[0063]

[0064] That is, when the rear end of vehicle B is in front of the front end of vehicle A, and the longitudinal distance between the rear end of vehicle B and the front end of vehicle A divided by the speed of vehicle A is less than the set time threshold, it is determined that there is a collision risk.

[0065] Scenario 3: When vehicle B is on the right side of vehicle A and formula (5) or formula (6) is true at the same time, it is determined that there is a collision risk. Formula (5) and formula (6) are as follows:

[0066] s start_b ≥s start_a ,s end_b ≤s end_a (5)

[0067] s start_b ≤s start_a ,s end_b ≥s end_a (6)

[0068] That is, when the rear end of vehicle B is in front of the rear end of vehicle A and the front end of vehicle A is behind the front end of vehicle A (vehicle B is located in the middle of vehicle A), or, the rear end of vehicle B is behind the rear end of vehicle A and the front end of vehicle B is in front of the front end of vehicle A (vehicle A is located in the middle of vehicle B), it is determined that there is a collision risk.

[0069] Scenario 4: When vehicle B is behind vehicle A to the right, and both formula (7) and formula (8) are true, it is determined that there is a collision risk. Formula (7) and formula (8) are as follows:

[0070] s end_b -s start_a ≥0 (7)

[0071] s start_a -s start_b ≥0 (8)

[0072] That is, when the front of vehicle B is in front of the rear of vehicle A, and the rear of vehicle A is in front of the rear of vehicle B (the rear of vehicle A is located between the front of vehicle B and the rear of vehicle B), it is determined that there is a collision risk.

[0073] Scenario 5: When vehicle B is behind vehicle A to the right, and both formula (9) and formula (10) are true, it is determined that there is a collision risk. Formula (9) and formula (10) are as follows:

[0074] s start_a -s end_b >0 (9)

[0075]

[0076] That is, when the rear end of vehicle A is in front of the front end of vehicle B, and the result of dividing the longitudinal distance between the rear end of vehicle A and the front end of vehicle B by the speed of vehicle B is less than the set time threshold, it is determined that there is a collision risk.

[0077] Through this embodiment, based on the front position and rear position of the current vehicle, the front position and rear position of the adjacent vehicle in the target lane, the speed of the current vehicle and the speed of the adjacent vehicle in the target lane, it is judged whether there is a collision risk between the current vehicle and the adjacent vehicle in the target lane, thereby improving the accuracy and convenience of collision risk judgment.

[0078] In an exemplary embodiment, determining whether there is a vehicle in an alternate lane that has a risk of collision with the current vehicle includes: if there is no vehicle within a second distance range of the alternate lane, determining that there is no vehicle in the alternate lane that has a risk of collision with the current vehicle; if there is a vehicle in the second distance range of the alternate lane, when none of the vehicles in the second distance range of the alternate lane has an intention to change lanes to a target lane, determining that there is no vehicle in the alternate lane that has a risk of collision with the current vehicle; when there is a first vehicle in the second distance range of the alternate lane that has an intention to change lanes to the target lane, and a vehicle area in the longitudinal direction of the current vehicle intersects with a vehicle area in the longitudinal direction of the first vehicle, determining that there is a risk of collision between the first vehicle in the alternate lane and the current vehicle; when the second distance range of the alternate lane When there is a second separated vehicle with the intention of changing lanes to the target lane within the range, and the vehicle area where the current vehicle is located in the longitudinal direction does not intersect with the vehicle area where the second separated vehicle is located in the longitudinal direction, determine the distance between the rear position of the current vehicle and the first vehicle of the second separated vehicle and the front position of the current vehicle and the second separated vehicle in the longitudinal direction to obtain the second vehicle distance; when the result of dividing the second vehicle distance by the speed of the current vehicle and the second separated vehicle is less than or equal to the second time threshold, determine that there is a collision risk between the second separated vehicle and the current vehicle in the separated lane; when the result of dividing the second vehicle distance by the speed of the current vehicle and the second separated vehicle is greater than the second time threshold, determine that there is no vehicle in the separated lane that has a collision risk with the current vehicle.

[0079] When judging whether there is a risk of collision between the current vehicle and an adjacent vehicle in an adjacent lane, it can be judged whether there is a risk of collision between the current vehicle and the adjacent vehicle in an adjacent lane based on the front position and rear position of the current vehicle, the front position and rear position of the adjacent vehicle in the adjacent lane, the speed of the current vehicle, and the speed of the adjacent vehicle in the adjacent lane, that is, judge whether there is a vehicle in the adjacent lane that has a risk of collision with the current vehicle.

[0080] In this embodiment, it can be first determined whether there is an alternate lane in the lane change direction. If not, it can be directly determined that there is no vehicle in the alternate lane that has a risk of collision with the current vehicle; if it does, it can be further determined whether there is a vehicle within a certain distance range of the alternate lane, that is, it is determined whether there is a vehicle within the second distance range of the alternate lane. If there is no vehicle within the second distance range of the alternate lane, it can be determined that there is no vehicle in the alternate lane that has a risk of collision with the current vehicle. Here, the second distance range is a distance range in the longitudinal direction including the position of the current vehicle, which can be configured and adjusted based on experience or through big data analysis. Exemplarily, the second distance range is a range of a certain distance before and after the vehicle position of the current vehicle (for example, 200 meters before and after). The first distance range and the second distance range can be the same or different.

[0081] If there are separated vehicles within the second distance range of the separated lanes, it can be determined whether the separated vehicles within the second distance range of the separated lanes have a lane change intention to change to the target lane (it can be to change lanes to the target lane, or it can be changing lanes to the target lane). The basis for the determination can be: whether a lane change cooperation request sent by the separated vehicles within the second distance range of the separated lanes, broadcast status information, etc. are received. If there are separated vehicles within the second distance range of the separated lanes, when the separated vehicles within the second distance range of the separated lanes have no lane change intention to change to the target lane, it can be determined that there are no vehicles in the separated lanes that have a risk of collision with the current vehicle.

[0082] If there is a first separated vehicle with a lane change intention to the target lane within the second distance range of the separated lanes, and the vehicle area where the current vehicle is located in the longitudinal direction and the vehicle area where the first separated vehicle is located in the longitudinal direction have an intersection, it can be determined that there is a collision risk between the first separated vehicle and the current vehicle. The vehicle area where the current vehicle is located in the longitudinal direction and the vehicle area where the first separated vehicle is located in the longitudinal direction are similar to those in the above-mentioned embodiment, and are not described in detail here.

[0083] If there is a second vehicle with a lane change intention to the target lane within the second distance range of the separated lane, and the vehicle area where the current vehicle is located in the longitudinal direction does not intersect with the vehicle area where the second vehicle is located in the longitudinal direction, the distance between the rear position of the current vehicle and the first vehicle of the second separated vehicle and the front position of the current vehicle and the second vehicle of the second separated vehicle in the longitudinal direction can be determined to obtain the second vehicle distance; if the result of the second vehicle distance divided by the speed of the current vehicle and the second vehicle of the second separated vehicle is less than or equal to the second time threshold, it is determined that there is a collision risk between the second vehicle in the separated lane and the current vehicle; if the result of the second vehicle distance divided by the speed of the current vehicle and the second vehicle of the second separated vehicle is greater than the second time threshold, it is determined that there is no vehicle in the separated lane that has a collision risk with the current vehicle. Here, the vehicle area where the current vehicle is located in the longitudinal direction, the vehicle area where the second vehicle is located in the longitudinal direction, the second vehicle distance and the second time threshold (which can be the same as or different from the first time threshold) are similar to those in the above-mentioned embodiment and are not described in detail here.

[0084] Optionally, if the vehicle area where the current vehicle is located in the longitudinal direction does not intersect with the vehicle area where the second separated vehicle is located in the longitudinal direction, and the speed of the current vehicle and the second separated vehicle is greater than or equal to the speed of the current vehicle and the second separated vehicle, it can be determined that there is no vehicle in the separated lane that has a risk of collision with the current vehicle; if the vehicle area where the current vehicle is located in the longitudinal direction does not intersect with the vehicle area where the second separated vehicle is located in the longitudinal direction, and the speed of the current vehicle and the second separated vehicle is less than the speed of the current vehicle and the second separated vehicle, the above-mentioned second vehicle distance can be determined, and if the result of dividing the second vehicle distance by the absolute value of the speed difference between the speed of the current vehicle and the speed of the second separated vehicle is greater than the fourth time threshold, it can be determined that there is no vehicle in the separated lane that has a risk of collision with the current vehicle; otherwise, it is determined that there is a risk of collision between the second separated vehicle and the current vehicle.

[0085] For example, see Figure 7 , Figure 7The schematic diagram of lane change risk judgment for separated lanes is shown in Figure 1. Taking the case where vehicle A and vehicle B change lanes to the target lane at the same time as an example, it is judged whether there is a collision risk between the two. Taking vehicle A as the vehicle to be judged, when vehicle A changes lanes to the right, it is first judged whether there is a lane separated on the right. If so, it is further judged whether there is a collision risk with the vehicle in the lane separated from itself. First, it is judged whether the lane change directions of vehicle B and vehicle A are opposite. If so, it is further judged according to formulas (1) to (5). If any of the conditions in formulas (1) to (5) is met, it is determined that there is a collision risk between vehicle A and vehicle B. Otherwise, it is determined that there is no collision risk between vehicle A and vehicle B.

[0086] Through this embodiment, by judging whether an adjacent vehicle in an adjacent lane has the intention to change lanes to the same lane as the current vehicle, and when an adjacent vehicle in an adjacent lane has the intention to change lanes to the same lane as the current vehicle, judging whether there is a risk of collision between the current vehicle and the adjacent vehicle in the adjacent lane based on the front position and rear position of the current vehicle, the front position and rear position of the adjacent vehicle in the adjacent lane, the speed of the current vehicle and the speed of the adjacent vehicle in the adjacent lane, the accuracy and convenience of collision risk judgment can be improved.

[0087] In an exemplary embodiment, a lane change cooperation request is sent to a vehicle that has a risk of collision with the current vehicle, including: when the vehicle that has a risk of collision with the current vehicle includes a second adjacent vehicle on a target lane, a target longitudinal cooperation request is sent to the second adjacent vehicle; when the vehicle that has a risk of collision with the current vehicle includes a third separated vehicle on an separated lane, a target lateral cooperation request is sent to the third separated vehicle.

[0088] In this embodiment, different lane change coordination requests may be used for adjacent vehicles in adjacent lanes and separated vehicles in separated lanes, requesting adjacent vehicles in adjacent lanes and separated vehicles in separated lanes to perform different coordination actions. When the vehicles with a risk of collision with the current vehicle include a second adjacent vehicle in the target lane, a target longitudinal coordination request may be sent to the second adjacent vehicle, the lane change coordination request includes a target longitudinal coordination request, and the target longitudinal coordination request is used to request the second adjacent vehicle to coordinate with the current vehicle to change lanes to the target lane by adjusting the vehicle speed, and the vehicle speed may be adjusted by accelerating or accelerating. Optionally, the target longitudinal coordination request may also indicate the desired adjusted vehicle speed.

[0089] When the vehicles with a collision risk with the current vehicle include a third vehicle in an alternate lane, a target lateral coordination request may be sent to the third vehicle, the lane change coordination request including the target lateral coordination request, and the target lateral coordination request is used to request the third vehicle to change lanes to the target lane by temporarily canceling the lane change to cooperate with the current vehicle, and the way to temporarily cancel the lane change may be to cancel the lane change for a certain period of time and then try again to change lanes, or to cancel the lane change until the current vehicle completes the lane change. Optionally, the target lateral coordination request may also indicate the expected duration of the lane change cancellation.

[0090] Through this embodiment, different coordination requests are used to instruct the corresponding vehicles in adjacent lanes and separated vehicles in separated lanes to configure the current vehicle's lane change in different ways, which can improve the flexibility of lane change control and the efficiency of vehicle passage.

[0091] In an exemplary embodiment, different request information lists may be used to store request information for lane change cooperation requests sent to adjacent vehicles and request information for lane change cooperation requests sent to alternate vehicles. For the current vehicle, request information for lane change cooperation requests sent to vehicles in the target lane that are at risk of collision with the current vehicle is stored in the first request information list, and request information for lane change cooperation requests sent to vehicles in alternate lanes that are at risk of collision with the current vehicle is stored in the second request information list.

[0092] Correspondingly, after determining whether there is a vehicle in the target lane that has a risk of collision with the current vehicle, the above method further includes: in the case where there is no vehicle in the target lane that has a risk of collision with the current vehicle, clearing the first request information list. Here, considering that the determination of whether the conditions for allowing lane change are met may be performed multiple times, each time it is determined that there is no vehicle in the target lane that has a risk of collision with the current vehicle, the first request information list is cleared so that the request information in the first request information list can characterize the vehicle in the target lane that has a risk of collision with the current vehicle. Similarly, after determining whether there is a vehicle in an alternate lane that has a risk of collision with the current vehicle, the method further includes: in the case where there is no vehicle in an alternate lane that has a risk of collision with the current vehicle, clearing the second request information list.

[0093] In this embodiment, a cooperative driving mode of request and cooperation can be adopted. For a vehicle that receives a lane change cooperation request, it can determine whether to cooperate with the current vehicle to change lanes to the target lane based on the cooperation strategy configured for it, and when cooperating with the current vehicle to change lanes to the target lane, it sends a lane change cooperation feedback information to the current vehicle to instruct it to cooperate with the current vehicle to change lanes to the target lane. For a vehicle that does not cooperate with the current vehicle to change lanes to the target lane, it can ignore the received lane change cooperation request, or send a lane change cooperation rejection information to the current vehicle.

[0094] Correspondingly, after sending a lane change cooperation request to a vehicle that has a risk of collision with the current vehicle, the above method also includes: upon receiving the cooperation lane change feedback information returned by the third adjacent vehicle in the target lane that has a risk of collision with the current vehicle in response to the lane change cooperation request, clearing the request information corresponding to the third adjacent vehicle in the first request information list; upon receiving the cooperation lane change feedback information returned by the fourth separated vehicle in the separated lane that has a risk of collision with the current vehicle in response to the lane change cooperation request, clearing the request information corresponding to the fourth separated vehicle in the second request information list.

[0095] Within a certain period of time after sending the lane change cooperation request, the current vehicle may wait to receive the lane change cooperation feedback information sent by the vehicle that has a collision risk with the current vehicle. If the lane change cooperation feedback information is received from the third adjacent vehicle in the target lane that has a collision risk with the current vehicle in response to the lane change cooperation request, the request information corresponding to the third adjacent vehicle in the first request information list may be cleared; if the lane change cooperation feedback information is received from the fourth separated vehicle in the separated lane that has a collision risk with the current vehicle in response to the lane change cooperation request, the request information corresponding to the fourth separated vehicle in the second request information list may be cleared.

[0096] By performing the above processing on the first request information list and the second request information list, the remaining request information in the first request information list and the second request information list are matched with the vehicles that have a collision risk with the current vehicle and that do not cooperate with the current vehicle to change lanes to the target lane. Therefore, whether the lane change condition is met can be determined based on whether the first request information list and the second request information list are both empty. If the first request information list and the second request information list are both empty, the lane change condition is met. If the first request information list and the second request information list are not both empty, the lane change condition is not met.

[0097] Through this embodiment, the request information of the lane change cooperation request sent by the current vehicle is saved through the request information list, and the request information list is updated based on the received lane change cooperation feedback information, so that it is possible to judge whether the lane change conditions are met based on the request information in the request information list, which can improve the accuracy and convenience of information acquisition.

[0098] In an exemplary embodiment, during the process of controlling the current vehicle to change lanes to a target lane, the method further includes: broadcasting status information of the current vehicle through the current vehicle; and continuously determining whether the current vehicle has completed the lane change based on a relationship between a center position of the current vehicle and a lane range of the target lane.

[0099] In this embodiment, in order to avoid a vehicle collision during the lane change process, the current vehicle may broadcast the status information of the current vehicle during the process of controlling the current vehicle to change lanes to the target lane, so as to indicate that the current vehicle is in the lane change state. The broadcasting of the status information may be performed continuously, for example, the status information of the current vehicle is broadcast once every certain period of time until the lane change of the current vehicle is completed or the lane change is canceled or other termination conditions are met.

[0100] Optionally, the current vehicle may further continue to determine whether the current vehicle has completed the lane change based on the relationship between the center position of the current vehicle and the lane range of the target lane. If the center position of the current vehicle is within the lane range of the target lane, it may be determined that the current vehicle has completed the lane change; otherwise, it may be determined that the current vehicle has not completed the lane change.

[0101] Through this embodiment, during the process of vehicle lane changing, the status information of the current vehicle is broadcast, and based on the relationship between the center position of the current vehicle and the lane range of the target lane, it is determined whether the current vehicle has completed the lane change, which can improve the safety of the vehicle during the lane changing process.

[0102] The following is an explanation of the vehicle lane change control method in the embodiment of the present application in conjunction with an optional example. This optional example provides a lane change request and coordination scheme that considers both adjacent and separated lanes. The structure of the intelligent driving system that implements the vehicle lane change control method in this embodiment can be as follows: Figure 8 As shown, the intelligent driving system includes: a lane change demand generating module, an adjacent lane request module in the lane change direction, an alternate lane request module in the lane change direction, a module for responding to adjacent lane lane change requests, a module for responding to alternate lane lane change requests, a V2X data interaction module and a driving planning module. The modules other than the lane change demand generating module are explained below.

[0103] (1) Adjacent lane request module for lane change direction

[0104] This module is mainly used to send lane change request information to the adjacent lane (i.e., the vehicle in the target lane), such as Figure 3 As shown, when vehicle B changes lanes to the middle and there is a risk of collision with vehicle A in the adjacent lane, this module will be called to generate adjacent lane request information.

[0105] (2) Lane change request module

[0106] This module is mainly used to send lane change request information to the car in the adjacent lane, such as Figure 3 As shown, when vehicle B changes lanes to the middle and there is a risk of collision with vehicle C in the adjacent lane, this module will be called to generate adjacent lane request information.

[0107] (3) Module for responding to lane change requests in adjacent lanes

[0108] This module corresponds to the adjacent lane request module in the lane change direction, that is, it responds to the request information sent by the adjacent lane request module of the vehicle in the adjacent lane. Figure 3 In the example, if vehicle B changes lanes and requests vehicle A, which is going straight, to cooperate, vehicle A will call this module to send a response cooperation message.

[0109] (4) Module for responding to lane change requests

[0110] This module corresponds to the lane-separating request module of the lane-changing direction, that is, it responds to the request information sent by the lane-separating request module of the vehicle in the lane-separating direction. Figure 3 In the example, vehicle C cooperates with vehicle B to change lanes, and this module will be called.

[0111] (5) V2X data interaction module

[0112] Requests and collaboration information between vehicles can be exchanged through this module.

[0113] (6) Driving Planning Module

[0114] This module can generate trajectory points and control vehicle driving based on the decisions generated by planning.

[0115] When a vehicle changes lanes, in order to realize information interaction between different vehicles and achieve the purpose of efficient request collaboration and coordinated response, a collaborative data structure for transmitting information can be defined, as shown in Table 1.

[0116] Table 1 Request and coordination message structure definition

[0117]

[0118] Table 2 is a detailed description of the data members and types in Table 1.

[0119] Table 2 Data members and their meanings

[0120]

[0121] The lane change direction (laneChangeDirection) is the information needed to determine whether there is a conflict between two vehicles; the lane change stage (laneChangeStage) and lane change duration (laneChangeDuration) are used to calculate the priority of the vehicle's lane change. Figure 3Take vehicles A, B and C in the example, when vehicles B and C change lanes to the middle lane at the same time, vehicle B can send a deceleration information of a longitudinal speed coordination request to vehicle A, and at the same time send a lateral lane change coordination request to vehicle C to let it go straight, so as to avoid the risk of collision and achieve the purpose of smooth lane change. Therefore, the lane change request can be divided into a longitudinal speed coordination request (an example of a longitudinal coordination request) and a lateral lane change coordination request (an example of a lateral coordination request), and the corresponding responses can be defined as a longitudinal speed coordination response and a lateral lane change coordination response (an example of coordination lane change feedback information). The longitudinal speed coordination request (longitudinalRequests) information uses a vector data structure, which means that multiple vehicle requests that require longitudinal speed coordination can be stored. Other data using a vector data structure are considered in a similar way.

[0122] Fig. 9 is a schematic diagram of an optional lane change request and overall implementation process according to an embodiment of the present application, combined with Fig. 9 ,The lane change request and coordination implementation process includes the following steps:

[0123] Step S1, determining whether the lane change demand generating module generates a lane change intention, if not, continuing to determine until a lane change intention is generated before proceeding to the next step;

[0124] Step S2, entering the lane change preparation (preChange) phase, recording the current time information t;

[0125] Step S3, initializing the lane change safety trigger count (safeCount), which is used to record whether the lane change safety condition is stably met (an example of a lane change permission condition);

[0126] Step S4, determining whether there is a vehicle within a certain distance range (e.g., 200 meters in front and behind the vehicle position) of the adjacent lane in the lane change direction; if so, executing step S5; if not, jumping to executing step S8;

[0127] Step S5, determining whether the vehicle has a collision risk with a vehicle in an adjacent lane (the determination method is similar to that in the above embodiment); if so, executing step S6; if not, jumping to executing step S8;

[0128] Step S6: In order to achieve faster lane change, if the vehicle only has a collision risk with the preceding vehicle in the target lane, the vehicle may decelerate appropriately; if the vehicle only has a collision risk with the following vehicle in the target lane, the vehicle may accelerate appropriately; otherwise (i.e., if the vehicle only has a collision risk with the preceding vehicle and the following vehicle in the target lane), the vehicle may continue to drive in the current state and wait for the opportunity to change lanes.

[0129] Step S7, generating longitudinal speed request information (refer to the definition of LongitudinalSpeed-Cooperation structure in Table 2 for the message content). Taking right lane change as an example, if the vehicle in the target lane that has a risk of collision with the vehicle is located in front of the right or right side of the vehicle, an acceleration request is generated, otherwise a deceleration request is generated, and the generated request information is placed in list list1 (longitudinal cooperation request information list, or longitudinal lane change request information list, an example of the first request information list), and jumping to step S9;

[0130] Step S8, clearing the vertical coordination request information list list1;

[0131] Step S9, determining whether there is an adjacent lane in the lane change direction, if not, or even if it exists but there is no vehicle within a certain distance range of the lane (for example, 200 meters in front and behind the vehicle position), then jump to executing step S12;

[0132] Step S10, determining whether the vehicle has a collision risk with a vehicle in an adjacent lane (the determination method is similar to that in the above embodiment), if so, executing step S11, if not, jumping to executing step S12;

[0133] Step S11, generate a lateral lane change request message (refer to the definition of the LateralLaneChange-Cooperation structure in Table 2 for the message content), requesting that the other party's driving behavior is expected to be "going straight", suppressing its lane change, so as to achieve the purpose of the vehicle's priority lane change, and placing the generated request message in list list2 (lateral cooperation request message list, or lateral lane change request message list, an example of the second request message list), and jump to execute step S13;

[0134] Step S12, clearing the horizontal coordination request information list list2;

[0135] Step S13, determining whether both list1 and list2 are empty. If so, it indicates that there is no risk of collision between the vehicle and the vehicles in the adjacent and separated lanes, and the vehicle can change lanes safely. Otherwise, the process jumps to step S16;

[0136] Step S14, the lane change safety trigger times safeCount value is increased by 1;

[0137] Step S15, the vehicle status information is broadcast to surrounding vehicles through the V2X module; jump to step S20;

[0138] Step S16, the value of safeCount, the number of lane change safety trigger times, is set to 0 (in order to satisfy that three consecutive lane change safety triggers are satisfied, if one lane change safety trigger fails, the value needs to be set to 0);

[0139] Step S17, the request information and the vehicle status information are broadcast to surrounding vehicles through the V2X module;

[0140] Step S18, receiving the remote vehicle cooperation feedback information, and clearing the corresponding request information in list1 or list2. For example, if the vehicle requests the vehicle with the vehicle ID "0001" to accelerate, and receives the acceleration feedback from the vehicle with the vehicle ID "0001", the ID of the vehicle is deleted from list1;

[0141] Step S19, determine whether both list1 and list2 are empty, if yes, jump to step S15, otherwise, jump to step S25;

[0142] Step S20, determine whether the safeCount value is greater than or equal to 3, if not, jump to step S25;

[0143] Step S21, satisfying the safety lane changing condition and entering the lane changing state (changing);

[0144] Step S22: The vehicle status information is broadcast to surrounding vehicles through the V2X module so that other vehicles can avoid the vehicle.

[0145] Step S23, determining whether the vehicle has completed the lane change. The sign of lane change completion is that the center position of the vehicle is in the target lane. If not, continue to execute step S22;

[0146] Step S24, lane change is completed, and the process jumps to step S26;

[0147] Step S25: Since there may be an action of canceling the lane change before the lane change starts, it is necessary to determine whether the lane change intention still exists. If so, jump to step S4, otherwise, execute step S26;

[0148] Step S26, the process ends.

[0149] Through this optional example, lane change requests and cooperation in adjacent and separated lanes are taken into consideration at the same time, and a solution for requests and cooperation between the lane-changing vehicle and vehicles in adjacent lanes and separated lanes is provided. Efficient request and cooperation collaborative driving is adopted to solve the problems of lane change danger and low lane change cooperation rate in the existing lane change process.

[0150] In an exemplary embodiment, the current vehicle may send cooperation feedback information to adjacent vehicles and separated vehicles. The implementation process of cooperation feedback may be as follows: Fig.10As shown, first, determine whether the current vehicle has received information from another vehicle requesting to cooperate in changing lanes. If not, the process ends, indicating that there is no need to cooperate with other vehicles in changing lanes. If information from other vehicles requesting to cooperate in changing lanes is received, enter the longitudinal cooperation decision sub-process or the lateral cooperation decision sub-process based on whether the vehicle has the intention to change lanes.

[0151] For lateral coordination decisions, the current vehicle may receive a lateral lane change request sent by an adjacent vehicle. In order to facilitate the coordinated lane change with the adjacent vehicle, the current vehicle may save the request information of the received lateral lane change request into a third request information list. The lateral lane change request received by the current vehicle is a request sent by an adjacent vehicle in an adjacent lane that is about to change lanes to a target lane or is changing lanes to a target lane, and is used to request the current vehicle to cooperate in the lane change.

[0152] As an optional implementation, the above method also includes: when a group of separated vehicles indicated by the request information in the third request information list includes a vehicle of a specified type, controlling the current vehicle to temporarily cancel the lane change, and sending lane change cooperation feedback information to the vehicle of the specified type.

[0153] If a group of separated vehicles indicated by the request information in the third request information list includes a specified type of vehicle, and the specified type of vehicle is a vehicle with the highest road priority right, for example, an emergency vehicle on duty, then the current vehicle is controlled to temporarily cancel the lane change (i.e., the vehicle cancels the lane change), directly enters the cooperation state, and sends cooperation lane change feedback information to the specified type of vehicle.

[0154] As another optional implementation, the above method also includes: when the current vehicle is changing lanes to the left and the current vehicle is in a lane changing state, controlling the current vehicle to maintain the lane changing state, and sending a lane changing assistance request to a group of separated vehicles to request a group of separated vehicles to cooperate with the current vehicle in changing lanes.

[0155] Here, the current vehicle is changing lanes to the left, which means that a group of separated vehicles are changing lanes to the right. Changing lanes to the left usually means that the current vehicle is overtaking. In order to ensure the efficiency of traffic, the lane changing process of the current vehicle can be prioritized. In this case, the current vehicle continues to maintain the lane changing state and continues to send information requesting lane change assistance to a group of separated vehicles.

[0156] As another optional implementation, the method further includes: when the current vehicle is changing lanes to the left, the current vehicle is in a lane-changing preparation state, and there is a fifth vehicle in a group of separated vehicles that is in a lane-changing state, controlling the current vehicle to temporarily cancel the lane change and sending feedback information on the lane change to the fifth vehicle.

[0157] Here, although the current vehicle is changing lanes to the left, it is in a lane change preparation state (has not started changing lanes yet), and there is a separated vehicle in a group of separated vehicles that is in a lane change state, that is, the fifth separated vehicle. In order to ensure the continuity of the vehicle's lane change, the current vehicle can temporarily cancel the lane change, directly enter the cooperation state, and send cooperation lane change feedback information to the fifth separated vehicle.

[0158] As another optional implementation, the method further includes: when the current vehicle is changing lanes to the left, and the current vehicle and a group of separated vehicles are both in a lane change preparation state, it can be determined whether the lane change priority of the current vehicle is higher than the lane change priority of the separated vehicle corresponding to the maximum lane change duration based on the lane change duration of the current vehicle and the maximum lane change duration of the lane change duration of the separated vehicles; if the lane change priority of the current vehicle is higher than the lane change priority of the separated vehicle corresponding to the maximum lane change duration, the current vehicle is controlled to maintain the lane change preparation state, and a lane change assistance request is sent to a group of separated vehicles to request a group of separated vehicles to cooperate with the current vehicle in changing lanes; if the lane change priority of the current vehicle is lower than the lane change priority of the separated vehicles corresponding to the maximum lane change duration, the current vehicle is controlled to temporarily cancel the lane change, and the lane change cooperation feedback information is sent to the separated vehicles corresponding to the maximum lane change duration. Here, the lane change duration of the current vehicle is the duration from the moment when the current vehicle enters the lane change preparation state to the current moment, and the lane change duration of each separated vehicle is the duration from the moment when each separated vehicle enters the lane change preparation state to the current moment.

[0159] Optionally, based on the lane change duration of the current vehicle and the maximum lane change duration among a group of lane change durations of separated vehicles, the method for determining whether the lane change priority of the current vehicle is higher than the lane change priority of the separated vehicle corresponding to the maximum lane change duration may be: if the maximum lane change duration is greater than 1 and the sum of the first specified coefficient multiplied by the lane change duration of the current vehicle, it is determined that the lane change priority of the current vehicle is lower than the lane change priority of the separated vehicle corresponding to the maximum lane change duration; if the maximum lane change duration is less than or equal to 1 and the sum of the first specified coefficient multiplied by the lane change duration of the current vehicle, it is determined that the lane change priority of the current vehicle is higher than the lane change priority of the separated vehicle corresponding to the maximum lane change duration. Here, the first specified coefficient may be a lane change time priority coefficient, whose value belongs to [0,1]. For example, the first specified coefficient may be 0.6, 0.7 or other values.

[0160] Through this embodiment, for the scenario where the current vehicle and the adjacent vehicle change lanes to the same lane, the order of vehicle lane changes is determined based on information such as the vehicle status of the current vehicle and the adjacent vehicle, the lane change duration, etc., which can improve the orderliness of vehicle lane changes and the efficiency of vehicle passage.

[0161] In an exemplary embodiment, in the case where the current vehicle changes lanes to the right, the order in which the vehicles change lanes may be determined based on information such as the vehicle states of the current vehicle and the adjacent vehicles, the lane change duration, and the like.

[0162] As an optional implementation, the method further includes: when the current vehicle is changing lanes to the right and there is a sixth vehicle in a group of separated vehicles that is in a lane changing state, controlling the current vehicle to temporarily cancel the lane change and sending feedback information on the lane change to the sixth vehicle.

[0163] Here, the current vehicle is changing lanes to the right, which means that a group of separated vehicles are changing lanes to the left. Changing lanes to the left usually means that the current vehicle is overtaking. In order to ensure the efficiency of traffic, the lane changing process of the separated vehicles can be prioritized. In this case, if there is a sixth separated vehicle in the lane changing state in a group of separated vehicles, the current vehicle temporarily cancels the lane change and sends a lane change cooperation feedback information to the sixth separated vehicle.

[0164] As another optional implementation, the above method also includes: when the current vehicle is changing lanes to the right, the current vehicle is in a lane changing state, and a group of separated vehicles are in a lane changing preparation state, controlling the current vehicle to maintain the lane changing state, and sending a lane changing assistance request to a group of separated vehicles to request a group of separated vehicles to cooperate with the current vehicle in changing lanes.

[0165] Here, although a group of separated vehicles are changing lanes to the left, they are all in the lane change preparation state (have not started changing lanes yet), and the current vehicle is in the lane change state. In order to ensure the continuity of the vehicle's lane change, the current vehicle can maintain the lane change state and send a lane change assistance request to a group of separated vehicles to request a group of separated vehicles to cooperate with the current vehicle in changing lanes.

[0166] As another optional implementation, the method further includes: when the current vehicle is changing lanes to the right, and the current vehicle and a group of separated vehicles are both in a lane change preparation state, it can be determined whether the lane change priority of the current vehicle is higher than the lane change priority of the separated vehicles corresponding to the maximum lane change duration based on the lane change duration of the current vehicle and the maximum lane change duration of the lane change durations of a group of separated vehicles; if the lane change priority of the current vehicle is higher than the lane change priority of the separated vehicles corresponding to the maximum lane change duration, the current vehicle is controlled to maintain the lane change preparation state, and a lane change assistance request is sent to a group of separated vehicles to request a group of separated vehicles to cooperate with the current vehicle in changing lanes; if the lane change priority of the current vehicle is lower than the lane change priority of the separated vehicles corresponding to the maximum lane change duration, the current vehicle is controlled to temporarily cancel the lane change, and cooperation lane change feedback information is sent to the separated vehicles corresponding to the maximum lane change duration.

[0167] Optionally, based on the lane change duration of the current vehicle and the maximum lane change duration of a group of separated vehicles, the method for determining whether the lane change priority of the current vehicle is higher than the lane change priority of the separated vehicle corresponding to the maximum lane change duration may be: if the lane change duration of the current vehicle is less than 1 and the sum of the second specified coefficient multiplied by the maximum lane change duration, it is determined that the lane change priority of the current vehicle is lower than the lane change priority of the separated vehicle corresponding to the maximum lane change duration; if the lane change duration of the current vehicle is greater than or equal to 1 and the sum of the second specified coefficient multiplied by the maximum lane change duration, it is determined that the lane change priority of the current vehicle is higher than the lane change priority of the separated vehicle corresponding to the maximum lane change duration. Here, the second specified coefficient may be a lane change time priority coefficient, whose value belongs to [0,1]. For example, the second specified coefficient may be 0.6, 0.7 or other values. The second specified coefficient and the first specified coefficient may be the same coefficient or different coefficients, which is not limited in this embodiment.

[0168] Through this embodiment, for the scenario where the current vehicle and the adjacent vehicle change lanes to the same lane, the order of vehicle lane changes is determined based on information such as the vehicle status of the current vehicle and the adjacent vehicle, the lane change duration, etc., which can improve the orderliness of vehicle lane changes and the efficiency of vehicle passage.

[0169] The following is an explanation of the implementation process of the lateral coordination decision sub-process with optional examples. For the lane change time priority calculation module, the time of entering preChange (lane change preparation) is used as the lane change start time (when the vehicle cooperates with other vehicles to change lanes, if it suppresses its own lane change, the time is still included in the lane change duration), and the lane change duration of the vehicle is t ego Indicates that the maximum lane change duration of the vehicles in the lane change request list (an example of the third request information list) received by the vehicle is t max Indicates (if the request list is empty, that is, no request from other vehicles is received, the value is 0), λ represents the lane change time priority coefficient (an example of the first specified coefficient and the second specified coefficient), λ∈[0,1], and the value of λ in this optional example is 0.6.

[0170] When the vehicle changes lanes to the left, if formula (11) is satisfied, it is considered that the vehicle has a lower time priority than the lane change time t max The corresponding lane change request vehicle, at this time, the vehicle cancels the lane change and cooperates with the other vehicle to change lanes; when the vehicle changes lanes to the right, if formula (12) is satisfied, it is considered that the time priority of the vehicle is lower than the lane change time t max The corresponding lane change requesting vehicle also cancels the lane change at this time to cooperate with the other vehicle to change lanes. Formula (11) and formula (12) are as follows:

[0171] t max >(1+λ)tego (11)

[0172] t ego <(1+λ)t max (12)

[0173] Combination Fig.11 ,The implementation process of the horizontal coordination decision sub-process includes the following steps:

[0174] Step S1, whether the request list (list3) contains emergency vehicles on duty, if yes, execute step S2, if not, jump to execute step S3;

[0175] Step S2, the vehicle cancels the lane change and directly enters the cooperation state, and jumps to step S17;

[0176] Step S3, determining whether the current lane change direction of the vehicle is to the left, if yes, executing step S4, if no, jumping to executing step S9;

[0177] Step S4, determining whether the current lane change state of the vehicle is a pre-lane change preparation state (preChange), if yes, executing step S5, if no, jumping to executing step S8;

[0178] Step S5, request whether all vehicles in the list are in the preChange state, if yes, execute step S6, if no, it means there is a vehicle that is changing lanes (in the changing state), jump to execute step S13;

[0179] Step S6, judging whether the lane change priority of the vehicle is high according to formula (11), if yes, executing step S7, if no, jumping to executing step S13;

[0180] Step S7, the vehicle continues to maintain the preChange state, and continues to send information requesting lane change assistance to the requesting vehicle, and jumps to step S17;

[0181] Step S8: the vehicle is currently in the state of changing lanes to the left, and the current state is maintained, while a request for lane change assistance is sent to the requesting vehicle, and the process jumps to step S17;

[0182] Step S9, the vehicle is currently changing lanes to the right;

[0183] Step S10, determining whether the current lane change state of the vehicle is a pre-lane change preparation state (preChange), if yes, executing step S11, if no, jumping to executing step S14;

[0184] Step S11, request whether all vehicles in the list are in the preChange state, if yes, execute step S12, if not, jump to execute step S13;

[0185] Step S12, judging whether the lane change priority of the vehicle is high according to formula (12), if yes, jumping to step S7, if no, executing step S13;

[0186] Step S13, the vehicle temporarily cancels the lane change, and sends a message to the requesting vehicle to cooperate with the lane change, and then jumps to step S17;

[0187] Step S14, the vehicle is currently in the state of changing lanes to the right (changing), and it is determined whether the request list contains a vehicle that is changing lanes (changing), if yes, jump to step S16, if not, execute step S15;

[0188] Step S15, the vehicle continues to change lanes (changing), and sends information to other vehicles that have requested the vehicle to change lanes, and then jumps to step S17;

[0189] Step S16, the vehicle temporarily cancels the lane change and switches to the preChange state, while sending a lane change instruction to the requesting vehicle;

[0190] Step S17, the process ends.

[0191] Through this optional example, different methods are adopted for the vehicle's lane changing to the left and the lane changing to the right based on the vehicle status of the vehicle, the vehicle status of the requesting vehicle, the lane changing duration of the vehicle and the lane changing duration of the requesting vehicle to control the lane changing process of the vehicle, which can improve the rationality and convenience of the vehicle's lane changing control.

[0192] In an exemplary embodiment, for longitudinal cooperation decision, the current vehicle may receive a longitudinal lane change request sent by an adjacent vehicle. In order to facilitate the coordinated vehicle lane change with the adjacent vehicle, the current vehicle may save the request information of the received longitudinal lane change request into a fourth request information list. The longitudinal lane change request received by the current vehicle is a request sent by an adjacent vehicle that is about to change lanes to the lane where the current vehicle is located or is changing lanes to the lane where the current vehicle is located, and is used to request the current vehicle to cooperate in the lane change.

[0193] As an optional implementation, the above method also includes: when a group of adjacent vehicles indicated by the request information in the fourth request information list includes a vehicle of a specified type, controlling the current vehicle to change lanes in coordination with the vehicle of the specified type in accordance with the coordination manner indicated by the longitudinal lane change request of the vehicle of the specified type, and sending coordinated lane change feedback information to the vehicle of the specified type.

[0194] If a group of adjacent vehicles indicated by the request information in the fourth request information list includes a specified type of vehicle, and the specified type of vehicle is a vehicle with the highest road priority right, for example, an emergency vehicle on duty, then the coordination state is directly entered, and the current vehicle is controlled to coordinate with the specified type of vehicle to change lanes in accordance with the coordination method indicated by the longitudinal lane change request of the specified type of vehicle, and coordination lane change feedback information is sent to the specified type of vehicle.

[0195] As another optional implementation, the method further includes: in a group of adjacent vehicles, when the number of corresponding longitudinal lane change requests indicating acceleration is greater than or equal to the number of corresponding longitudinal lane change requests indicating deceleration, controlling the current vehicle to accelerate, and sending coordinated lane change feedback information to the adjacent vehicles in a group of adjacent vehicles, for which the corresponding longitudinal lane change requests indicate acceleration.

[0196] Here, a group of adjacent vehicles may include adjacent vehicles whose corresponding longitudinal lane change request indicates a cooperation mode of accelerating, and may include adjacent vehicles whose corresponding longitudinal lane change request indicates a cooperation mode of decelerating. In order to determine their cooperation modes of lane changing, the number of adjacent vehicles in a group of adjacent vehicles whose corresponding longitudinal lane change request indicates a cooperation mode of accelerating (i.e., a first number) and the number of adjacent vehicles in a group of adjacent vehicles whose corresponding longitudinal lane change request indicates a cooperation mode of decelerating (i.e., a second number) may be determined; if the first number is greater than or equal to the second number, the current vehicle is controlled to accelerate, and cooperation lane change feedback information is sent to the adjacent vehicles in a group of adjacent vehicles whose corresponding longitudinal lane change request indicates a cooperation mode of accelerating.

[0197] As another optional implementation, if the first number is smaller than the second number, that is, the number of adjacent vehicles requesting the current vehicle to cooperate with deceleration is greater than the number of adjacent vehicles requesting the current vehicle to cooperate with acceleration, the current vehicle can be directly controlled to decelerate, and cooperation lane change feedback information can be sent to an adjacent vehicle in a group of adjacent vehicles, wherein the cooperation mode indicated by the corresponding longitudinal lane change request is deceleration.

[0198] In order to ensure its own traffic efficiency, when the first number is less than the second number, it can be judged whether the deceleration cooperation condition and the deceleration cooperation freezing time condition are met respectively. If the deceleration cooperation condition and the deceleration cooperation freezing time condition are both met, the current vehicle is controlled to decelerate and a corresponding longitudinal lane change request indicates that the cooperation mode is deceleration. The adjacent vehicle sends a lane change feedback information; if at least one of the deceleration cooperation condition and the deceleration cooperation freezing time condition is not met, the current vehicle is controlled to maintain the current driving state.

[0199] Here, the deceleration coordination condition is that the difference between the speed of the current vehicle and the speed of the adjacent vehicle requesting the current vehicle to decelerate is divided by the speed of the current vehicle, and the result is less than the third specified coefficient. The third specified coefficient is the speed reduction coefficient, which is used to describe the speed reduction amplitude of the current vehicle. The deceleration coordination condition is met, indicating that the speed reduction amplitude of the current vehicle is not large. The deceleration coordination freezing time condition is that the time difference between the current moment and the moment when the current vehicle last triggered the coordinated deceleration is greater than or equal to the specified time threshold. The deceleration coordination freezing time condition is met, indicating that the time from the last coordinated deceleration is long.

[0200] Through this embodiment, whether the current vehicle cooperates with acceleration or deceleration is determined based on information such as the type of vehicle sending a longitudinal lane change request to the current vehicle, the number of adjacent vehicles requesting the current vehicle to cooperate with acceleration, the number of adjacent vehicles requesting the current vehicle to cooperate with deceleration, the magnitude of speed reduction of the current vehicle, and the interval time for cooperating with deceleration. This can improve the rationality of vehicle coordinated lane change while ensuring vehicle traffic efficiency.

[0201] The following is an explanation of the implementation process of the longitudinal coordination decision sub-process with optional examples. In order to determine whether the deceleration coordination conditions and the deceleration coordination freezing time conditions are met, let the vehicle speed be V ego , the requested vehicle speed is V q , if formula (13) is satisfied, the deceleration coordination condition is met. The freezing time limit of deceleration coordination is set to prevent the vehicle from frequently decelerating to give way to other vehicles, thereby reducing its own traffic efficiency. The last time the deceleration was triggered is T 0 The time when the deceleration is triggered again is T 1 , if formula (14) is satisfied, it is considered that the deceleration coordination freezing time condition is met, and the deceleration coordination request vehicle can be driven. Formulas (13) and (14) are as follows:

[0202]

[0203] T 1 -T 0 ≥T freeze (14)

[0204] Among them, δ ΔV represents the speed reduction factor, T freeze Indicates the freezing time of the reduction coordination, which can be 0.3 and 1 minute respectively in this optional example.

[0205] Combination Fig.12 ,The implementation process of the vertical coordination decision sub-process includes the following steps:

[0206] Step S1, parameter initialization, i is the number of traversal requests in the traversal request list, accCount and decCount are used to count the number of vehicles receiving acceleration and deceleration coordination requests respectively;

[0207] Step S2, traverse the i-th request information in the request list (list list3);

[0208] Step S3, judging whether the requesting vehicle in the i-th request information is an emergency vehicle on duty according to the vehicle type, if yes, directly enter the cooperation state, accelerate or decelerate to give way according to the driving behavior requested by the vehicle under the condition of ensuring the safe driving of the vehicle, and jump to step S15, if no, execute step S4;

[0209] Step S4, determining whether the expected cooperation behavior of the i-th request information is acceleration, if yes, executing step S5, otherwise, jumping to executing step S6;

[0210] Step S5, the accCount value is increased by 1, and the process jumps to step S7;

[0211] Step S6, the decCount value is increased by 1;

[0212] Step S7, the value of i is increased by 1;

[0213] Step S8, determine whether i is greater than the total number of messages in the request list (totalNum). If it is greater than totalNum, it means that the request list has been traversed, and step S9 is executed. Otherwise, the next request information in the request list is traversed, and the process jumps to step S2.

[0214] Step S9, determine whether accCount is greater than or equal to decCount, if yes, execute step S10, if not, jump to execute step S12;

[0215] Step S10, judging whether the acceleration condition is met, the vehicle speed executes the acceleration strategy under the premise of meeting the road speed limit and not colliding with the vehicle in front, so as to achieve the purpose of responding to the request of the other vehicle, if acceleration is possible, executing step S11, if not, jumping to executing step S15;

[0216] Step S11, accelerating, replying a response to the vehicle requesting acceleration, and jumping to step S15;

[0217] Step S12, judging whether the deceleration driving condition is met according to formula (13), if so, executing step S13, if not, jumping to executing step S15;

[0218] Step S13, record the current time, and determine whether the deceleration coordination freezing time limit is met according to formula (14). If so, execute step S14; if not, jump to execute step S15;

[0219] Step S14, executing the deceleration coordination strategy, sending a response coordination message to the vehicle requesting deceleration, and recording the current time;

[0220] Step S15, the process ends.

[0221] Here, the lane change request and coordination sequence between different vehicles can be configured as needed. Figure 3 Taking the three vehicles A, B and C as examples, the interactive sequence of lane change request and cooperation process is explained. Assume that the lane change priority of vehicle B is higher than that of vehicle C. Fig.13 As shown in the figure, the interactive process of mutual cooperation is mainly divided into the risk prediction stage before lane changing, the lane change request sending stage, the response cooperation decision stage, the response sending and receiving stage, the lane change stage of cooperating with the target vehicle, and the stage of driving according to the original plan after the cooperation is completed.

[0222] Through this optional example, the rationality and convenience of vehicle lane change control can be improved by making decisions on the longitudinal lane change of the vehicle based on information such as the vehicle type requesting the vehicle, the number of vehicles requesting the vehicle to cooperate with acceleration, and the number of vehicles requesting the vehicle to cooperate with deceleration.

[0223] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0224] According to another aspect of the embodiments of the present application, a vehicle lane change control device is also provided, which is used to implement the vehicle lane change control method provided in the above-mentioned embodiments, and will not be repeated hereafter. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0225] Fig.14is a structural block diagram of an optional vehicle lane change control device according to an embodiment of the present application, such as Fig.14 As shown in , the device includes: a first execution unit 1402 and a control unit 1404.

[0226] The first execution unit 1402 is used to repeatedly execute the following processing operations when the current vehicle is about to change lanes to an adjacent target lane, until the number of times that the lane change condition is satisfied reaches a specified number, wherein the lane change condition is that there is no vehicle that has a risk of collision with the current vehicle: determine whether there is a vehicle that has a risk of collision with the current vehicle in the target lane, and determine whether there is a vehicle that has a risk of collision with the current vehicle in the separated lane, wherein the separated lane is a lane separated from the lane where the current vehicle is located by the target lane; when there is a vehicle that has a risk of collision with the current vehicle in at least one of the target lane and the separated lane, send a lane change cooperation request to the vehicle that has a risk of collision with the current vehicle, so as to request the vehicle that has a risk of collision with the current vehicle to cooperate with the current vehicle in changing lanes to the target lane. The first execution unit 1402 is used to execute step S202.

[0227] The control unit 1404 is used to control the current vehicle to change lanes to the target lane when the number of times the lane change condition is allowed to be met reaches a specified number of times. The control unit 1404 can be used to execute step S204.

[0228] Through the embodiment provided by the present application, when the current vehicle is about to change lanes to an adjacent target lane, the following processing operations are repeatedly performed until the number of times the lane change condition is allowed to be satisfied reaches a specified number, wherein the lane change condition is that there is no vehicle that has a risk of collision with the current vehicle: determine whether there is a vehicle in the target lane that has a risk of collision with the current vehicle, and determine whether there is a vehicle in the separated lane that has a risk of collision with the current vehicle, wherein the separated lane is a lane that is separated from the target lane by the lane where the current vehicle is located; when there is a vehicle that has a risk of collision with the current vehicle in at least one of the target lane and the separated lane, send a lane change cooperation request to the vehicle that has a risk of collision with the current vehicle to request the vehicle that has a risk of collision with the current vehicle to cooperate with the current vehicle in changing lanes to the target lane; when the number of times the lane change condition is allowed to be satisfied reaches a specified number, control the current vehicle to change lanes to the target lane, thereby solving the problem of low vehicle traffic efficiency caused by easy vehicle collision in the vehicle lane change control method in the related art, reducing the probability of vehicle collision, and improving vehicle traffic efficiency.

[0229] In an exemplary embodiment, the first execution unit includes: a first execution module, which is used to determine that there is no vehicle in the target lane that has a collision risk with the current vehicle when there is no vehicle within a first distance range of the target lane, wherein the first distance range is a distance range in the longitudinal direction that includes the position of the current vehicle; when there is a first adjacent vehicle in the first distance range of the target lane, when a vehicle area where the current vehicle is located in the longitudinal direction intersects with a vehicle area where the first adjacent vehicle is located in the longitudinal direction, it is determined that there is a collision risk between the first adjacent vehicle in the target lane and the current vehicle; when the vehicle area where the current vehicle is located in the longitudinal direction intersects with the vehicle area where the first adjacent vehicle is located in the longitudinal direction When there is no intersection in the upward vehicle area, determine the distance between the rear position of the current vehicle and the previous vehicle among the first adjacent vehicles and the front position of the current vehicle and the next vehicle among the first adjacent vehicles in the longitudinal direction to obtain the first vehicle distance; when the result of dividing the first vehicle distance by the speed of the current vehicle and the next vehicle among the first adjacent vehicles is less than or equal to the first time threshold, determine that there is a risk of collision between the first adjacent vehicle in the target lane and the current vehicle; when the result of dividing the first vehicle distance by the speed of the current vehicle and the next vehicle among the first adjacent vehicles is greater than the first time threshold, determine that there is no vehicle in the target lane that has a risk of collision with the current vehicle.

[0230] In an exemplary embodiment, the first execution unit includes: a second execution module, for determining that there is no vehicle in the separated lane that has a risk of collision with the current vehicle when there is no vehicle within a second distance range of the separated lane, wherein the second distance range is a distance range in the longitudinal direction including the position of the current vehicle; when there is a separated vehicle within the second distance range of the separated lane, when none of the separated vehicles within the second distance range of the separated lane has an intention to change lanes to a target lane, determining that there is no vehicle in the separated lane that has a risk of collision with the current vehicle; when there is a first separated vehicle with an intention to change lanes to the target lane within the second distance range of the separated lane, and the vehicle area where the current vehicle is located in the longitudinal direction intersects with the vehicle area where the first separated vehicle is located in the longitudinal direction, determining that there is a risk of collision between the first separated vehicle in the separated lane and the current vehicle; When there is a second separated vehicle with an intention to change lanes to the target lane within a second distance range of the separated lane, and the vehicle area where the current vehicle is located in the longitudinal direction does not intersect with the vehicle area where the second separated vehicle is located in the longitudinal direction, determine the distance between the rear position of the current vehicle and the first vehicle of the second separated vehicle and the front position of the current vehicle and the second separated vehicle in the longitudinal direction to obtain the second vehicle distance; when the result of dividing the second vehicle distance by the speed of the current vehicle and the second separated vehicle is less than or equal to the second time threshold, determine that there is a collision risk between the second separated vehicle and the current vehicle in the separated lane; when the result of dividing the second vehicle distance by the speed of the current vehicle and the second separated vehicle is greater than the second time threshold, determine that there is no vehicle in the separated lane that has a collision risk with the current vehicle.

[0231] In an exemplary embodiment, the first execution unit includes: a first sending module, which is used to send a target longitudinal cooperation request to the second adjacent vehicle when the vehicle at risk of collision with the current vehicle includes a second adjacent vehicle on a target lane, wherein the lane change cooperation request includes a target longitudinal cooperation request, and the target longitudinal cooperation request is used to request the second adjacent vehicle to change lanes to the target lane by adjusting the vehicle speed to cooperate with the current vehicle; a second sending module, which is used to send a target lateral cooperation request to the third separated vehicle when the vehicle at risk of collision with the current vehicle includes a third separated vehicle on a separated lane, wherein the lane change cooperation request includes a target lateral cooperation request, and the target lateral cooperation request is used to request the third separated vehicle to change lanes to the target lane by temporarily canceling the lane change to cooperate with the current vehicle.

[0232] In an exemplary embodiment, request information for a lane change cooperation request sent to a vehicle in a target lane that is at risk of collision with the current vehicle is stored in a first request information list, and request information for a lane change cooperation request sent to a vehicle in an adjacent lane that is at risk of collision with the current vehicle is stored in a second request information list. The above-mentioned device also includes: a second execution unit and a third execution unit, wherein the second execution unit is used to, after determining whether there is a vehicle with a collision risk with the current vehicle in the target lane, clear the first request information list if there is no vehicle with a collision risk with the current vehicle in the target lane; after determining whether there is a vehicle with a collision risk with the current vehicle in the separated lane, clear the second request information list if there is no vehicle with a collision risk with the current vehicle in the separated lane; the third execution unit is used to, after sending a lane change cooperation request to a vehicle with a collision risk with the current vehicle, clear the request information corresponding to the third adjacent vehicle in the first request information list if the third adjacent vehicle with a collision risk with the current vehicle in the target lane is received in response to the lane change cooperation request. Clear the request information corresponding to the fourth separated vehicle in the second request information list if the fourth separated vehicle with a collision risk with the current vehicle in the separated lane is received in response to the lane change cooperation request. Wherein, whether the lane change condition is satisfied is determined based on whether the first request information list and the first request information list are both empty.

[0233] In an exemplary embodiment, the above-mentioned device also includes: a broadcasting unit, which is used to broadcast the status information of the current vehicle through the current vehicle during the process of controlling the current vehicle to change lanes to the target lane, wherein the status information of the current vehicle is used to indicate that the current vehicle is in a lane changing state; and a judgment unit, which is used to continuously judge whether the current vehicle has completed the lane change based on the relationship between the center position of the current vehicle and the lane range of the target lane.

[0234] In an exemplary embodiment, request information of a lateral lane change request received by the current vehicle is saved in a third request information list, and the lateral lane change request received by the current vehicle is a request sent by an adjacent vehicle in an adjacent lane that is about to change lanes to a target lane or is changing lanes to a target lane, for requesting the current vehicle to cooperate with the lane change. The above-mentioned device also includes: a fourth execution unit, which is used to control the current vehicle to temporarily cancel the lane change and send lane change cooperation feedback information to the specified type of vehicle when a group of separated vehicles indicated by the request information in the third request information list includes a specified type of vehicle, wherein the specified type of vehicle is a vehicle with the highest road priority right of way; when the current vehicle is changing lanes to the left and the current vehicle is in a lane change state, control the current vehicle to maintain the lane change state, and send a lane change assistance request to a group of separated vehicles to request a group of separated vehicles to cooperate with the current vehicle in changing lanes; when the current vehicle is changing lanes to the left, the current vehicle is in a lane change preparation state, and there is a fifth separated vehicle in a lane change state in a group of separated vehicles, control the current vehicle to temporarily cancel the lane change, and send lane change cooperation feedback information to the fifth separated vehicle; when the current vehicle is changing lanes to the left, and the current vehicle and a group of separated vehicles are both in a lane change preparation state, Determine the lane change duration of the current vehicle and determine the maximum lane change duration among the lane change durations of a group of separated vehicles, wherein the lane change duration of the current vehicle is the duration from the moment the current vehicle enters a lane change preparation state to the current moment, and the lane change duration of each separated vehicle in a group of separated vehicles is the duration from the moment each separated vehicle enters a lane change preparation state to the current moment; when the maximum lane change duration is greater than the sum of 1 and a first specified coefficient multiplied by the lane change duration of the current vehicle, control the current vehicle to temporarily cancel the lane change, and send lane change cooperation feedback information to the separated vehicle corresponding to the maximum lane change duration; when the maximum lane change duration is less than or equal to the sum of 1 and the first specified coefficient multiplied by the lane change duration of the current vehicle, control the current vehicle to maintain the lane change preparation state, and send a lane change assistance request to a group of separated vehicles to request a group of separated vehicles to cooperate with the current vehicle in changing lanes.

[0235] In an exemplary embodiment, the above-mentioned device also includes: a fifth execution unit, which is used to control the current vehicle to temporarily cancel the lane change when the current vehicle is changing lanes to the right and there is a sixth vehicle in a group of separated vehicles that is in a lane change state, and send a lane change cooperation feedback information to the sixth vehicle; when the current vehicle is changing lanes to the right, the current vehicle is in a lane change state, and a group of separated vehicles are in a lane change preparation state, control the current vehicle to maintain the lane change state, and send a lane change assistance request to a group of separated vehicles to request a group of separated vehicles to cooperate with the current vehicle in changing lanes; when the current vehicle is changing lanes to the right, and the current vehicle and a group of separated vehicles are in a lane change preparation state In the case of a lane change state, determine the lane change duration of the current vehicle and the maximum lane change duration among the lane change durations of a group of separated vehicles; in the case that the lane change duration of the current vehicle is less than 1 plus the sum of the second specified coefficient multiplied by the maximum lane change duration, control the current vehicle to temporarily cancel the lane change, and send lane change cooperation feedback information to the separated vehicles corresponding to the maximum lane change duration; in the case that the lane change duration of the current vehicle is greater than or equal to 1 plus the sum of the second specified coefficient multiplied by the maximum lane change duration, control the current vehicle to maintain the lane change preparation state, and send a lane change assistance request to a group of separated vehicles to request a group of separated vehicles to cooperate with the current vehicle in changing lanes.

[0236] In an exemplary embodiment, the request information of the longitudinal lane change request received by the current vehicle is saved in the fourth request information list, and the longitudinal lane change request received by the current vehicle is a request sent to an adjacent vehicle that is about to change lanes to the lane where the current vehicle is located or is changing lanes to the lane where the current vehicle is located, for requesting the current vehicle to cooperate with the lane change. The above-mentioned device also includes: a sixth execution unit, which is used to control the current vehicle to cooperate with the specified type of vehicle in the specified type of vehicle according to the cooperation method indicated by the longitudinal lane change request of the specified type of vehicle, and send the cooperation lane change feedback information to the specified type of vehicle, wherein the specified type of vehicle is a vehicle with the highest road priority right; in a group of adjacent vehicles, if the number of acceleration indicated by the corresponding longitudinal lane change request is greater than or equal to the number of deceleration indicated by the corresponding longitudinal lane change request, control the current vehicle to accelerate, and send the cooperation lane change feedback information to the adjacent vehicle in a group of adjacent vehicles, the corresponding longitudinal lane change request indicates acceleration; in a group of adjacent vehicles, if the number of acceleration indicated by the corresponding longitudinal lane change request is greater than or equal to the number of deceleration indicated by the corresponding longitudinal lane change request, control the current vehicle to accelerate, and send the cooperation lane change feedback information to the adjacent vehicle in a group of adjacent vehicles, the corresponding longitudinal lane change request indicates acceleration; In a case where the number of acceleration indicated by the corresponding longitudinal lane change request is less than the number of deceleration indicated by the corresponding longitudinal lane change request, when the deceleration cooperation condition and the deceleration cooperation freezing time condition are both met, the current vehicle is controlled to decelerate, and cooperation lane change feedback information is sent to an adjacent vehicle in a group of adjacent vehicles, the cooperation mode of which is deceleration indicated by the corresponding longitudinal lane change request, wherein the deceleration cooperation condition is that the difference between the speed of the current vehicle and the speed of the adjacent vehicle requesting the current vehicle to decelerate is divided by the speed of the current vehicle is less than a third specified coefficient, and the deceleration cooperation freezing time condition is that the time difference between the current moment and the moment when the current vehicle last triggered the coordinated deceleration is greater than or equal to the specified time threshold; when at least one of the deceleration cooperation condition and the deceleration cooperation freezing time condition is not met, the current vehicle is controlled to maintain the current driving state.

[0237] It should be noted that the above modules can be implemented by software or hardware. For the latter, it can be implemented in the following ways, but not limited to: the above modules are all located in the same processor; or the above modules are located in different processors in any combination.

[0238] According to another aspect of the embodiments of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium includes a stored program, wherein the steps of any of the above method embodiments are executed when the program is run.

[0239] In an exemplary embodiment, the computer-readable storage medium may include, but is not limited to, various media capable of storing computer programs, such as a USB flash drive, a ROM, a RAM, a mobile hard disk, a magnetic disk, or an optical disk.

[0240] According to another aspect of the embodiments 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 is configured to execute the steps in any of the above method embodiments through the computer program. In an exemplary embodiment, the electronic device may further comprise a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0241] For specific examples in this embodiment, reference may be made to the examples described in the above embodiments and exemplary implementation modes, and this embodiment will not be described in detail herein.

[0242] According to another aspect of the embodiment of the present application, a computer program product is also provided, which includes a computer program / instruction, and the computer program / instruction contains a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 1509, and / or installed from the removable medium 1511. When the computer program is executed by the central processing unit 1501, various functions provided by the embodiment of the present application are executed. The above-mentioned serial numbers of the embodiments of the present application are only for description and do not represent the advantages and disadvantages of the embodiments.

[0243] Fig.15 The computer system structure block diagram of the electronic device used to implement the embodiment of the present application is schematically shown. Fig.15 As shown, the computer system 1500 includes a CPU (Central Processing Unit) 1501, which can perform various appropriate actions and processes according to the program stored in the ROM 1502 or the program loaded from the storage part 1508 to the RAM 1503. Various programs and data required for system operation are also stored in the random access memory 1503. The central processing unit 1501, the read-only memory 1502 and the random access memory 1503 are connected to each other through a bus 1504. An I / O (Input / Output) interface 1505 is also connected to the bus 1504.

[0244] The following components are connected to the I / O interface 1505: an input section 1506 including a keyboard, a mouse, etc.; an output section 1507 including a CRT (Cathode RayTube), an LCD (Liquid Crystal Display), etc., and a speaker, etc.; a storage section 1508 including a hard disk, etc.; and a communication section 1509 including a network interface card such as a LAN card, a modem, etc. The communication section 1509 performs communication processing via a network such as the Internet. A drive 1510 is also connected to the input / output interface 1505 as needed. A removable medium 1511, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 1510 as needed so that a computer program read therefrom is installed into the storage section 1508 as needed.

[0245] In particular, according to an embodiment of the present application, the process described in each method flow chart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer readable medium, and the computer program contains a program code for executing the method shown in the flow chart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 1509, and / or installed from the removable medium 1511. When the computer program is executed by the central processor 1501, various functions defined in the system of the present application are executed.

[0246] It should be noted that Fig.15 The computer system 1500 of the electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0247] Obviously, those skilled in the art should understand that the above modules or steps of the present application can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order from that herein, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present application is not limited to any specific combination of hardware and software.

[0248] The above are only preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the principles of the present application shall be included in the protection scope of the present application.

Claims

1. A vehicle lane change control method, characterized in that: include: In the case where the current vehicle is about to change lanes to an adjacent target lane, the following processing operations are repeatedly performed until the number of times the lane change condition is allowed to be satisfied reaches a specified number, wherein the lane change condition is that there is no vehicle that has a risk of collision with the current vehicle: determining whether there is a vehicle that has a risk of collision with the current vehicle in the target lane, and determining whether there is a vehicle that has a risk of collision with the current vehicle in an alternate lane, wherein the alternate lane is a lane that is separated from the lane where the current vehicle is located by the target lane; in the case where there is a vehicle that has a risk of collision with the current vehicle in at least one of the target lane and the alternate lane, a lane change cooperation request is sent to the vehicle that has a risk of collision with the current vehicle, so as to request the vehicle that has a risk of collision with the current vehicle to cooperate with the current vehicle in changing lanes to the target lane; When the number of times the lane-changing condition is satisfied reaches the specified number of times, the current vehicle is controlled to change lanes to the target lane.

2. The method according to claim 1, characterized in that The determining whether there is a vehicle in the target lane that has a collision risk with the current vehicle includes: If there is no vehicle within a first distance range of the target lane, determining that there is no vehicle in the target lane that has a risk of collision with the current vehicle, wherein the first distance range is a distance range in the longitudinal direction including the position of the current vehicle; In a case where there is a first adjacent vehicle within the first distance range of the target lane, when a vehicle region where the current vehicle is located in the longitudinal direction and a vehicle region where the first adjacent vehicle is located in the longitudinal direction have an intersection, determining that there is a collision risk between the first adjacent vehicle in the target lane and the current vehicle; When the vehicle region where the current vehicle is located in the longitudinal direction does not intersect with the vehicle region where the first adjacent vehicle is located in the longitudinal direction, determining the distance between the rear position of the current vehicle and the first adjacent vehicle and the front position of the current vehicle and the first adjacent vehicle in the longitudinal direction to obtain a first vehicle distance; When a result of dividing the first vehicle distance by the speed of the latter of the current vehicle and the first adjacent vehicle is less than or equal to a first time threshold, determining that there is a risk of collision between the first adjacent vehicle in the target lane and the current vehicle; When the result of dividing the first vehicle distance by the speed of the latter vehicle between the current vehicle and the first adjacent vehicle is greater than the first time threshold, it is determined that there is no vehicle in the target lane that has a risk of collision with the current vehicle.

3. The method according to claim 1, characterized in that The determining whether there is a vehicle in an alternate lane that has a risk of collision with the current vehicle includes: If there is no vehicle within a second distance range of the separated lane, determining that there is no vehicle in the separated lane that has a risk of collision with the current vehicle, wherein the second distance range is a distance range in the longitudinal direction including the position of the current vehicle; In the case where there are separated vehicles within the second distance range of the separated lane, when none of the separated vehicles within the second distance range of the separated lane has any lane-changing intention to change to the target lane, determining that there is no vehicle in the separated lane that has a risk of collision with the current vehicle; When there is a first separated vehicle with a lane-changing intention to the target lane within the second distance range of the separated lane, and the vehicle area where the current vehicle is located in the longitudinal direction and the vehicle area where the first separated vehicle is located in the longitudinal direction have an intersection, it is determined that there is a collision risk between the first separated vehicle in the separated lane and the current vehicle; When there is a second separated vehicle with a lane change intention to the target lane within the second distance range of the separated lane, and the vehicle area where the current vehicle is located in the longitudinal direction does not intersect with the vehicle area where the second separated vehicle is located in the longitudinal direction, determining the distance between the rear position of the current vehicle and the previous vehicle of the second separated vehicle and the front position of the current vehicle and the next vehicle of the second separated vehicle in the longitudinal direction to obtain a second vehicle distance; When the result of dividing the second vehicle distance by the speed of the latter of the current vehicle and the second separated vehicle is less than or equal to a second time threshold, determining that there is a risk of collision between the second separated vehicle in the separated lane and the current vehicle; When the result of dividing the second vehicle distance by the speed of the latter of the current vehicle and the second separated vehicle is greater than the second time threshold, it is determined that there is no vehicle in the separated lane that has a risk of collision with the current vehicle.

4. The method according to claim 1, characterized in that: The sending a lane change cooperation request to a vehicle that has a collision risk with the current vehicle includes: When the vehicle at risk of collision with the current vehicle includes a second adjacent vehicle on the target lane, sending a target longitudinal cooperation request to the second adjacent vehicle, wherein the lane change cooperation request includes the target longitudinal cooperation request, and the target longitudinal cooperation request is used to request the second adjacent vehicle to cooperate with the current vehicle in changing lanes to the target lane by adjusting the vehicle speed; When the vehicles at risk of collision with the current vehicle include a third vehicle on the separated lane, a target lateral cooperation request is sent to the third vehicle, wherein the lane change cooperation request includes the target lateral cooperation request, and the target lateral cooperation request is used to request the third vehicle to change lanes to the target lane by temporarily canceling the lane change to cooperate with the current vehicle.

5. The method according to claim 1, characterized in that The request information of the lane change cooperation request sent to the vehicle in the target lane that has a collision risk with the current vehicle is stored in the first request information list, and the request information of the lane change cooperation request sent to the vehicle in the separated lane that has a collision risk with the current vehicle is stored in the second request information list; After determining whether there is a vehicle in the target lane that has a collision risk with the current vehicle, the method further includes: if there is no vehicle in the target lane that has a collision risk with the current vehicle, clearing the first request information list; After determining whether there is a vehicle in an alternate lane that has a risk of collision with the current vehicle, the method further includes: clearing the second request information list if there is no vehicle in the alternate lane that has a risk of collision with the current vehicle; After sending the lane change cooperation request to the vehicle at risk of collision with the current vehicle, the method further includes: upon receiving the lane change cooperation feedback information returned by the third adjacent vehicle in the target lane at risk of collision with the current vehicle in response to the lane change cooperation request, clearing the request information corresponding to the third adjacent vehicle in the first request information list; upon receiving the lane change cooperation feedback information returned by the fourth separated vehicle in the separated lane at risk of collision with the current vehicle in response to the lane change cooperation request, clearing the request information corresponding to the fourth separated vehicle in the second request information list; Among them, whether the lane change permission condition is met is judged according to whether the first request information list and the second request information list are both empty.

6. The method according to claim 1, characterized in that In the process of controlling the current vehicle to change lanes to the target lane, the method further includes: broadcasting the status information of the current vehicle through the current vehicle, wherein the status information of the current vehicle is used to indicate that the current vehicle is in a lane changing state; Continuously determining whether the lane change of the current vehicle is completed based on a relationship between a center position of the current vehicle and a lane range of the target lane.

7. The method according to any one of claims 1 to 6, characterized in that The request information of the lateral lane change request received by the current vehicle is saved in the third request information list, wherein the lateral lane change request received by the current vehicle is a request sent by an adjacent vehicle in the adjacent lane that is about to change lanes to the target lane or is changing lanes to the target lane, and is used to request the current vehicle to cooperate with the lane change; The method further comprises: When a group of separated vehicles indicated by the request information in the third request information list includes a vehicle of a specified type, controlling the current vehicle to temporarily cancel lane change, and sending lane change cooperation feedback information to the vehicle of the specified type, wherein the vehicle of the specified type is a vehicle having the highest road priority right of way; When the current vehicle is changing lanes to the left and is in a lane-changing state, controlling the current vehicle to maintain the lane-changing state, and sending a lane-changing assistance request to the group of separated vehicles to request the group of separated vehicles to cooperate with the current vehicle in changing lanes; When the current vehicle is changing lanes to the left, the current vehicle is in a lane-changing preparation state, and there is a fifth vehicle in the group of separated vehicles that is in a lane-changing state, controlling the current vehicle to temporarily cancel the lane change, and sending lane-changing cooperation feedback information to the fifth vehicle; In the case where the current vehicle is changing lanes to the left, and the current vehicle and the group of separated vehicles are both in a lane change preparation state, determining the lane change duration of the current vehicle, and determining the maximum lane change duration among the lane change durations of the group of separated vehicles, wherein the lane change duration of the current vehicle is the duration from the moment when the current vehicle enters the lane change preparation state to the current moment, and the lane change duration of each separated vehicle in the group of separated vehicles is the duration from the moment when each separated vehicle enters the lane change preparation state to the current moment; in the case where the maximum lane change duration is greater than the sum of 1 and a first specified coefficient multiplied by the lane change duration of the current vehicle, controlling the current vehicle to temporarily cancel the lane change, and sending cooperative lane change feedback information to the separated vehicle corresponding to the maximum lane change duration; in the case where the maximum lane change duration is less than or equal to the sum of 1 and the first specified coefficient multiplied by the lane change duration of the current vehicle, controlling the current vehicle to maintain the lane change preparation state, and sending a lane change assistance request to the group of separated vehicles to request the group of separated vehicles to cooperate with the current vehicle in changing lanes.

8. The method according to claim 7, characterized in that The method further comprises: When the current vehicle is changing lanes to the right and there is a sixth vehicle in the group of separated vehicles that is in a lane-changing state, controlling the current vehicle to temporarily cancel the lane change and sending lane-changing cooperation feedback information to the sixth vehicle; When the current vehicle is changing lanes to the right, the current vehicle is in a lane-changing state, and all of the group of separated vehicles are in a lane-changing preparation state, controlling the current vehicle to maintain the lane-changing state, and sending a lane-changing assistance request to the group of separated vehicles to request the group of separated vehicles to cooperate with the current vehicle in changing lanes; In a case where the current vehicle is changing lanes to the right, and the current vehicle and the group of separated vehicles are both in a lane change preparation state, the lane change duration of the current vehicle is determined, and the maximum lane change duration among the lane change durations of the group of separated vehicles is determined; in a case where the lane change duration of the current vehicle is less than the sum of 1 and a second specified coefficient multiplied by the maximum lane change duration, the current vehicle is controlled to temporarily cancel the lane change, and cooperative lane change feedback information is sent to the separated vehicles corresponding to the maximum lane change duration; in a case where the lane change duration of the current vehicle is greater than or equal to the sum of 1 and the second specified coefficient multiplied by the maximum lane change duration, the current vehicle is controlled to maintain a lane change preparation state, and a lane change assistance request is sent to the group of separated vehicles, so as to request the group of separated vehicles to cooperate with the current vehicle in changing lanes.

9. The method according to any one of claims 1 to 6, characterized in that The request information of the longitudinal lane change request received by the current vehicle is saved in a fourth request information list, wherein the longitudinal lane change request received by the current vehicle is a request for the current vehicle to cooperate with the lane change, which is sent by an adjacent vehicle to change lanes to the lane where the current vehicle is located or is changing lanes to the lane where the current vehicle is located; The method further comprises: When a group of adjacent vehicles indicated by the request information in the fourth request information list includes a vehicle of a specified type, controlling the current vehicle to change lanes in coordination with the vehicle of the specified type in accordance with the coordination manner indicated by the longitudinal lane change request of the vehicle of the specified type, and sending lane change coordination feedback information to the vehicle of the specified type, wherein the vehicle of the specified type is a vehicle having the highest road priority; When the number of the corresponding longitudinal lane change requests indicating acceleration in the group of adjacent vehicles is greater than or equal to the number of the corresponding longitudinal lane change requests indicating deceleration in the group of adjacent vehicles, the current vehicle is controlled to accelerate, and coordinated lane change feedback information is sent to the adjacent vehicles in the group of adjacent vehicles whose corresponding longitudinal lane change requests indicate acceleration in the group of adjacent vehicles; In the case where the number of acceleration indicated by the corresponding longitudinal lane change request in the group of adjacent vehicles is less than the number of deceleration indicated by the corresponding longitudinal lane change request, when both the deceleration cooperation condition and the deceleration cooperation freezing time condition are met, the current vehicle is controlled to decelerate, and cooperation lane change feedback information is sent to the adjacent vehicle in the group of adjacent vehicles whose cooperation mode indicated by the corresponding longitudinal lane change request is deceleration, wherein the deceleration cooperation condition is that the difference between the speed of the current vehicle and the speed of the adjacent vehicle requesting the current vehicle to decelerate is divided by the speed of the current vehicle is less than a third specified coefficient, and the deceleration cooperation freezing time condition is that the time difference between the current moment and the moment when the current vehicle last triggered the cooperation deceleration is greater than or equal to a specified time threshold; when at least one of the deceleration cooperation condition and the deceleration cooperation freezing time condition is not met, the current vehicle is controlled to maintain the current driving state.

10. A vehicle lane change control device, characterized in that: include: A first execution unit is used to repeatedly execute the following processing operations when the current vehicle is about to change lanes to an adjacent target lane, until the number of times that a lane change condition is allowed to be satisfied reaches a specified number, wherein the lane change condition is that there is no vehicle that has a risk of collision with the current vehicle: determine whether there is a vehicle in the target lane that has a risk of collision with the current vehicle, and determine whether there is a vehicle in an alternate lane that has a risk of collision with the current vehicle, wherein the alternate lane is a lane that is separated from the target lane by a lane where the current vehicle is located; when there is a vehicle that has a risk of collision with the current vehicle in at least one of the target lane and the alternate lane, send a lane change cooperation request to the vehicle that has a risk of collision with the current vehicle, so as to request the vehicle that has a risk of collision with the current vehicle to cooperate with the current vehicle in changing lanes to the target lane; A control unit is used to control the current vehicle to change lanes to the target lane when the number of times the lane change condition is satisfied reaches the specified number of times.

11. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the steps of the method according to any one of claims 1 to 9 are implemented.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, wherein the computer program implements the steps of the method according to any one of claims 1 to 9 when executed by a processor.

13. 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 9 are implemented.

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